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docs: add docs on new guided course mode
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mahima-yoga
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- [Takeoff Mode (FW)](flight_modes_fw/takeoff.md)
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- [Land Mode (FW)](flight_modes_fw/land.md)
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- [Hold Mode (FW)](flight_modes_fw/hold.md)
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- [Guided Course Mode (FW)](flight_modes_fw/guided_course.md)
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- [Mission Mode (FW)](flight_modes_fw/mission.md)
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- [Return Mode (FW)](flight_modes_fw/return.md)
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- [Offboard Mode (FW)](flight_modes_fw/offboard.md)
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docs/en/flight_modes_fw/guided_course.md
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docs/en/flight_modes_fw/guided_course.md
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# Guided Course Mode (Fixed-Wing)
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<img src="../../assets/site/position_fixed.svg" title="Position required (e.g. GPS)" width="30px" />
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_Guided Course mode_ maintains a constant ground track (course), altitude, and airspeed without any manual stick input.
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The operator controls the vehicle entirely via [GCS commands](#in-flight-commands), making it the guided equivalent of [Position mode](../flight_modes_fw/position.md).
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:::tip
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This mode is suited to situations where an operator wants to guide a fixed-wing vehicle from a GCS without manual control.
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:::
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::: info
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- Requires a horizontal velocity estimate (e.g. GPS/dead-reckoning).
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Course commands will be rejected if the velocity estimate is unavailable.
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- Manual control input is ignored.
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
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:::
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## Overview
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On activation, the vehicle captures its current velocity over ground vector as the initial course bearing and holds altitude and airspeed from the moment of activation.
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The vehicle then flies that course indefinitely until the operator issues a new command.
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There is no waypoint sequencing or autonomous path planning: the GCS guides the vehicle in real time by sending individual commands.
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## Supported Commands
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The following commands are accepted while in Guided Course mode:
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| Command | Effect |
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| ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
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| [MAV_CMD_GUIDED_CHANGE_HEADING] | Set a new course bearing (degrees, 0 = north) with `HEADING_TYPE = 0`. Rejected if horizontal velocity estimate is unavailable. |
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| [MAV_CMD_DO_CHANGE_ALTITUDE] | Set a new target altitude (AMSL, metres). |
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| [MAV_CMD_DO_CHANGE_SPEED] | Set a new equivalent airspeed via param2 (m/s). If param2 ≤ 0, the default cruise speed is restored. |
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[MAV_CMD_GUIDED_CHANGE_HEADING]: https://mavlink.io/en/messages/common.html#MAV_CMD_GUIDED_CHANGE_HEADING
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[MAV_CMD_DO_CHANGE_ALTITUDE]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_ALTITUDE
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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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## Technical Description
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The navigator mode (`course.cpp`) sets a position setpoint with `course` (ground track bearing) and `alt` fields populated, and `yaw = NAN`.
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The fixed-wing mode manager (`FixedWingModeManager`) detects the finite `course` field and bypasses normal waypoint sequencing, calling `navigateBearing()` from the directional guidance library to compute lateral acceleration and course setpoints.
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Longitudinal control targets the altitude and airspeed from the setpoint.
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## Failsafe Behaviour
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Guided Course is classified as an `AUTO` mode for failsafe purposes.
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The following failsafe exception parameters apply:
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| Parameter | Bit | Effect when set |
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| -------------------------------------------------------------------------- | -------------- | ------------------------------------------------- |
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| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | 1 (Auto modes) | RC loss does not trigger a failsafe in this mode. |
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| [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | 1 (Auto modes) | GCS connection loss does not trigger a failsafe. |
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:::warning
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Since Guided Course is driven entirely by GCS commands, operators should carefully consider the datalink loss failsafe setting (`COM_DLL_EXCEPT` bit 1).
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If the GCS link drops, the vehicle will continue on its last commanded course indefinitely.
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It is strongly recommended to either leave the datalink failsafe active or ensure a secondary safety mechanism (e.g. geofence, battery failsafe) is in place.
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:::
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## Parameters
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| Parameter | Description |
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| -------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------- |
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| [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | Default cruise airspeed used on activation and when `MAV_CMD_DO_CHANGE_SPEED` is sent with value ≤ 0. |
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| [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | Minimum airspeed. Commanded airspeed is clamped to this value. |
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| [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | Maximum airspeed. Commanded airspeed is clamped to this value. |
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| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC loss failsafe exceptions bitmask. Bit 1 covers all auto modes including Guided Course. |
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| [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Datalink loss failsafe exceptions bitmask. Bit 1 covers all auto modes including Guided Course. |
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@@ -39,6 +39,8 @@ Airspeed is actively controlled if an airspeed sensor is installed in any autono
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- [Hold](../flight_modes_fw/hold.md) — Vehicle circles around the GPS hold position at the current altitude.
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The mode can be used to pause a mission or to help regain control of a vehicle in an emergency.
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It can be activated with a pre-programmed RC switch or the QGroundControl Pause button.
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- [Guided Course](../flight_modes_fw/guided_course.md) — Vehicle maintains a constant ground track, altitude, and airspeed.
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The operator commands course, altitude, and airspeed changes in real time from the GCS. Manual stick input is ignored.
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- [Return](../flight_modes_fw/return.md) — Vehicle flies a clear path to land at a safe location.
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By default the destination is a mission landing pattern.
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The mode may be activated manually (via a pre-programmed RC switch) or automatically (i.e. in the event of a failsafe being triggered).
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