ArduPilot Flight Mode Guide

CoreWingAbout 3 minArduPilotArduPilot飞行模式ManualAutoVTOL固定翼模式

1. ArduPilot Flight Modes

The ArduPilot firmware supports multiple flight modes to accommodate different flight needs, such as manual control, stabilized flight, waypoint navigation, and return-to-launch.
Different modes are suitable for fixed-wing, Vertical Take-Off and Landing (VTOL), multi-rotor, and other airframes. This guide details fixed-wing flight modes and Vertical Take-Off and Landing (Q-mode) flight modes, helping to understand the characteristics and application scenarios of each mode.

2. Fixed-Wing Flight Modes

2.1 Manual and Semi-Stabilized Modes

Manual
- Characteristics: The RC transmitter directly controls the aircraft; the flight controller (FC) does not intervene with control signals, and all inputs are transmitted directly to the servos and motors.
- Application Scenarios: Experienced pilots can use this for debugging and emergency control during malfunctions.
ACRO
- Characteristics: The aircraft's rotation rate (angular velocity) about each axis is controlled via the RC transmitter; the FC does not perform automatic leveling or attitude hold. After releasing the sticks, the aircraft maintains its current attitude. This mode offers high responsiveness and is suitable for performing stunts such as rolls, loops, and continuous turns.
- Application Scenarios: Suitable for pilots with advanced skills, used for stunt training, aerobatic flights, and tasks requiring high response rates.
STABILIZE
- Characteristics: Similar to INAV's HORIZON mode, the FC provides attitude stabilization but does not limit maximum roll and pitch angles. After releasing the sticks, the FC automatically maintains level flight.
- Application Scenarios: Provides stabilization assistance during manual flight, suitable for beginner training or enhancing stability in adverse weather.
FBWA
- Characteristics: Similar to INAV's ANGLE mode, the FC limits roll and pitch angles (default ±45° roll, +20°/-25° pitch), automatically maintaining level flight after releasing the sticks.
- Application Scenarios: Used for routine flights to prevent stalling caused by excessive tilt.
FBWB
- Characteristics: Adds altitude hold functionality based on FBWA; pitch control adjusts flight altitude, maintaining the current altitude after releasing the sticks.
- Application Scenarios: Suitable for cruise control and long-distance flights, reducing the pilot's manual burden on altitude control.

2.2 Automatic and Mission Modes

Auto
- Characteristics: The FC completely controls throttle and attitude, executing waypoint missions set in Mission Planner, such as automatic cruise, aerial photography, and mapping.
- Application Scenarios: Used for executing autonomous flight missions, such as surveys, patrols, and airdrops.
CRUISE
- Characteristics: The FC automatically maintains current heading, altitude, and throttle, allowing the pilot to control heading changes.
- Application Scenarios: Suitable for long-endurance cruise, such as long-distance FPV or mission flights.

2.3 Return-to-Launch and Landing Modes

RTL
- Characteristics: The FC automatically controls throttle and attitude, returning to the vicinity of the launch point and circling at a set altitude (default 100m altitude, 60m circle radius).
- Application Scenarios: Used for loss of signal protection and low battery return, and can also be triggered manually.
LAND
- Characteristics: The FC automatically controls the landing process; parameters such as landing altitude, glide distance, and flare angle can be set.
- Application Scenarios: Suitable for automatic mission landing, but may be unreliable when GPS accuracy is low.

2.4 Special Modes

AUTOTUNE
- Characteristics: Based on FBWA mode, the FC automatically optimizes PID parameters via stick input; parameters must be saved by landing after optimization.
- Application Scenarios: Used for new aircraft debugging and optimizing flight handling feel.

Important

For instructions on how to operate automatic tuning, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/autotune.html

LOITER
- Characteristics: The FC controls throttle and attitude, circling around the current altitude and position (default radius 60m).
- Application Scenarios: Suitable for photography, standby, and waiting for ground commands.
CIRCLE
- Characteristics: Circles a large circle at the current altitude but cannot maintain a specific position; primarily used for loss of signal protection.
- Application Scenarios: Serves as a backup circling mode when GPS signal is lost, waiting for manual takeover.
TAKEOFF
- Characteristics: After arming, the aircraft is thrown; the FC automatically takes off after detecting acceleration.
- Application Scenarios: Suitable for fixed-wing catapult or hand-launched takeoff to avoid low-speed stalling.

Important

For instructions on how to set up hand launch mode, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/hand-launch-setup.html

3. Vertical Take-Off and Landing (Q-Mode) Flight Modes

Suitable for VTOL (Vertical Take-Off and Landing fixed-wing) airframes, capable of takeoff and landing without a runway, supporting seamless switching between multi-rotor mode and fixed-wing mode.

3.1 Q-Mode Overview

Mode	Roll	Pitch	Yaw	Throttle	GPS Required	RC Input Required
QSTABILIZE	s	s	+	-	No	Yes
QHOVER	s	s	+	s	No	Yes
QLOITER	s	s	+	s	Yes	Yes
QLAND	s	s	+	A	Yes	Yes
QRTL	A	A	A	A	Yes	No
QAUTOTUNE	A	A	A	A	No	No
Legend:

-: Full manual control
+: Manual control with stabilization limits or assistance
s: Stabilized control with limits
A: Automatic control

3.2 Q-Mode Details

QSTABILIZE
- Characteristics: Automatically corrects roll and pitch angles but does not maintain position or altitude.
- Application Scenarios: Beginner VTOL training, basic flight modes.
QHOVER
- Characteristics: Adds altitude hold functionality based on QSTABILIZE mode but does not maintain GPS position.
- Application Scenarios: Suitable for low-altitude hovering and mission standby.
QLOITER
- Characteristics: Automatically maintains current position, altitude, and heading (requires GPS support).
- Application Scenarios: Suitable for precise hovering, photography, and reconnaissance missions.
QLAND
- Characteristics: The FC automatically controls VTOL landing and reduces throttle during landing.
- Application Scenarios: Automatic missions or low battery return-to-launch landing.
QRTL
- Characteristics: Automatically flies back to the HOME point and executes a VTOL-style landing.
- Application Scenarios: Suitable for VTOL mission return and emergency landing.
QAUTOTUNE
- Characteristics: Automatically optimizes VTOL flight PID parameters; parameters must be saved by landing after completion.
- Application Scenarios: Suitable for VTOL new aircraft debugging and optimizing flight stability.