FLIGHT MODE REFERENCE
Comprehensive documentation for ArduPilot flight modes. Enhanced with configuration parameters, tuning tips, and architectural deep dives.
Copter
Acro Mode (Copter)
Acro (Acrobatic) mode is the purest form of flight control, providing direct "Rate" control over the vehicle's angular velocity. Unlike [Stabilize]...
AirMode (Copter)
**AirMode** is not a distinct flight mode but a specific **stabilization feature** that can be enabled within modes like [Acro](/field-manual/fligh...
Altitude Hold (Copter)
Altitude Hold (AltHold) is a semi-autonomous flight mode that automatically maintains a consistent Z-axis altitude while allowing the pilot to manu...
Auto Mode (Copter)
Auto Mode is the primary autonomous flight mode, executing a pre-programmed [mission](/field-manual/navigation-mission/mission-state-machine.html) ...
Brake Mode (Copter)
Brake Mode is a dedicated safety mode designed to stop the vehicle as quickly as possible and hold its position. It is often assigned to a "Panic S...
Circle Mode (Copter)
Circle Mode is an autonomous flight mode that makes the vehicle orbit a specific point of interest (POI). It allows for smooth, cinematic orbital s...
Drift Mode (Copter)
Drift Mode completely reimagines the control scheme of a multicopter to mimic the behavior of a fixed-wing aircraft or a car. It provides "coordina...
Flip Mode (Copter)
Flip Mode is a pre-programmed aerobatic maneuver that makes the vehicle perform a 360-degree rotation on the Roll or Pitch axis. It is designed to ...
FlowHold Mode (Copter)
FlowHold is a horizontal position-control mode designed for GPS-denied environments. It utilizes an [Optical Flow](/field-manual/ekf-failsafes/opti...
Follow Mode (Copter)
Follow Mode allows the copter to autonomously track and follow another [MAVLink](/field-manual/mavlink-internals/mavlink-routing.html)-enabled vehi...
Guided Mode (Copter)
Guided Mode is the primary interface for "Offboard Control." While [Auto mode](/field-manual/flight-modes/copter-auto.html) runs a pre-uploaded [mi...
Heli Autorotate Mode (Copter)
This mode is **exclusive to Traditional Helicopters**. It automates the complex "Autorotation" maneuver required to [land](/field-manual/flight-mod...
Land Mode (Copter)
Land Mode initiates a vertical descent to the ground. Its primary goal is to bring the vehicle down safely, detecting the ground to shut off motors...
Loiter Mode (Copter)
Loiter Mode is the default GPS-assisted flight mode for ArduCopter. It automatically holds position, [altitude](/field-manual/mavlink-interface/alt...
PosHold Mode (Copter)
PosHold (Position Hold) is a hybrid flight mode that attempts to offer the best of both worlds: the direct, responsive feel of **[Stabilize](/field...
RTL Mode (Copter)
[Return to Launch](/field-manual/flight-modes/copter-smart-rtl.html) (RTL) is the primary failsafe mode. When engaged, it navigates the vehicle bac...
Simple and Super Simple Modes (Copter)
**Simple** and **Super Simple** are not distinct flight modes but rather **Coordinate Transforms** applied to the pilot's Roll and Pitch inputs. Th...
Smart RTL Mode (Copter)
Smart RTL ([Return to Launch](/field-manual/flight-modes/copter-rtl.html)) is a sophisticated variation of the standard RTL mode. Instead of flying...
Sport Mode (Copter)
Sport Mode offers a unique control scheme: **Earth-Frame Rate Control**. Like [Acro](/field-manual/flight-modes/copter-acro.html), the sticks comma...
Stabilize Mode (Copter)
Stabilize Mode is the most fundamental flight mode for multicopters. It provides self-leveling [attitude](/field-manual/mavlink-interface/attitude....
System Identification Mode (Copter)
System Identification ([SysID](/field-manual/advanced-tuning/system-identification-mode.html)) is an advanced engineering mode designed to mathemat...
Throw Mode (Copter)
Throw Mode is a specialized launch mode that allows a multicopter to be thrown into the air (or dropped from another vehicle) to start a flight. Th...
Turtle Mode (Copter)
Turtle Mode (officially "Crash Flip") is designed to recover a multicopter that has flipped upside down after a crash. Instead of walking to the ve...
ZigZag Mode (Copter)
ZigZag Mode is a specialized semi-autonomous mode designed for agricultural spraying or lawn-mowing patterns. It allows a pilot to define two point...
Plane
ACRO Mode (Plane)
ACRO Mode for fixed-wing aircraft provides a rate-stabilized flight experience. Unlike "Manual" mode, where the sticks directly move the servos, AC...
AUTO Mode (Plane)
AUTO mode is the primary autonomous flight mode for fixed-wing aircraft. It executes a pre-planned [mission](/field-manual/navigation-mission/missi...
AUTOTUNE Mode (Plane)
AUTOTUNE Mode is a utility mode designed to automatically calibrate the Roll, Pitch, and Yaw PID controllers while you fly. It removes the guesswor...
CIRCLE Mode (Plane)
CIRCLE mode is a simple, non-GPS flight mode that forces the aircraft to fly in a circle at a fixed bank angle while maintaining its current [altit...
CRUISE Mode (Plane)
CRUISE Mode is the long-range pilot's best friend. It acts like **Fly-By-Wire B (FBWB)** for [altitude](/field-manual/mavlink-interface/altitude.ht...
Fly By Wire A (Plane)
Fly By Wire A (FBWA) is the most popular stabilized flight mode for fixed-wing aircraft. It provides "Angle Control" for Roll and Pitch, meaning th...
Fly By Wire B (Plane)
Fly By Wire B (FBWB) is an advanced assisted flight mode that builds upon FBWA. While FBWA stabilizes [attitude](/field-manual/mavlink-interface/at...
GUIDED Mode (Plane)
GUIDED Mode is designed for "Offboard Control". It allows a Ground Control Station (GCS) or Companion Computer to command the aircraft dynamically....
LOITER Mode (Plane)
LOITER Mode is the standard GPS-position-hold mode for fixed-wing aircraft. When engaged, the plane captures its current location and [altitude](/f...
MANUAL Mode (Plane)
MANUAL Mode provides a direct pass-through connection between the pilot's RC sticks and the aircraft's control surfaces. It bypasses all stabilizat...
RTL Mode (Plane)
[Return to Launch](/field-manual/flight-modes/copter-smart-rtl.html) (RTL) is the primary autonomous safety mode for fixed-wing aircraft. When trig...
STABILIZE Mode (Plane)
STABILIZE Mode is the most basic assisted flight mode for fixed-wing aircraft. It automatically levels the wings and pitch when the pilot releases ...
TAKEOFF Mode (Plane)
TAKEOFF Mode is a specialized autonomous mode designed to safely launch a fixed-wing aircraft. It handles the critical transition from "on the grou...
THERMAL Mode (Plane)
THERMAL Mode (Soaring) allows a fixed-wing aircraft (typically a glider) to autonomously detect, track, and utilize updrafts (thermals) to gain [al...
TRAINING Mode (Plane)
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