Flight Modes

Flight Modes and Descriptions

Loiter

• Loiter mode is optimized for precise movements and to hold station in latitude, longitude, altitude, and heading.

• If the aircraft is moving and you release the joystick the aircraft will stop and hold station at the location the aircraft was at when you centered the joystick.

Position Hold

• Position Hold mode is optimized for larger movements compared with Loiter. The aircraft will hold station in latitude, longitude, altitude, and heading.

• If the aircraft is moving and you release the joystick the aircraft will decelerate and hold station at the location when the aircraft stops moving.

Return to Launch (RTL)

• This mode is recommended for normal landings and for landing after an autonomous mission.

• When activated, the aircraft automatically returns to its Launch position and lands. The Launch position is the original takeoff location of the aircraft.

CAUTION! The IF1200A automatically returns to the launch site as a failsafe when the battery voltage gets too low to continue flight; visually monitor the battery level in QGC and replace the battery conservatively to mitigate risk.

Selecting Flight Modes

HereLink (Blue & Black)

Controller Command	Flight Mode
A Button	Loiter
B Button	Position Hold
Home Button	Return to Launch (RTL)

Figure 1: Blue HereLink Controller button pane on bottom section of controller.

NOTE: The current flight mode is indicated in the top right corner of the QGC display (see Fig. 2 below)

Figure 2: HereLink Controller Flight Mode Display, upper right corner of QGC

Jeti DS-12

Controller Command	Location on Controller	Flight Mode
A Button	Top of three-way switch on upper-right of front panel.	Loiter
B Button	Mid-position of three-way switch on upper-right of front panel.	Position Hold
Home Button	Bottom position of three-way switch on upper-right of front panel.	Return to Launch (RTL)

Figure 3: Jeti DS-12 Controller upper righthand switch

NOTE: When the Mode Switch on the Jeti DS-12 is used to switch flight modes, the display on the ground control station updates to show the new flight mode.

FLIGHT MODE PROGRAMMING

Loiter, Position Hold & RTL flight modes are programmed by IFT to the 'A' , 'B' & 'Home' buttons on HereLink controllers. 'A' for Loiter , 'B' for Position Hold & 'Home' is for RTL.

DO NOT select the other flight modes in the drop-down menu on the HereLink controller.

IFT programs three flight modes: Loiter to 'A', Position Hold to 'B', RTL to the 'Home' button.