# Auto Modes

In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.

To use auto modes **all** the configuration/tuning steps in [Rover Configuration/Tuning](../config_rover/index.md) must be followed (from [Basic Setup](../config_rover/basic_setup.md) to [Position tuning](../config_rover/position_tuning.md)).

## Mission Mode

_Mission mode_ is an automatic mode that causes the vehicle to execute a predefined autonomous [mission plan](../flying/missions.md) that has been uploaded to the flight controller.
The mission is typically created and uploaded with a Ground Control Station (GCS) application, such as [QGroundControl](https://docs.qgroundcontrol.com/master/en/).

### Mission commands

The following commands can be used in missions at time of writing (PX4 v1.16):

| QGC mission item                      | Команда                                                                                                                        | Опис                                                              |
| ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |
| Mission start                         | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START)                  | Starts the mission.                               |
| Waypoint                              | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT)                    | Navigate to waypoint.                             |
| Return to launch                      | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH]                                                              | Return to the launch location.                    |
| Change speed                          | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED]                                                                         | Change the speed setpoint                                         |
| Set launch location                   | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME) | Changes launch location to specified coordinates. |
| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands)                                                                | Jump to specified mission item.                   |

[MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START
[MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT
[MAV_CMD_NAV_RETURN_TO_LAUNCH]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH
[MAV_CMD_DO_CHANGE_SPEED]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED
[MAV_CMD_DO_SET_HOME]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME
[MAV_CMD_DO_JUMP]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_JUMP

## Return Mode

The vehicle will return to the launch position.
Return mode can be activated through the respective [mission command](#mission-commands) or through the ground station UI.
