94 lines
4.9 KiB
Markdown
94 lines
4.9 KiB
Markdown
# Modes
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Cleanflight has various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions,
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auxillary receiver channels and other events such as failsafe detection.
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| Id | Short Name | Function |
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| -- | ---------- | -------------------------------------------------------------------- |
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| 0 | ARM | Enables motors and flight stabilisation |
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| 1 | ANGLE | Legacy auto-level flight mode |
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| 2 | HORIZON | Auto-level flight mode |
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| 3 | BARO | Altitude hold mode (Requires barometer sensor) |
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| 4 | MAG | Heading lock |
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| 5 | HEADFREE | Head Free - When enabled yaw has no effect on pitch/roll inputs |
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| 6 | HEADADJ | Heading Adjust - Sets a new yaw origin for HEADFREE mode |
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| 7 | CAMSTAB | Camera Stabilisation |
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| 8 | CAMTRIG | |
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| 9 | GPSHOME | Autonomous flight to HOME position |
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| 10 | GPSHOLD | Maintain the same longitude/lattitude |
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| 11 | PASSTHRU | |
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| 12 | BEEPERON | Enable beeping - useful for locating a crashed aircraft |
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| 13 | LEDMAX | |
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| 14 | LEDLOW | |
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| 15 | LLIGHTS | |
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| 16 | CALIB | |
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| 17 | GOV | |
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| 18 | OSD | Enable/Disable On-Screen-Display (OSD) |
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| 19 | TELEMETRY | Enable telemetry via switch |
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| 20 | AUTOTUNE | Autotune Pitch/Roll PIDs |
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| 21 | SONAR | Altitude hold mode (sonar sensor only) |
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## Mode details
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### Headfree
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In this mode, the "head" of the multicopter is always pointing to the same direction as when the feature was activated. This means that when the multicopter rotates around the Z axis (yaw), the controls will always respond according the same "head" direction.
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With this mode is easier to control the multicopter, even fly it with the physical head towards you since the controls always respond the same. This is a friendly mode to new users of multicopters and can prevent losing the control when you don't know the head direction.
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## GPS Return To Home
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WORK-IN-PROGRESS. This mode is not reliable yet, please share your experiences with the developers.
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In this mode the aircraft attempts to return to the GPS position recorded when the aircraft was armed.
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This mode should be enabled in conjunction with Angle or Horizion modes and an Altitude hold mode.
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Requires a 3D GPS fix and minimum of 5 satallites in view.
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## GPS Position Hold
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WORK-IN-PROGRESS. This mode is not reliable yet, please share your experiences with the developers.
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In this mode the aircraft attempts to stay at the same GPS position, as recorded when the mode is enabled.
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Disabling and re-enabling the mode will reset the GPS hold position.
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This mode should be enabled in conjunction with Angle or Horizion modes and an Altitude hold mode.
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Requires a 3D GPS fix and minimum of 5 satallites in view.
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## Auxillary Configuration
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Spare auxillary receiver channels can be used to enable/disable modes. Some modes can only be enabled this way.
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Configure your transmitter so that switches or dial (pots) send channel data on channels 5 upwards.
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e.g. You can configure a 3 position switch to send 1000 when the switch is low, 1500 when the switch is in the middle and 2000 when the switch is high.
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Configure your tx/rx channel limits to use values between 1000 and 2000.
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When a channel is within a specifed range the corresponding mode is enabled.
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Use the GUI configuration tool to allow easy configuration when channel.
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### CLI
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There is a CLI command, `aux` that allows auxillary configuration. It takes 5 arguments as follows:
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* AUD range slot number (0 - 39)
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* mode id (see mode list above)
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* AUX channel index (AUX1 = 0, AUX2 = 1,... etc)
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* low position, from 900 to 2100. Should be a multiple of 25.
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* high position, from 900 to 2100. Should be a multiple of 25.
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If the low and high position are the same then the values are ignored.
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e.g.
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Configure AUX range slot 0 to enable ARM when AUX1 is withing 1700 and 2100.
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```aux 0 0 0 1700 2100```
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You can display the aux configuration by using the `aux` command with no arguments.
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