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36 lines
3.1 KiB
Markdown
36 lines
3.1 KiB
Markdown
# Auto Modes
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In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.
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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)).
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## Mission Mode
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_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.
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The mission is typically created and uploaded with a Ground Control Station (GCS) application, such as [QGroundControl](https://docs.qgroundcontrol.com/master/en/).
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### Mission commands
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The following commands can be used in missions at time of writing (PX4 v1.16):
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| QGC mission item | Команда | Опис |
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| ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |
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| Mission start | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START) | Starts the mission. |
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| Waypoint | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT) | Navigate to waypoint. |
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| Return to launch | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location. |
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| Change speed | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED] | Change the speed setpoint |
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| Set launch location | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME) | Changes launch location to specified coordinates. |
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| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item. |
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[MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START
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[MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT
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[MAV_CMD_NAV_RETURN_TO_LAUNCH]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH
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[MAV_CMD_DO_CHANGE_SPEED]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED
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[MAV_CMD_DO_SET_HOME]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME
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[MAV_CMD_DO_JUMP]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_JUMP
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## Return Mode
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The vehicle will return to the launch position.
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Return mode can be activated through the respective [mission command](#mission-commands) or through the ground station UI.
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