Land Mode
The Land flight mode causes the vehicle to land at the position where the mode was engaged.
- This mode requires a valid position estimate unless the mode is entered due to a failsafe, in which case only altitude is required (typically a barometer is built into the flight controller).
- This mode is automatic (RC control is disabled by default except to change modes).
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 until it hits the ground.
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. By default this is 0 (vehicle will not auto-disarm after landing). |
Fixed Wing (FW)
The vehicle will turn and lands at the location at which the mode was engaged. Fixed wing landing logic and parameters are explained in the topic: Landing (Fixed Wing).
Often a FW vehicle will follow a fixed landing trajectory to ground (it will not attempt a flared landing). This is because in LAND mode the vehicle may not know ground altitude and will assume it is at sea level. As ground level may be much higher, a vehicle will often reach the ground at an altitude above where flare logic would be engaged.
Landing is affected by the following parameters (also see Landing (Fixed Wing)):
| Parameter | Description |
|---|---|
| COM_DISARM_LAND | Time-out for auto disarm after landing. By default this is 0 (vehicle will not auto-disarm after 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.