Land Mode¶
The Land flight mode causes the vehicle to land at the position where the mode was engaged. After landing, vehicles will disarm after a short timeout (by default).
:::note
- This mode requires a valid global position estimate (from GPS or inferred from a local position).
- In a failsafe the mode only requires altitude (typically a barometer is built into the flight controller).
- This mode is automatic - no user intervention is required to control the vehicle.
- RC control switches can be used to change flight modes on any vehicle.
- RC stick movement in a multicopter (or VTOL in multicopter mode) will by default change the vehicle to Position mode unless handling a critical battery failsafe.
- The mode can be triggered using the MAV_CMD_DO_LAND_START MAVLink command, or by explicitly switching to Land mode.
:::
The specific behaviour for each vehicle type is described below.
Multi-Copter (MC)¶
The vehicle will land at the location at which the mode was engaged. The vehicle descends at the rate specified in MPC_LAND_SPEED and will disarm after landing (by default).
RC stick movement will change the vehicle to Position mode (by default).
Landing is affected by the following parameters:
| Parameter | Description |
|---|---|
| MPC_LAND_SPEED | The rate of descent during landing. This should be kept fairly low as the ground conditions are not known. |
| COM_DISARM_LAND | Time-out for auto disarm after landing, in seconds. If set to -1 the vehicle will not disarm on landing. |
| COM_RC_OVERRIDE | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to Position mode. This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. |
| COM_RC_STICK_OV | The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled). |
Fixed-wing (FW)¶
:::warning Fixed-wing Land mode is currently broken: PX4-Autopilot/pull/21036. (Specifically, switching to Land mode causes a fly-away.)
Automated landing in missions is supported: Mission mode > Fixed wing mission landing. :::
VTOL¶
A VTOL follows the LAND behavior and parameters of Fixed Wing when in FW mode, and of Multicopter when in MC mode. When NAV_FORCE_VT is set (default: on) a VTOL in FW mode will transition back to MC just before landing.