Discussions

When I'm high up in the air, and I want to bring the copter down, I never know how fast is descending. It would be nice to have a flight mode in which the user controls just the Yaw, Pitch and Roll and the auto pilot controls the descending speed.

EDIT: Well, never mind. Looks like the LAND flight mode does exactly this. I was looking through the code to try to implement this and I saw that LAND gives you Roll and Pitch just like Loiter (if there is GPS lock at take of) or Stabilize (if no GPS lock):

case LAND:
   if( ap.home_is_set ) {
      // switch to loiter if we have gps
     ap.manual_attitude = false;
     set_yaw_mode(LOITER_YAW);
     set_roll_pitch_mode(LOITER_RP);
   }else{
     // otherwise remain with stabilize roll and pitch
     ap.manual_attitude = true;
    set_yaw_mode(YAW_HOLD);
    set_roll_pitch_mode(ROLL_PITCH_STABLE);
  }
 ap.manual_throttle = false;
 do_land();
 break;

I went outside and tried to make sure it does what I want, and ... surprise, it does! :-)