PX4 flight modes define how the autopilot responds to pilot input and how much control it assumes over the vehicle. Every mode sits somewhere on a spectrum — from full manual control where the pilot manages every axis, to fully autonomous operation where the flight controller executes a pre-planned mission without any stick input. Understanding this spectrum is the first step to flying PX4 vehicles safely and effectively. PX4 organizes flight modes into three broad categories: manual modes where the pilot has direct control, assisted modes where the autopilot stabilizes or holds position while the pilot steers, and autonomous modes where the autopilot flies the vehicle with little or no pilot input.Documentation Index
Fetch the complete documentation index at: https://mintlify.com/PX4/PX4-Autopilot/llms.txt
Use this file to discover all available pages before exploring further.
Mode categories
Manual modes
Manual modes pass stick inputs directly or near-directly to the vehicle’s actuators. The autopilot provides minimal intervention.| Mode | Vehicle | RC required | GPS required | Description |
|---|---|---|---|---|
| Stabilized | Multicopter | Yes | No | Autopilot levels the vehicle when sticks are centered; no altitude or position hold |
| Acro | Multicopter | Yes | No | Rate control only — sticks command angular rotation rates; no attitude leveling |
| Manual | Fixed-wing | Yes | No | Direct pass-through to control surfaces with stabilization disabled |
| Stabilized | Fixed-wing | Yes | No | Attitude stabilization with direct throttle control |
Assisted modes
Assisted modes use sensors to hold altitude, position, or both, while the pilot retains directional control via sticks.| Mode | Vehicle | RC required | GPS required | Description |
|---|---|---|---|---|
| Altitude | Multicopter | Yes | No | Holds altitude using barometer; horizontal position drifts with wind |
| Position | Multicopter | Yes | Yes | Holds 3D position against wind; sticks command acceleration |
| Altitude | Fixed-wing | Yes | No | Holds altitude; pilot controls heading and throttle |
| Position | Fixed-wing | Yes | Yes | Holds altitude and heading; GPS-assisted |
Autonomous modes
Autonomous modes require no stick input to maintain flight. The autopilot manages navigation, altitude, and heading.| Mode | Vehicle | RC required | GPS required | Description |
|---|---|---|---|---|
| Mission | All | No | Yes | Executes a pre-uploaded waypoint mission |
| Hold | All | No | Yes | Hovers or circles at the current position |
| Return | All | No | Yes | Navigates to home position and lands |
| Takeoff | All | No | Yes | Vertical takeoff to a safe altitude, then holds |
| Land | All | No | No | Descends and lands at the current position |
| Offboard | All | No | Depends on setpoint | External controller sends position, velocity, or attitude setpoints via MAVLink or ROS 2 |
| Follow Me | Multicopter | No | Yes | Tracks a beacon or GCS position |
| Orbit | Multicopter | Optional | Yes | Circles a fixed point; RC can adjust radius and speed |
RC control is not strictly required for autonomous modes at the hardware level, but it is strongly recommended as a safety override. You can regain control in most autonomous modes by moving the RC sticks above the
COM_RC_STICK_OV threshold.Sensor requirements summary
- GPS modes
- Non-GPS modes
Modes that require a global position estimate (GPS or equivalent) include Position, Mission, Hold, Return, Orbit, Follow Me, and Offboard (when using position setpoints).GPS lock is indicated by a solid satellite icon in QGroundControl. PX4 will refuse to arm or switch into GPS-dependent modes if the position estimate quality falls below the configured threshold.
Choosing a mode
Which mode should a new pilot use first?
Which mode should a new pilot use first?
Start with Position mode if you have GPS lock. It is the safest assisted mode: releasing the sticks stops the vehicle and locks it in 3D space. If GPS is unavailable, use Altitude mode — it holds altitude but not horizontal position, so you still need to counter wind drift manually.
When should I use Mission mode?
When should I use Mission mode?
Use Mission mode for repeatable autonomous flights such as surveys, inspections, or delivery routes. You plan the mission in QGroundControl, upload it before flight, and then activate Mission mode to execute it. Always verify geofence boundaries before takeoff.
When is Offboard mode appropriate?
When is Offboard mode appropriate?
Use Offboard mode when an onboard computer or external system (ROS 2 node, MAVSDK application) needs to send real-time setpoints to PX4. It is intended for research, advanced autonomy, and custom automation. It requires continuous heartbeat messages and robust failsafe planning.
What is the difference between Stabilized and Acro?
What is the difference between Stabilized and Acro?
In Stabilized mode, stick deflection commands an attitude angle — release the sticks and the vehicle levels itself. In Acro mode, stick deflection commands a rotation rate — release the sticks and the vehicle stops rotating but holds whatever orientation it reached. Acro requires an experienced pilot.
Detailed mode pages
Manual and Stabilized Modes
Covers Stabilized, Acro, and Manual modes. Explains stick input behavior and autopilot intervention levels for multicopters and fixed-wing vehicles.
Position and Altitude Hold
Covers Position mode and Altitude mode. Explains GPS hold, barometer-based altitude stabilization, key parameters, and first-flight guidance.
Autonomous Mission Mode
Covers waypoint navigation, mission planning in QGroundControl, mission item types, geofence configuration, and execution behavior.
Offboard Mode
Covers external control via MAVLink and ROS 2, setpoint types, heartbeat requirements, failsafe configuration, and safety considerations.