Stabilize mode allows you to fly your vehicle manually, but self-levels the roll and pitch axis. Takeoff
and landing should be operated under this mode. If you’re learning to fly, try Alt Hold or Loiter instead
of Stabilize. You’ll have fewer crashes if you don’t need to concentrate on too many controls at once.
Stabilize mode is also the optimal mode for FPV flight.
Make sure you have assigned a button which can easily switch to Stabilize mode. This is critical for
taking back the control during emergency scenario!
2. Altitude Hold Mode
You may try this mode after your first flight. GPS is not required in this mode. The flight controller uses
a barometer which measures air pressure as the primary means for determining altitude.
When altitude hold mode (aka AltHold) is selected, the throttle is automatically controlled to maintain
the current altitude.
Position is not controlled under this mode, therefore it may drift. You may use the controller to move
or hold the position.
AC3.1 and later allow arming and disarming in altitude hold mode. When disarming, the copter may
need to rest in the landing position for a few seconds to allow the “landing checker” to verify that the
copter has landed before you are able to disarm.
When switching into AltHold from a manual flight mode (like Stabilize) on a copter, make sure the
throttle stick in the mid position. Otherwise, the copter may suddenly descend or climb.
3. Loiter Mode
Loiter Mode automatically attempts to maintain the current location, heading and altitude. The vehicle
can be armed in Loiter mode but only once the GPS has 3D lock and the HDOP has dropped below 2.0.
Confirm your GPS is operating in good condition to minimize the chance of GPS Glitch during the flight.
This mode is basically similar to AltHold mode.
4. Simple Mode
Simple mode allow the pilot to control the movement of the copter from the pilot’s point of view
regardless of which way the copter is facing. This is useful for new pilots who have not mastered
adjusting their roll and pitch inputs depending upon which way the vehicle is facing and for cases when
the copter is far enough away that it’s heading is not apparent.
5. RTL Mode
RTL mode requires a reliable position estimate to work properly, most commonly provided by GPS and
compass.
If you get GPS lock and then ARM your copter, the home position is the location the copter was in
when it was armed. This means if you execute an RTL in Copter, it will return to the location where it
was armed.
If you get GPS no fix before ARMing, the first GPS lock position in the air will be the home position.
When RTL mode is selected, the copter will return to the home location. The copter will first rise to
RTL_ALT (default 15m) before returning home or maintain the current altitude if the current altitude is
higher than RTL_ALT.
You may also adjust parameters to set automatically landing, and loitering timeout before landing.
6. Circle Mode
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