Flightmodes

The Multiwii flight controller can be used in several different modes, depending on the sensors that are present. The table below shows the the modes and the sensors that are used:

Mode	Gyroscope	Accelerometer	Barometer	Sonar	Compass (mag)	GPS	Optical Flow Sensor
PassThrough
Acro / Gyro only	X
Stable / Level / Acc / Angle	X	X
Horizon	X
HeadFree (CareFree)					X
Altitude Hold		X	X	X
GPS return to home					X	X
GPS Waypoint					X	X
Failsafe
Position Hold							X

• Acro Mode and Stable Mode are exclusive.
• HeadFree (CareFree), altitude hold and GPS mode all work simultaneously.

Warning: I've read that there exists a limitation in the software: if the MAG inclination is > 25degrees, MAG is set to disabled.