Flight Mode Mapping
ArduPilot supports a wide range of flight modes, each designed to provide specific control characteristics and automation features for different flight scenarios. The following tables outline the mapping between flight mode values and their corresponding meanings for both Plane and Copter firmware.
Flight Mode Mapping for Plane
The table below lists the available flight modes for ArduPilot Plane, along with their associated numeric values and descriptions:
Flight mode mapping - plane
| Value | Meaning |
|---|---|
0 | Manual |
1 | CIRCLE |
2 | STABILIZE |
3 | TRAINING |
4 | ACRO |
5 | FBWA |
6 | FBWB |
7 | CRUISE |
8 | AUTOTUNE |
9 | Auto |
10 | RTL |
11 | Loiter |
12 | TAKEOFF |
13 | AVOID_ADSB |
14 | Guided |
15 | QSTABILIZE |
16 | QHOVER |
17 | QLOITER |
18 | QLAND |
19 | QLOITER |
20 | QLAND |
21 | QRTL |
22 | QAUTOTUNE |
23 | QACRO |
24 | THERMAL |
25 | Loiter to QLand |
Flight Mode Mapping for Copter
The following table shows the flight mode mapping for ArduPilot Copter, indicating each mode’s numeric value and its meaning.
Flight mode mapping - copter
| Value | Meaning |
|---|---|
0 | Stabilize |
1 | Acro |
2 | AltHold |
3 | Auto |
4 | Guided |
5 | Loiter |
6 | RTL |
7 | Circle |
9 | Land |
11 | Drift |
13 | Sport |
14 | Flip |
15 | AutoTune |
16 | PosHold |
17 | Brake |
18 | Throw |
19 | Avoid_ADSB |
20 | Guided_NoGPS |
21 | Smart_RTL |
22 | FlowHold |
23 | Follow |
24 | ZigZag |
25 | SystemID |
26 | Heli_Autorotate |
27 | Auto RTL |
28 | Turtle |
