In the standard mixer / mode, when the roll, pitch and yaw gets calculated and saturates a motor, all motors Requires a 3D GPS fix and minimum of 5 satellites in view. In this mode the aircraft attempts to stay at the same GPS position, as recorded when the mode is enabled.ĭisabling and re-enabling the mode will reset the GPS hold position. This mode should be enabled in conjunction with Angle or Horizon modes and an Altitude hold mode. In this mode the aircraft attempts to return to the GPS position recorded when the aircraft was armed. This mode is not reliable yet, please share your experiences with the developers. This is a friendly mode to new users of multicopters and can prevent losing the control when you don’t know the 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 means that when the multicopter rotates around the Z axis (yaw), the controls will always respond according the same “head” direction.
In this mode, the “head” of the multicopter is always pointing to the same direction as when the feature was activated. G-Tune - auto tuning of Pitch/Roll/Yaw P valuesĪlternative mixer and additional PID logic for more stable copter
Pass roll, yaw, and pitch directly from rx to servos in airplane mixĮnable beeping - useful for locating a crashed aircraft Heading Adjust - Sets a new yaw origin for HEADFREE mode Head Free - When enabled yaw has no effect on pitch/roll inputs MSP IDĪltitude hold mode (Requires barometer sensor)
Modes can be enabled/disabled by stick positions,Īuxillary receiver channels and other events such as failsafe detection. Cleanflight has various modes that can be toggled on or off.
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