> For the complete documentation index, see [llms.txt](https://docs.inspiredflight.com/inspired-documentation/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.inspiredflight.com/inspired-documentation/products/ground-control-stations/herelink.md).

# Herelink

## Herelink Specifications

*Additional information for the Blue and Black versions of this hand controller can be found online at the links below.*

**Herelink Blue:**  <https://docs.nwblue.com/nw-blue/products/herelink-blue>

**Herelink Black:**  <https://docs.cubepilot.org/user-guides/herelink/herelink-overview>

***

### 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**. &#x20;

{% hint style="warning" %}
DO NOT select the other flight modes in the drop-down menu on the HereLink controller.
{% endhint %}

<figure><img src="/files/UIG5JS9J3kbIfqo8RGGN" alt="" width="109"><figcaption><p>IFT programs the Herelink to use three flight modes: Loiter to 'A', Position Hold to 'B', RTL to the 'Home' button.</p></figcaption></figure>

***

## Charging and Payload Use

* The Herelink hand controller has an internal battery which can be charged via a micro USB port on the bottom of the unit.

{% hint style="success" %}
NOTE: The Herelink hand controller can be used while it is being charged.&#x20;
{% endhint %}

{% hint style="info" %}
NOTE: Controller commands can vary based on payload integration. See [Payloads](/inspired-documentation/products/payloads.md) sections for more information.
{% endhint %}