Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-06-02 11:59:17 +08:00 · 2025-03-13 16:08:27 +11:00
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+# Land Mode (Fixed-Wing)
+
+<img src="../../assets/site/position_fixed.svg" title="Position estimate required (e.g. GPS)" width="30px" />
+
+The _Land_ flight mode causes the vehicle to descend at the position where the mode was engaged, following a circular path until touchdown.
+After landing, vehicles will disarm after a short timeout (by default).
+
+:::warning
+Fixed-wing _land mode_ should only be used in an **emergency**!
+The vehicle will descend around the current location irrespective of the suitability of the underlying terrain, and touch down while following a circular flight path.
+
+Where possible, instead use [Return mode](../flight_modes_fw/return.md) with a predefined [Fixed-wing mission landing](../flight_modes_fw/mission.md#mission-landing).
+:::
+
+::: info
+
+- Mode is automatic - no user intervention is _required_ to control the vehicle.
+- Mode requires at least a valid local position estimate (does not require a global position).
+  - Flying vehicles can't switch to this mode without valid local position.
+  - Flying vehicles will failsafe if they lose the position estimate.
+- Mode prevents arming (vehicle must be armed when switching to this mode).
+- RC control switches can be used to change flight modes on any vehicle.
+- RC stick movement is ignored.
+- The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode.
+
+<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
+:::
+
+## Technical Summary
+
+Land mode causes the vehicle follow a descending circular path (corkscrew) until touchdown.
+
+When the mode is engaged, the vehicle starts to loiter around the current vehicle position with loiter radius [NAV_LOITER_RAD](#NAV_LOITER_RAD) and begins to descend with a constant descent speed.
+The descent speed is calculated using [FW_LND_ANG](#FW_LND_ANG) and the set landing airspeed [FW_LND_AIRSPD](#FW_LND_AIRSPD).
+The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/mission.md#flaring-roll-out)), and otherwise proceed circling with the constant descent rate until landing is detected.
+
+[Manual nudging](../flight_modes_fw/mission.md#automatic-abort) and [automatic land abort](../flight_modes_fw/mission.md#nudging) are not available in land mode.
+
+### Parameters
+
+Land mode behaviour can be configured using the parameters below.
+
+| Parameter                                                                                             | Description                                                                  |
+| ----------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
+| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
+| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG)             | The flight path angle setpoint.                                              |
+| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD)    | The airspeed setpoint.                                                       |
+
+## See Also
+
+- [Land Mode (MC)](../flight_modes_mc/land.md)
+- [Land Mode (VTOL)](../flight_modes_vtol/land.md)