Flight modes define how much the autopilot assists you and how much direct control you have over the vehicle. In a fully manual mode, your stick inputs go straight to the motors with no autopilot stabilization. In a fully autonomous mode, you hand the vehicle over to PX4 entirely and it executes a mission or holds position without any stick input. Most real-world flying happens somewhere in between — in assisted modes where the autopilot handles stabilization and you focus on navigation.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
PX4 organizes flight modes into two high-level categories:- Manual modes — You control the vehicle using RC sticks or a joystick. The autopilot provides varying levels of assistance depending on the specific mode.
- Autonomous modes — The autopilot controls the vehicle. Pilot input is not required (though you can usually intervene by switching modes).
Not all modes are available on all vehicle types. Modes that require a GPS position estimate (such as Position, Mission, and Return) will not be available unless the vehicle has a valid GPS lock. PX4 will prevent you from switching into a mode until all required conditions are met.
Switching Between Modes
You configure flight mode switching in QGroundControl under Vehicle Setup > Flight Modes. You assign one or more RC transmitter switches to a mode channel, then map specific switch positions to specific modes. PX4 supports up to six flight modes on a single three-position switch, or you can combine multiple switches for more options.Multicopter Flight Modes
Multicopters (including helicopters) support the fullest set of flight modes in PX4 because their symmetric design makes hovering and position-holding straightforward.Manual and Assisted Modes
Position Mode (easiest, requires GPS)
Position Mode (easiest, requires GPS)
Position mode is the easiest and safest mode for most flying. When you push a stick, it controls the vehicle’s acceleration over the ground — similar to pressing a car’s accelerator pedal. When you release the sticks, the vehicle actively brakes, levels itself, and locks to its current 3D position, even in wind.
- Roll/pitch sticks → acceleration in the forward/back and left/right directions
- Yaw stick → horizontal rotation
- Throttle stick → ascent and descent speed
- Sticks centered → vehicle brakes and holds its 3D position
Position Slow Mode (requires GPS)
Position Slow Mode (requires GPS)
Position Slow mode is a velocity- and yaw-rate-limited version of Position mode. It is primarily used when flying near obstacles or when regulations require reduced speed. The stick behavior is identical to Position mode, but maximum speeds are capped.
Altitude Mode (no GPS required)
Altitude Mode (no GPS required)
Altitude mode is the easiest mode that does not require GPS. The vehicle maintains its current altitude when sticks are released and levels its attitude, but it does not brake horizontally or hold its position. The vehicle will drift with wind and continue moving with its current momentum.
- Roll/pitch sticks → direct tilt angle control (vehicle moves and drifts)
- Throttle stick → ascent and descent speed
- Sticks centered → vehicle levels and holds altitude, drifts horizontally
Stabilized Mode
Stabilized Mode
Stabilized mode (also shown as “Manual” in some GCS views) keeps the vehicle level when you release the sticks, but does not control altitude or position. The vehicle will continue to move with its momentum, and both altitude and horizontal position will be affected by wind.
- Roll/pitch sticks → vehicle tilt angle
- Throttle stick → direct throttle control (not altitude)
- Sticks centered → vehicle levels, but continues to drift and descend/ascend based on throttle
Altitude Cruise Mode
Altitude Cruise Mode
Altitude Cruise mode behaves like Altitude mode, with one key difference: releasing the roll and pitch sticks does not level the vehicle — it keeps its current tilt until you give further input. It is also possible to disable the manual control failsafe for this mode, allowing the vehicle to continue on its set path even if RC signal is temporarily lost (requires a stable data link to the GCS).
Acro Mode (advanced)
Acro Mode (advanced)
Acro mode is a fully manual acrobatic mode for rolls, flips, and other maneuvers. Your sticks control the rotation rate around each axis. When you center the sticks, the vehicle stops rotating but stays in whatever orientation it is in — upside down, on its side, etc. There is no automatic leveling.Not recommended unless you are an experienced pilot or flying in a simulator first.
Autonomous Modes
Hold (Loiter)
Hold (Loiter)
The vehicle stops and hovers at its current position and altitude, actively fighting wind and other disturbances. Use Hold mode to pause a mission, regroup, or regain situational awareness. Requires GPS.
Return (RTL)
Return (RTL)
The vehicle climbs to a safe altitude, flies a direct path to a safe location (the home point set at arming, or a designated rally point), and then lands. Return mode is also triggered automatically by several failsafe conditions, such as RC signal loss or low battery. Requires GPS.
Mission
Mission
The vehicle executes a pre-programmed waypoint mission uploaded to the flight controller via QGroundControl. The mission can include takeoff, waypoints, loiter points, payload triggers, and landing. Requires GPS.
Takeoff
Takeoff
The vehicle takes off vertically to a configured altitude and then switches to Hold mode. Use Takeoff mode to initiate an automated departure without manual throttle control.
Land
Land
The vehicle lands immediately at its current position. The descent rate and final approach behavior are configurable.
Orbit
Orbit
The vehicle flies in a horizontal circle around a fixed point, continuously yawing to face the center. You can optionally use RC sticks to adjust orbit radius, direction, and speed in real time. Useful for cinematic photography or inspecting a structure. Requires GPS.
Follow Me
Follow Me
The vehicle follows a moving target (typically a GCS device running QGroundControl with location sharing enabled) that provides real-time position setpoints. RC control can optionally adjust the follow offset and altitude. Requires GPS.
Offboard
Offboard
The vehicle obeys position, velocity, or attitude setpoints sent in real time via MAVLink or ROS 2, typically from a companion computer. Offboard mode is the foundation for custom autonomy stacks. If the offboard data stream is interrupted, the vehicle triggers a failsafe.
Fixed-Wing Flight Modes
Fixed-wing aircraft cannot hover, so their flight modes are tuned for forward flight, turns, and coordinated climb/descent.Manual and Assisted Modes
| Mode | Description |
|---|---|
| Position | Easiest fixed-wing mode with GPS. Roll stick controls bank angle for coordinated turns; pitch stick controls climb/descent rate. When sticks are released, the vehicle levels out and holds a straight course, even against wind. Airspeed is controlled automatically if an airspeed sensor is fitted. |
| Altitude | Like Position mode but without automatic course holding. You directly control the roll angle. Altitude and airspeed are managed by the autopilot. |
| Stabilized | You directly command roll and pitch angles. The autopilot handles turn coordination but not altitude or airspeed. Throttle is set directly by the pilot. |
| Acro | Sticks control angular rotation rates on all axes. Full manual acrobatic control with no stabilization assistance. |
| Manual | The hardest mode. Stick inputs go directly to the control surfaces with no sensor feedback or stabilization. Suitable only for experienced pilots or specific testing scenarios. |
Autonomous Modes
| Mode | Description |
|---|---|
| Hold | The vehicle circles around a GPS hold point at the current altitude. Used to pause a mission or regain control in an emergency. |
| Return | The vehicle flies a clear path to land at a safe location, defaulting to the mission landing pattern. Can be triggered manually or automatically by a failsafe. |
| Mission | The vehicle executes a pre-programmed mission uploaded to the flight controller. Supports catapult/hand-launch takeoff sequences and a coordinated landing pattern. |
| Takeoff | Initiates the takeoff sequence using either catapult/hand-launch mode or runway takeoff mode in the current heading direction. |
| Land | Initiates the fixed-wing landing sequence. |
| Offboard | The vehicle obeys attitude setpoints sent via MAVLink or ROS 2. |
All autonomous fixed-wing modes require a valid GPS position estimate. If an airspeed sensor is installed, PX4 actively controls airspeed in all autonomous modes.
Key Differences: Multicopter vs. Fixed-Wing
| Aspect | Multicopter | Fixed-Wing |
|---|---|---|
| Hover | Native capability | Not possible |
| Position hold | Full 3D position hold | Circles around a GPS point |
| Altitude mode | Holds altitude, drifts horizontally | Holds altitude and manages airspeed |
| Acro | Rate control with full 3D freedom | Rate control; stalls are a real risk |
| Takeoff | Vertical takeoff | Runway or catapult/hand-launch |
| Landing | Descend in place | Coordinated approach and landing pattern |
| Return mode | Fly to home and land vertically | Fly to mission landing pattern |
Mode Availability Summary
The table below summarizes which modes require GPS, which are available without it, and which apply to both vehicle types.| Mode | GPS Required | Multicopter | Fixed-Wing |
|---|---|---|---|
| Stabilized | No | Yes | Yes |
| Altitude | No | Yes | Yes |
| Acro | No | Yes | Yes |
| Manual | No | — | Yes |
| Position | Yes | Yes | Yes |
| Hold | Yes | Yes | Yes |
| Return | Yes | Yes | Yes |
| Mission | Yes | Yes | Yes |
| Takeoff | Yes | Yes | Yes |
| Land | Yes | Yes | Yes |
| Orbit | Yes | Yes | — |
| Follow Me | Yes | Yes | — |
| Offboard | No* | Yes | Yes |
Recommended Mode Progression
If you are new to PX4, use this progression to build confidence before moving to more demanding modes:Start in Position mode (simulator)
Use the PX4 SITL simulator with QGroundControl to practice Position mode before flying real hardware. Get comfortable with stick response, hover, and landing.
Fly Position mode on real hardware
Your first outdoor flights should be in Position mode with GPS lock confirmed. Practice hovering, gentle translations, and manual landing.
Try Altitude mode
Switch to Altitude mode to learn how the vehicle behaves without horizontal position hold. This prepares you for environments where GPS is unavailable.
Practice Return and Mission modes
Configure a Return home point and test the Return mode at a safe altitude. Then build a simple two-waypoint mission and execute it in Mission mode.