2.6 KiB
Auto Modes
In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.
To use auto modes all the configuration/tuning steps in Rover Configuration/Tuning must be followed (from Basic Setup to Position tuning).
Mission Mode
Mission mode is an automatic mode that causes the vehicle to execute a predefined autonomous mission plan that has been uploaded to the flight controller. The mission is typically created and uploaded with a Ground Control Station (GCS) application, such as QGroundControl.
Mission commands
The following commands can be used in missions at time of writing (PX4 v1.16):
| QGC mission item | Command | Description |
|---|---|---|
| Mission start | MAV_CMD_MISSION_START | Starts the mission. |
| Waypoint | MAV_CMD_NAV_WAYPOINT | Navigate to waypoint. |
| Return to launch | MAV_CMD_NAV_RETURN_TO_LAUNCH | Return to the launch location. |
| Change speed | MAV_CMD_DO_CHANGE_SPEED | Change the speed setpoint |
| Set launch location | MAV_CMD_DO_SET_HOME | Changes launch location to specified coordinates. |
| Jump to item (all) | MAV_CMD_DO_JUMP (and other jump commands) | Jump to specified mission item. |
Return Mode
The vehicle will return to the launch position. Return mode can be activated through the respective mission command or through the ground station UI.