Flight Modes

This article provides an overview and links to the available flight modes for Blimp.

Overview

Blimp has 4 built-in flight modes.

Flight modes are controlled through the radio (via a transmitter switch), or using commands from a ground station (GCS) or companion computer.

The table below shows for each flight mode whether it provides altitude or position control, and whether it requires valid position information from a sensor (typically a GPS) in order to arm or switch into this mode.

ModeAlt CtrlPos CtrlPos Sensor RequiredSummary
Land--NoStops all actuators.
ManualmmNoManual output via motor/servo mixer.
VelocityssYesStick positions set a desired velocity. Mostly intended for tuning.
LoiterssYesHolds altitude and position.
SymbolDefinition
mManual control
sPilot controls desired position/velocity to controller

GNSS Receiver (“GPS”) Dependency

Flight modes that use positioning data require valid position prior to takeoff. When using GPS, to verify if your autopilot has acquired GPS lock, connect to a ground station or consult your autopilot’s hardware overview page to see the LED indication for GPS lock.

Below is a summary of position identification dependency for Copter flight modes. Most often this position information is obtained via a GPS, but other position sensors, such as 3D cameras or beacons, may be used and would need to provide a valid location, for those modes requiring it, prior to arming.

Requires valid position prior to takeoff:

  • VELOCITY
  • LOITER

Do not require position information:

  • MANUAL
  • LAND

Pilot Control

Pilot control in each mode (Except LAND in which there is no pilot control and all servo outputs are stopped) , if the default RC_MAP_xxxx parameters are used, is as follows:

TRANSMITTER STICK CONTROL EFFECT
ROLL MANUAL: Lateral movement, VELOCITY: Full throw attempts to obtain MAX_VEL_XY m/s laterally, LOITER: Full throw attempts to obtain MAX_POS_XY m/s laterally
PITCH MANUAL: Fore/Aft movement, VELOCITY: Full throw attempts to obtain MAX_VEL_XY m/s fore/aft, LOITER: Full throw attempts to obtain MAX_POS_XY m/s fore/aft
YAW MANUAL: Yaw, VELOCITY: Full throw attempts to increase/decrease heading MAX_VEL_YAW radians/s fore/aft, LOITER: Full throw attempts to increase/decrease heading MAX_POS_YAW radians/s fore/aft
THROTTLE MANUAL: Ascend/Descend, VELOCITY: Full throw attempts to increase/decrease altitude MAX_VEL_Z m/s, LOITER: Full throw attempts to increase/decrease heading MAX_POS_Z m/s