Position Mode
Landing in position mode uses the same altitude control as in Altitude mode, but additionally
will control the position. This can be useful as it will fight the wind and drift automatically,
but the aircraft may maintain a pitch and roll to do so, requiring care to avoid a prop strike
on the ground or a tipover when using narrow landing gear. As the aircraft nears the ground,
the maximum angle will be reduced to prevent large scale reactions to stick moments, but
the operator should keep pitch and roll motions to a minimum when near the ground. Once
the aircraft is on the ground, bring throttle stick to minimum, and then switch to manual
mode and disarm. The aircraft will automatically disarm after 5 seconds if left running
Autoland Mode
It is possible to command the aircraft to autoland, as described above. It is not
recommended in cases other than failsafe, or after careful testing. Autoland is not as precise
as a human pilot, and certain payload combinations can result in tipovers or bouncing. Tall,
narrow landing gear is particularly susceptible to tipover on autoland in high winds.
{% hint style="danger" %} If the aircraft tips over with the props running, ALWAYS power
cycle the aircraft before attempting takeoff again. If the motors or props hit the ground,
they may not start on next arm and cause it to tip again. {% endhint %}
Important Parameters
Parameter
Function
MPC_THR_HOVER
Controls the throttle setpoint required for hovering. This depends
on the weight of the aircraft, and is about 29% for no payload.
Default is 40% for a 15lb payload. Setting this parameter
correctly will eliminate drops or climbs when switching between
manual and either altitude or position mode with the throttle
stick at 50%.
BOOM(1-4)_COLOR
Controls the color of each boom LED.
