# Modes

There are various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions, auxiliary receiver channels and other events such as failsafe detection.

IDShort NameFunction
0ARMEnables motors and flight stabilisation
1ANGLELegacy auto-level flight mode
2HORIZONAuto-level flight mode
4ANTI GRAVITYPrevents dips and rolls on fast throttle changes
6HEADFREEHead Free - When enabled yaw has no effect on pitch/roll inputs
8CAMSTABCamera Stabilisation
12PASSTHRUPass roll, yaw, and pitch directly from rx to servos in airplane mix
13BEEPERONEnable beeping - useful for locating a crashed aircraft
15LEDLOWSwitch off LED_STRIP output
17CALIBStart in-flight calibration
19OSDEnable/Disable On-Screen-Display (OSD)
20TELEMETRYEnable telemetry via switch
23SERVO1Servo 1
24SERVO2Servo 2
25SERVO3Servo 3
26BLACKBOXEnable BlackBox logging
27FAILSAFEEnter failsafe stage 2 manually
28AIRMODEAlternative mixer and additional PID logic for more stable copter
293DEnable 3D mode
30FPV ANGLE MIXApply yaw rotation relative to a FPV camera mounted at a preset angle
31BLACKBOX ERASEErase the contents of the onboard flash log chip (takes > 30 s)
32CAMERA CONTROL 1Control function 1 of the onboard camera (if supported)
33CAMERA CONTROL 2Control function 2 of the onboard camera (if supported)
34CAMERA CONTROL 3Control function 3 of the onboard camera (if supported)
35FLIP OVER AFTER CRASHReverse the motors to flip over an upside down craft after a crash (DShot required)
36BOXPREARMWhen arming, wait for this switch to be activated before actually arming
37BEEP GPS SATELLITE COUNTUse a number of beeps to indicate the number of GPS satellites found
39VTX PIT MODESwitch the VTX into pit mode (low output power, if supported)
40USER1User defined switch 1. Intended to be used to control an arbitrary output with PINIO
41USER2User defined switch 2. Intended to be used to control an arbitrary output with PINIO
42USER3User defined switch 3. Intended to be used to control an arbitrary output with PINIO
43USER4User defined switch 4. Intended to be used to control an arbitrary output with PINIO
44PID AUDIOEnable output of PID controller state as audio
45PARALYZEPermanently disable a crashed craft until it is power cycled
46GPS RESCUEEnable 'GPS Rescue' to return the craft to the location where it was last armed
47ACRO TRAINEREnable 'acro trainer' angle limiting in acro mode
48DISABLE VTX CONTROLDisable the control of VTX settings through the OSD
49LAUNCH CONTROLRace start assistance system

## Auto-leveled flight​

The default flight mode does not stabilize the multicopter around the roll and the pitch axes. That is, the multicopter does not level on its own if you center the pitch and roll sticks on the radio. Rather, they work just like the yaw axis: the rate of rotation of each axis is controlled directly by the related stick on the radio, and by leaving them centered the flight controller will just try to keep the multicopter in whatever orientation it's in. This default mode is called "Rate" mode, also sometime called "Acro" (from "acrobatic") or "Manual" mode, and is active whenever no auto-leveled mode is enabled.

If your flight controller is equipped with a 3 axis accelerometer (very likely), then you can enable one of the two available auto leveled flight modes.

## Mode details​

### Angle​

In this auto-leveled mode the roll and pitch channels control the angle between the relevant axis and the vertical, achieving leveled flight just by leaving the sticks centered.

### Horizon​

This hybrid mode works exactly like the previous ANGLE mode with centered roll and pitch sticks (thus enabling auto-leveled flight), then gradually behaves more and more like the default RATE mode as the sticks are moved away from the center position.

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.

With this mode it 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.

### Airmode​

In the standard mixer / mode, when the roll, pitch and yaw gets calculated and saturates a motor, all motors will be reduced equally. When a motor goes below minimum it gets clipped off. Say you had your throttle just above minimum and tried to pull a quick roll - since two motors can't go any lower, you essentially get half the power (half of your PID gain). If your inputs would have asked for more than a 100% difference between the high and low motors, the low motors would get clipped, breaking the symmetry of the motor balance by unevenly reducing the gain.

Airmode will enable full PID correction during zero throttle and give you ability for nice zero throttle gliding and acrobatics. In addition, the cornering / turns will be much tighter now as there is always maximum possible correction performed.

Airmode can also be enabled to work at all times by always putting it on the same switch such as your arm switch, alternatively you can enable/disable it in air.

• Airmode will additionally fully enable Iterm at zero throttle. Note that there is still some protection on the ground when throttle zeroed (below min\check) and roll/pitch sticks centered. This is a basic protection to limit motors spooling up on the ground.
• Also the Iterm will be reset above 70% of stick input in acro mode to prevent quick Iterm windups during finishes of rolls and flips, which will provide much cleaner and more natural stops of flips and rolls what again opens the ability to have higher I gains for some. Note that AIRMODE will also overrule motor stop function! It will basically also act as an idle up switch.

## Auxiliary Configuration​

Spare auxiliary receiver channels can be used to enable/disable modes. Some modes can only be enabled this way.

Configure your transmitter so that switches or dials (potentiometers) send channel data on channels 5 and upwards (the first 4 channels are usually occupied by the throttle, aileron, rudder, and elevator channels).

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.

Configure your tx/rx channel limits to use values between 1000 and 2000. The range used by mode ranges is fixed to 900 to 2100.

When a channel is within a specified range the corresponding mode is enabled.

Use the GUI configuration tool to allow easy configuration when channel.

### CLI​

There is a CLI command, aux that allows auxiliary configuration. It takes 5 arguments as follows:

• AUX range slot number (0 - 39)
• mode id (see mode list above)
• AUX channel index (AUX1 = 0, AUX2 = 1,... etc)
• low position, from 900 to 2100. Should be a multiple of 25.
• high position, from 900 to 2100. Should be a multiple of 25.

If the low and high position are the same then the values are ignored.

e.g.

Configure AUX range slot 0 to enable ARM when AUX1 is within 1700 and 2100.

aux 0 0 0 1700 2100

You can display the AUX configuration by using the aux command with no arguments.