Flightmode Settings

Some of these flight modes are used automatically by the FC. For example, path following will use attitude and rate modes. Relay tuning will use RelayAttitude mode. However, most frequently these will be configured to the stabilization banks so Stabilization{1,2,3} will map to a combination of modes for each axis.

Individual axis modes

None:

No stabilization on this axis. Inputs are directly passed to outputs.

Rate:

TauLabs will aim for a target rate of turn around the axis. This target is defined by the manual control. When the manual control is neutral, TauLabs will try to maintain zero rotation. E.g. on a multirotor, in "rate mode", the angle of the elevation/aileron sticks determines the rate of change of the pitch and roll axis. If you let go and return to a neutral position, the airframe will keep going in that (possibly inverted) direction. It's up to the pilot to return the craft to level, so it behaves like a "real" aircraft.

Attitude:

TauLabs will aim for a target attitude. This target is defined by the manual control. When the manual control is neutral, TauLabs will steer towards level flight. This applies an offset (from TrimAnglesSettings) to the requested attitude. For details on how to trim this go here

E.g. on a multirotor, in "attitude mode", the angle of the elevation/aileron sticks directly determines the set point for the pitch and the roll axis of the multirotor. If you let go and return the stick to a neutral position the multirotor would level and drift to a halt in hover.

AxisLock:

TauLabs will try to keep the total amount of rotation on the selected axis on 0 when the stick is not touched. When TauLabs detects 5 degrees of rotation, it will try and undo that. Axis lock essentially grabs the current position of the axis when you let go of the stick and tries to stay there.

This feels similar to rate mode but can provide a more locked in feeling.

WeakLeveling:

Weak leveling is basically rate mode with a slow component to make the attitude go towards zero. In weak leveling your aircraft slowly drifts back to level - sort of rate mode with an assist. Note that it's not recommended for yaw because it basically will turn your nose facing forward again.

Horizon:

This new mode is based on MultiiWii Horizon mode. It smoothly transitions from attitude mode in the middle to rate mode on the stick extremes. It uses the tuning from the separate modes so once they are both well tuned it should work well. This is useful for FPV where you might want tight self leveling and control plus rate mode.

VirtualBar:

This mode is released in the upcoming firmware, for helis it can be compared to a standard flybarless controller and for multi rotors a much more aggressive roll and flip rate can be achieved. More information can be found here.

RelayRate / RelayAttitude:

These modes are used by relay tuning for automatically tuning your airframe. Not recommended for normal use.

POI:

This is used for tracking a point-of-interest, usually provided by a tablet.

CoordinatedFlight:

This mode is used for planes with a rudder and will apply rudder during turns to try and have zero side slip. This mode should only be used on planes yaw axis.