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Flight Controller Modes

ArduPilot and PX4 provide a base set of flight modes. Within ArduPilot, ARC can be utilised in both 'LAND' mode, and in 'LOITER' mode to provide tethering function, or precision landing. In PX4, 'PRECISION_LAND' flight mode can be used in PX4 to provide precision landing using ARC.

Note

If you have already used ArduPilot / PX4 precision landing functionality, you can skip this section.

PX4 Tethering

There is currently no flight mode in stock PX4 that supports tethering with ARC, contact us at support@cambsensoriis.com if this is something you require.

Ardupilot Modes

'LAND' flight mode

Ardupilot provides a landing mode that can make use of its Precision Landing Target module that uses the information provided by the ARC Primary device. The recommended landing mode for use with the ARC system is 'LAND' mode. This executes the landing sequence as laid out in the Landing Operation Section. Detailed information on Ardupilot's LAND mode can be found here.

'LOITER' flight mode

ArduPilot also provides support for tether behaviour via the 'LOITER' flight mode. This also makes use of the Precision Landing Target information provided by the ARC Primary device, but instructs the Flight Controller to hold a position relative to the target position instead of descending to land. As with Landing operation, this mode can be used with both static and dynamic target positions. This feature is futher described in the Tether Operation section. Detailed information on Ardupilot's LOITER mode can be found here.

Note

To ensure that ARC is being utilised whilst in 'LAND' and 'LOITER' mode, PrecisionLand must be assigned to a RC transmitter channel, and switched to "high". PrecisionLand can also be enabled by sending MAV_CMD_NAV_LAND with the land Mode parameter set to one of the precision landing modes.

PX4 Modes

'PRECISION_LAND' flight mode

PX4 provides a landing mode that can make use of its Precision Landing feature, that uses the information provided by the ARC Primary device. The reccomended landing mode for use with the ARC system is 'PRECISION_LAND' mode. This executes the landing sequence as laid out in the Landing Operation Section. Detailed information on PX4's Precision Landing mode can be found here.