# Taking Off & Landing (RTL Modes) {% embed url="" %} IF800 Takeoff and Landing {% endembed %} ### Takeoff

STEP	ACTION
1	Verify each item on the Pre-flight Checklist.
2	Arm the aircraft by bringing the left joystick stick down and towards the right. The motors start spinning in an idle state.
3	Takeoff by slowly raising the throttle (left joystick). The throttle must be raised above the midpoint. Continue raising the throttle and the aircraft will take off.

{% hint style="danger" %} CAUTION: If the aircraft begins to tip over on takeoff, immediately lower the throttle and disarm. This can occur if a propeller is installed on the wrong motor, or the propellers are not completely unfolded prior to flight. {% endhint %} ### Landing in Loiter or Position Hold Mode

STEP	ACTION
NOTE	Be sure the landing site is level and clear of obstructions.
1	If the takeoff and landing locations are the same, the aircraft slows itself before landing. If the aircraft is landing at a location where the elevation is different from takeoff, reduce throttle on landing.
2	Lower the throttle completely until the aircraft has landed.
3	Disarm the aircraft by holding the left stick straight down & holding until the props stop.

### Landing in Return to Launch Mode (RTL)

STEP	ACTION
1	The launch location is automatically set before takeoff. Select a Launch location that is level and clear of obstructions for landing. The aircraft will autonomously return to the takeoff location and slowly descend.
2	If the aircraft is not positioned exactly over the landing pad, use the joysticks to reposition it.
3	Disarm the aircraft by holding the left stick straight down & holding until the props stop.

{% hint style="danger" %} By default the IF800 has an RTL Altitude of 30 meters (100 ft.). This value may be changed by the pilot / previous pilots, so be sure to check the Safety Tab in "Vehicle Setup" to adjust RTL Altitude. If using "Return at Current Altitude", note that the aircraft will not follow terrain upon returning, but **will return at a constant altitude** to the landing location. It is important to always be mindful of the RTL behavior in the event of a failsafe or RTL command. {% endhint %} Return to Home & Land (RTL, AKA Return to Launch) is an automated flight mode that when enabled, will command the aircraft to navigate the IF800 from its current position directly to the home point (usually the takeoff launch point, if not manually set to a different position), land, and then disarm. No pilot input is needed for RTL, other than initiation. Users can adjust the RTL Altitude prior to takeoff. RTL Altitude defines the minimum altitude that the aircraft needs to be at during RTL. The IF800 will climb to this altitude or stay at its current altitude if it is already higher than the RTL Altitude. Pilots should assess the area of operation for tall obstacles and adjust this parameter as needed. It is also possible to adjust the RTL Speed and Land Speed. For safety it is recommended to leave these at their factory settings to maintain quick and efficient RTL times. **Smart RTL** is an automated flight mode that when enabled, will command the aircraft to navigate the IF800 from its current position to the home point and land by retracing the flight path used to get it to its current location. It is recommended to use Smart RTL when navigating in an area with very tall objects (example: a building or tower taller than 400ft), in order to prevent a scenario where the aircraft might navigate towards that tall object in RTL due to it being between the aircraft and the Home Point. In addition to retracing its path, the aircraft will fly back using the same speed setpoints it was commanded earlier in flight. {% hint style="warning" %} **Smart RTL** will always take longer than the standard RTL mode. It is not recommended to do a full Smart RTL when the battery percentage is less than 60%, as it will usually take just as much battery to return as it did to get to its current location. Users can also switch from Smart RTL to RTL once it is clear that obstacles no longer present a navigable hazard. {% endhint %} {% hint style="warning" %} To disengage **RTL** or **Smart RTL** and re-enter manual control, press either the “A” or “B” buttons on the HereLink or select “Loiter” or “Position Hold” flight mode in IGC. {% endhint %} --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.inspiredflight.com/inspired-documentation/products/aircraft/if800-tomcat/operating-the-aircraft/taking-off-and-landing-rtl-modes.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.