Hold Mode

The Hold flight mode (a.k.a. "Loiter") causes the vehicle to stop and maintain its current GPS position and altitude (MC vehicles will hover at the GPS position, while FW vehicles will circle around it).

:::tip Hold mode can be used to pause a mission or to help you regain control of a vehicle in an emergency. It is usually activated with a pre-programmed switch. :::

:::note

• This mode requires GPS.

• This mode is automatic - no user intervention is required to control the vehicle.

• RC control switches can be used to change flight modes on any vehicle.

• RC stick movement in a multicopter (or VTOL in multicopter mode) will by default change the vehicle to Position mode unless handling a critical battery failsafe. :::

The specific behaviour for each vehicle type is described below.

Multi-Copter (MC)

A multicopter hovers at the current position and altitude.

RC stick movement will change the vehicle to Position mode (by default).

The behaviour can be configured using the parameters below.

Parameter	Description
NAV_MIN_LTR_ALT	This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC).
COM_RC_OVERRIDE	Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to Position mode. This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default.
COM_RC_STICK_OV	The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled).

Fixed-wing (FW)

The aircraft circles around the GPS hold position at the current altitude. The vehicle will first ascend to NAV_MIN_LTR_ALT if the mode is engaged below this altitude (by default disabled).

RC stick movement is ignored.

The behaviour can be configured using the parameters below.

Parameter	Description
NAV_LOITER_RAD	The radius of the loiter circle.
NAV_MIN_LTR_ALT	Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude).

VTOL

A VTOL follows the HOLD behavior and parameters of Fixed-wing when in FW mode, and of Multicopter when in MC mode.