{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/3967","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/3967/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/3967/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/3967/events","html_url":"https://github.com/PX4/Firmware/issues/3967","id":139753797,"number":3967,"title":"Proposal: FLIGHT MODES","user":{"login":"tubeme","id":12617619,"avatar_url":"https://avatars.githubusercontent.com/u/12617619?v=3","gravatar_id":"","url":"https://api.github.com/users/tubeme","html_url":"https://github.com/tubeme","followers_url":"https://api.github.com/users/tubeme/followers","following_url":"https://api.github.com/users/tubeme/following{/other_user}","gists_url":"https://api.github.com/users/tubeme/gists{/gist_id}","starred_url":"https://api.github.com/users/tubeme/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tubeme/subscriptions","organizations_url":"https://api.github.com/users/tubeme/orgs","repos_url":"https://api.github.com/users/tubeme/repos","events_url":"https://api.github.com/users/tubeme/events{/privacy}","received_events_url":"https://api.github.com/users/tubeme/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2016-03-10T01:27:13Z","updated_at":"2016-03-10T11:24:09Z","closed_at":null,"body":"Hello everybody,\r\n\r\nI'm thinking how to explain the modes in the users manual with icon graphics since last week. And I try find a way to explain it to a person that does not have any knowledge on drones. And believe me I cannot figure it out how to do it. I think the system will become monster with thousand of modes and sub modes and sub modes and yes for me that is very good but for the novice it is not.\r\n\r\nThere is no Acro mode for fixed wing in the users manual. Actually Manual in FW = Stabilized flight, while we have to switch to Acro in order to have real Manual Flight. \r\nHer is what it is now:\r\n\r\nMANUAL\r\nFixed wing aircraft/ rovers / boats: The pilot's control inputs are passed directly to the output mixer.\r\n\r\nMultirotors:\r\n\r\nACRO: The pilot's inputs are passed as roll, pitch, and yaw rate commands to the autopilot. This allows the multirotor to become completely inverted. Throttle is passed directly to the output mixer\r\nRATTITUDE The pilot's inputs are passed as roll, pitch, and yaw rate commands to the autopilot if they are greater than the mode's threshold. If not the inputs are passed as roll and pitch angle commands and a yaw rate command. Throttle is passed directly to the output mixer.\r\nANGLE The pilot's inputs are passed as roll and pitch angle commands and a yaw rate command. Throttle is passed directly to the output mixer.\r\n\r\nWhich is not exactly what it is.\r\n\r\nIt is very perplexing and always overwhelming for the novice. So now my question is what is the default mode in Manual for the multicopters? If I don't program acro switch neither rat switch what is the mode i'm in? In FW I'm in Manual Stabilized flight if I don't have Acro switch.\r\n\r\nI think that the current system of naming the modes is very contradictory thus hard to understand.\r\n\r\nWhat is Assisted Flight? is it manual or auto mode?? In terms of user experience Assisted flight is Auto mode as well, because the computer automatically does things for me.\r\n\r\nSo when you have to understand the difference between Assisted mode and Auto mode you get confused because you perceive both as Auto modes, and they are in reality auto modes.\r\n\r\nThere should be simpler system for the modes convention and naming and explanation. I don't say change in the functioning and features but how they are called explained and experienced. Ease of use = larger user base. You can make a very complex system work in two ways, simple way and complex way depending on the user needs and experience.\r\n\r\nSo here is a simpler way of doing it:\r\n\r\n**Manual** (without sub-mode switch, ie without Acro,Rat, Angle switch)\r\n\r\nFor all vehicles the default function should be Manual Stabalized. This way Manual = Stabalized and all sub-modes of Manual are not mandatory.\r\n\r\n**Assisted**\r\n\r\nIn Assisted the default should be POSCTL by default. I never ever needed ALTCTL never used it nor i needed it. So ALTCTL can be invoked by missing GPS or other pos data, or if I have a sub-mode - posctl switch and I mandatory switch it to ALTCTL.\r\n\r\n**Mission**\r\n\r\nIt is pretty explanatory. Just start mission execution.\r\n\r\nAUTO_LOITER - should become just **LOITER**. It is my first line of defense, it is my yellow distress call. Especially if I'm beginner. I use it if I have to pause and take a breath in a situation, and then continue on. It is actually a PUSE button. So It should work in all modes! even in the Acro modes. (You can fly acro and still have GPS lock or pos data.)\r\n\r\nAUTO_RTL should become **RTL**. It is my distress red call so you cannot make it as a sub-mode of Auto!!! Usually when i hit RTL I'm desperate... something is happening. It should work from every mode. Now it works from the assisted modes if GPS lock and from Auto mode and why is it then in Auto when it works from both Auto and Assisted?\r\n\r\nThat's it plain and simple. We have Mode switch with 3 modes Man / Ass / Miss, Manual switch, Assisted switch, Loiter Switch and RTL switch if I'm advanced.\r\n\r\nIf I'm novice I set Mode switch with 3 modes Man / Ass / Miss. And I can set up either RTL and Loiter switches or make an Emergency 3 pos switch with LOITER in the middle position as a first line of defense and RTL in on position as a second line of defense.\r\n\r\nThis way as a novice I will have just two switches. And with this two switches with the default sub-modes I gave above I will have pretty much all that I need from my drone being FW, Multi or VTOL. For the VTOL we have just Transition switch.\r\n\r\nAnd also the modes should be consistent throughout the vehicles.\r\n\r\nNow for the VTOL they are not!!!\r\n\r\nThe main success of DJI is not because of their machines but because of their simple 3 MODES for flight and you notice it the moment you get the white minimalist RC or program their Naza or A2.\r\nGPS, Manual = Stabalized, , RTH. You need nothing more in 80-90% of the situations.\r\n\r\nSee their default mode is the GPS one! We wait a little for the GPS lock before flight, but it is not a problem neither for work neither for pleasure flying. If you have an urgent need to take off without GPS or you are in closed space, then you switch to Manual.\r\n\r\nOf course Loiter is mandatory for the Airplanes. But for Multicopters you don't even need Loiter because POSCTL is the same as loiter in terms of dynamics. The only difference is the gimbals does not work in Loiter vs POSCTL.\r\n\r\nI wrote this just to provoke discussion. I will start working on Flight Mode explanation in the Users Manual and will show you what I have in mind."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/194799536","html_url":"https://github.com/PX4/Firmware/issues/3967#issuecomment-194799536","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/3967","id":194799536,"user":{"login":"tubeme","id":12617619,"avatar_url":"https://avatars.githubusercontent.com/u/12617619?v=3","gravatar_id":"","url":"https://api.github.com/users/tubeme","html_url":"https://github.com/tubeme","followers_url":"https://api.github.com/users/tubeme/followers","following_url":"https://api.github.com/users/tubeme/following{/other_user}","gists_url":"https://api.github.com/users/tubeme/gists{/gist_id}","starred_url":"https://api.github.com/users/tubeme/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tubeme/subscriptions","organizations_url":"https://api.github.com/users/tubeme/orgs","repos_url":"https://api.github.com/users/tubeme/repos","events_url":"https://api.github.com/users/tubeme/events{/privacy}","received_events_url":"https://api.github.com/users/tubeme/received_events","type":"User","site_admin":false},"created_at":"2016-03-10T11:24:09Z","updated_at":"2016-03-10T11:24:09Z","body":"Sorry for the mess. I first posted this in https://github.com/PX4/Devguide/issues/67\r\nThen I created this issue.\r\n\r\nI made mistake in the modes explanations for the DJI which @GervaisK corrected in this post:\r\n\r\nhttps://github.com/PX4/Devguide/issues/67\r\n\r\nAnother provoking question.\r\n\r\nWhy I'm not able to arm in Acro or Assited mode?"}}