# IF1200A Flight Modes

## Flight Modes and Descriptions

{% tabs %}
{% tab title="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**. 
  {% endtab %}

{% tab title="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**.
  {% endtab %}

{% tab title="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.*
  {% endtab %}
  {% endtabs %}

{% hint style="danger" %}
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.
{% endhint %}

## Selecting Flight Modes

{% tabs %}
{% tab title="HereLink (Blue & Black)" %}

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

<figure><img src="https://240141666-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FhMePZ0UIa6VYv9VbYu4u%2Fuploads%2FBBWHadGfwQ7Ejfsg9Yd8%2Fimage.png?alt=media&#x26;token=b888a4d4-1e6e-4f5e-ab7d-a4f0e9fbdf62" alt=""><figcaption><p>Figure 1: Blue HereLink Controller button pane on bottom section of controller.</p></figcaption></figure>

{% hint style="info" %}
NOTE: The current flight mode is indicated in the top right corner of the QGC display (see *Fig. 2* below)
{% endhint %}

<figure><img src="https://lh3.googleusercontent.com/Rmk-WVIvDb4-DTsk_ZXMDzdt36Q0El7E0Zb-YQlQsxu59R56q-oGtHX40gqsy_OE5BlobL_36wZbO677cFbHl4TwLI500XQbGixY8TFXruFOjrOsQW64a-Q-WtvuHPbkHf7ma51rYFljpkJZ65SlcJ4OjJFyAbOCjoT-Jjlqihx4zzXY7KVnm-iuR-HJrA" alt=""><figcaption><p>Figure 2: HereLink Controller Flight Mode Display, upper right corner of QGC</p></figcaption></figure>
{% endtab %}

{% tab title="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><img src="https://lh5.googleusercontent.com/4ifentE8sGGdpwiDxOUiZAY63n76QwvJPvlj5t0dQ5GvEwKnMiDTbNl1CpoggNFLhhhdHfsANwLAv4dDDH8CXLN6zNbtgQsq0oS9sk-me4Qh2JqagpMczjBvILwHRPMXQ2TeZd-feO7qSjlpZFd0bFlIl3ulawq70j2P3VvszQY2dr6j8mkdrN3ndXKVIA" alt=""><figcaption><p> Figure 3: Jeti DS-12 Controller upper righthand switch</p></figcaption></figure>

{% hint style="info" %}
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.
{% endhint %}
{% endtab %}
{% endtabs %}

&#x20;               &#x20;

### Herelink Flight Mode Drop Down Menu&#x20;

{% hint style="warning" %}
DO NOT select the other flight modes in the Drop-Down Menu on the HereLink controller. &#x20;
{% endhint %}

<figure><img src="https://240141666-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FhMePZ0UIa6VYv9VbYu4u%2Fuploads%2F5N5DC0PP2usXGodRv9Ma%2FFlight_Modes.jpg?alt=media&#x26;token=5134641b-01e6-42ff-9c82-a91557134af1" alt="" width="217"><figcaption><p>IFT programs three flight modes: Loiter to 'A', Position Hold to 'B', RTL to the 'Home' button.</p></figcaption></figure>