> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/vehicle-operation/auterion-mission-control/ui-breakdown/plan/mission-editor-tab/end-section.md). # End Section ## Multicopter End of Mission Action ![](/files/eznFSuijt2UGp4sOyrTc) **T*****he mission end action*** editor defines a location (position and altitude) where the vehicle will land. By default, the vehicle will perform a **Return to Launch** action at the end of the mission. {% hint style="info" %} There is no land button in the *Plan tools*. To create a land item you need to first [add a waypoint](/vehicle-operation/auterion-mission-control/ui-breakdown/plan/mission-editor-tab/mission-item-reference.md#waypoint-mission-item) and then change the type from the title selector (as discussed in [Other Mission Item Types](/vehicle-operation/auterion-mission-control/ui-breakdown/plan/mission-editor-tab/mission-item-reference.md#other-mission-item-types)). {% endhint %} The land position may be changed by drag/drop on the map, and the altitude is changed in the associated editor. | Setting | Description | | ------------ | -------------------------------------------------------------------------- | | **Altitude** | Altitude expected of landing area (defaults to launch point altitude). | | **Heading** | Check to set heading of vehicle when landing (by default does not change). | ## VTOL Landing Pattern ![](/files/dITHyT4wCtgjZ01qV9CP) A *VTOL* **Landing Pattern** creates a landing sequence where the vehicle: 1. Flies in fixed-wing mode to a loiter point 2. Descends (circles) to the landing altitude 3. Travels at a fixed altitude to a VTOL landing point 4. Transitions to multicopter mode and then lands. {% hint style="info" %} Descending in fixed-wing loiter is more battery efficient than descending in multicopter mode. {% endhint %} The landing pattern is created on the map when the **Plan Tools > Return** button is selected for a VTOL vehicle. The button creates a loiter point and a land point on the map. The loiter point must first be adjusted on the map using drag/drop (then press **Done** on the Landing Pattern editor to make other settings visible). The VTOL land point is initially placed at the launch location, but may also be moved. #### Loiter Point Panel ![](/files/afs6cKdPIRtryXFI7evA) Sets the loiter point properties: | **Setting** | **Description** | | ---------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ***Altitude*** | Altitude of loiter point relative to the launch point (or to AMSL if the *Altitudes relative to launch* checkbox is deselected). The vehicle will only head towards the landing point after descending to this altitude, and when the heading matches the value defined in the landing point panel. | | ***Radius*** | Radius of vehicle loiter in fixed wing mode. | | ***Loiter clockwise*** | Check to cause the vehicle to loiter clockwise. Uncheck to loiter counter-clockwise. | | ***Set to vehicle heading*** | Set the heading from loiter to land to the current vehicle heading. This is useful for matching the landing pattern to physical field location/dimensions and to wind. | ### Landing Point ![](/files/1viyvu7lEvtdkk2KDJy9) **Set the landing point properties:** | **Setting** | **Description** | | ---------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | | ***Heading*** | Heading from loiter point to landing point - defines the point on the loiter radius that the vehicle will start heading to the landing point. | | ***Altitude*** | Altitude of landing point relative to the launch point (or to AMSL if the *Altitudes relative to launch* checkbox is deselected) | | ***Landing Dist*** | Distance between landing and loiter points | | ***Set to vehicle location*** | Sets the landing point to the current vehicle location. This is useful for matching the landing pattern to actual field location. | | ***Altitudes relative to launch*** | Select checkbox to make all altitudes in dialog relative to the launch position. Deselect to make them relative to AMSL. | #### Camera Panel ![](/files/d0xwMou0TAAAzhiqvbHz) Sets whether photos/video capture are stopped during landing. Capture stops at the start of the landing sequence (before moving to the loiter step). | Setting | Description | | ---------------------- | ----------------------------------------------------- | | **Stop taking photos** | Select checkbox to stop taking photos during landing. | | **Stop taking videos** | Select checkbox to stop taking videos during landing. | ## Fixed Wing Landing Pattern A *Fixed Wing Landing Pattern* creates a landing sequence where the vehicle first flies to a loiter point, then descends (circles) to the landing altitude, and finally follows a glide slope to land. The landing pattern is created on the map when the **Plan Tools > Return** button is selected for a Fixed-Wing vehicle. The button creates a loiter point and a land point on the map. First adjust the land point on the map (there is a green marker in the *Landing Area* section of the glide-path indicator that can be used to move the land point) and then the loiter point. The distance between the loiter point and land point is initially fixed to set a gentle glide slope. Press **Done Adjusting** on the Landing Pattern editor to make this, and other settings, editable. #### Loiter Point Panel
Sets the loiter point properties. | **Setting** | **Description** | | ---------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ***Altitude*** | Altitude of loiter point relative to the launch point (or to AMSL if the *Altitudes relative to launch* checkbox is deselected). The vehicle will only head towards the landing point after descending to this altitude, and when the heading matches the value defined in the landing point panel. | | ***Radius*** | Radius of vehicle loiter in fixed wing mode. | | ***Loiter clockwise*** | Check to cause the vehicle to loiter clockwise. Uncheck to loiter counter-clockwise. | #### Landing Point Panel ![](/files/cH563CIkKUshoGf55Riy) **Sets the landing point properties:** | **Setting** | **Description** | | ---------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | | ***Heading*** | Heading from loiter point to landing point - defines the point on the loiter radius that the vehicle will start heading to the landing point. | | ***Altitude*** | Altitude of landing point relative to the launch point (or to AMSL if the *Altitudes relative to launch* checkbox is deselected) | | ***Landing Dist*** | Distance between landing and loiter points. Affects *Glide Slope*. | | ***Glide Slope*** | Glide slope. Affects *Landing Dist*. | | ***Altitudes relative to launch*** | Select checkbox to make all altitudes in dialog relative to the launch position. Deselect to make them relative to AMSL. | #### Camera Panel ![](/files/mdQ6Nw50EEkXlzlvYtOA) Sets whether photos/video capture are stopped during landing. Capture stops at the start of the landing sequence (before moving to the loiter step). | Setting | Description | | ---------------------- | ----------------------------------------------------- | | **Stop taking photos** | Select checkbox to stop taking photos during landing. | | **Stop taking videos** | Select checkbox to stop taking videos during landing. | ## Return To Launch Mission Item A *Return To Launch* mission item creates a path back to the mission takeoff item. The item is created by selecting the button: **Plan Tools > Return**. The new item is added to the end of the mission; no new items can be added after it, though more can be created before it. The *Return To Launch Editor* doesn't provide any specific settings other than the option to remove the item.