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Hamish Willee
2025-06-25 13:03:46 +10:00
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docs/en/flight_modes_rover/auto.md
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# 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.
For the tuning process see the configuration for [Auto modes](../config_rover/position_tuning.md).
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.html) to [Position tuning](../config_rover/position_tuning.md)).
## Mission Mode
docs/en/flight_modes_rover/index.md
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| Mode | Description |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [Manual](manual.md#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (This makes it feel more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (Protects against roll over). |
| [Stabilized](manual.md#stabilized-mode) | + Maintans the yaw (This makes it significantly better at holding a straight line). |
| [Position](manual.md#position-mode) | + Maintains the course (Best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (feels more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (protects against roll over). |
| [Stabilized](manual.md#stabilized-mode) | + Maintains the yaw (significantly better at holding a straight line). |
| [Position](manual.md#position-mode) | + Maintains the course (best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
## Auto Modes
| Mode | Description |
| ------------------------------- | ------------------------------------------------------------------------- |
| [Mission](auto.md#mission-mode) | Automatic mode that causes the vehicle to execute a predefined autonomous |
| [Return](auto.md#return-mode) | Automatic mode that returns the vehicle to the launch position |
| Mode | Description |
| ------------------------------- | ----------------------------------------------------------------------- |
| [Mission](auto.md#mission-mode) | Automatic mode that causes the vehicle to execute a predefined mission. |
| [Return](auto.md#return-mode) | Automatic mode that returns the vehicle to the launch position. |
docs/en/flight_modes_rover/manual.md
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The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Ackermann | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling steering angle ([Manual mode](#manual-mode)) or yaw rate ([Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode))). |
| Differential | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling speed difference ([Manual mode](#manual-mode)) or yaw rate ([Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode))). |
| Mecanum | Drive the rover forwards/backwards (controlling speed) | Make a left/right turn (controlling speed difference ([Manual mode](#manual-mode)) or yaw rate ([Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode))). | Drive the rover left/right (controlling speed) |
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | ------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Ackermann | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling steering angle in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
| Differential | Drive the rover forwards/backwards (controlling speed). | - | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
| Mecanum | Drive the rover forwards/backwards (controlling speed) | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). | Drive the rover left/right (controlling speed). |
The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.
| Mode | Features |
| ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [Manual](#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
| [Acro](#acro-mode) | + Maintains the yaw rate (This makes it feel more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (Protects against roll over). |
| [Stabilized](#stabilized-mode) | + Maintans the yaw (This makes it significantly better at holding a straight line). |
| [Position](#position-mode) | + Maintains the course (Best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
| Mode | Description |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [Manual](manual.md#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (feels more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (protects against roll over). |
| [Stabilized](manual.md#stabilized-mode) | + Maintains the yaw (significantly better at holding a straight line). |
| [Position](manual.md#position-mode) | + Maintains the course (best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
::: details Overview mode mapping to control effect