ArduCopter Flight Modes
For SparkNavi Blue / Blue2. Screens and parameter names may vary with the ArduPilot / Mission Planner version.
This is the manual’s mode overview. Availability depends on vehicle, firmware build and sensors. Position control needs a valid position estimate, not just a displayed 3D Fix.
Manual & Altitude Control
| Mode |
Description |
| Stabilize |
Angle control and self-leveling; manual throttle, no position hold. |
| Acro |
Rate control, generally without automatic leveling; for experienced pilots. |
| AltHold |
Centered throttle holds altitude; horizontal motion remains pilot-controlled. |
| Sport |
Rate-style input with altitude control and configured limits. |
| FlowHold |
Uses optical flow to stop and hold without requiring a rangefinder; flow + rangefinder with Loiter is another integration option. |
Position Control
| Mode |
Description |
| Loiter |
Brakes and holds position after stick release. |
| PosHold |
More direct lean-angle input, followed by position hold on release. |
| Drift |
Coordinated-turn handling, not station keeping. |
| Brake |
Brakes and holds without normal stick maneuver commands. |
| Circle |
Circles a center; CIRCLE_RADIUS and CIRCLE_RATE apply. |
| Follow |
Follows a MAVLink target with FOLL_* offsets. |
| ZigZag |
Creates repeated passes using A / B points. |
Mission & Guidance
| Mode |
Description |
| Auto |
Executes an uploaded mission; start conditions depend on configuration. |
| Guided |
Accepts live commands from a GCS or companion computer. |
| Guided_NoGPS |
Accepts attitude / thrust-type commands rather than ordinary position guidance. |
Return & Landing
| Mode |
Description |
| RTL |
Returns according to RTL altitude, Home and landing settings; check clearance first. |
| SmartRTL |
Returns using a recorded path; not a complete obstacle-detection system. |
| Land |
Descends to land; position holding depends on estimator availability. |
| Auto RTL |
Uses mission landing sequences where supported; verify mission and firmware behavior. |
Special Modes
| Mode |
Description |
| AutoTune |
Automatically tests and tunes gains; requires a stable initial tune. |
| Throw / Flip |
Throw-launch / flip functions for suitable vehicles and conditions. |
| Turtle |
Rights an inverted vehicle using reverse motor thrust with compatible ESCs / firmware. |
| Avoid_ADSB |
Avoidance using ADS-B traffic information. |
| SystemID |
Injects excitation for response measurement; advanced testing. |
| Heli_Autorotate |
Autorotation-related mode for conventional helicopters, not standard multicopters. |
Saving AutoTune Results
To retain new gains, leave AutoTune enabled (or return to AutoTune), land and disarm. Disarming after leaving AutoTune can discard the new values. Confirm the saved-gains message and the procedure for the installed firmware.
Official AutoTune procedure
Official flight-mode overview
Official FlowHold guide
Mode Parameter Index
| Mode |
Source Parameters / Entry |
| Acro |
ACRO_RP_RATE / ACRO_Y_RATE |
| Sport |
ANGLE_MAX |
| Loiter |
LOIT_SPEED / LOIT_ACC_MAX |
| Circle |
CIRCLE_RADIUS / CIRCLE_RATE |
| Follow |
FOLL_* |
| RTL |
RTL_ALT / RTL_ALT_FINAL |
| SmartRTL |
SRTL_POINTS |
| Land |
LAND_SPEED / LAND_SPEED_HIGH |
| Auto RTL |
DO_LAND_START |
| Guided |
Mission Planner map right-click → Fly To Here |
The source’s RTL_ALT = 15 m, AutoTune duration about 5–15 min and Flip altitude example are source-specific, not cross-aircraft guarantees. Confirm hardware/firmware prerequisites for Throw, Flip, Turtle, ADSB, SystemID and autorotation in the corresponding official documentation.
Source document：Mission Planner V2 · PDF pages 27–29
Read Source Pages · Document Crosswalk and Differences
Category overview · All setup guides