> 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/dragon-setup/dragon-mr-lr/software-setup.md).
# Software setup
### Manual controller configuration
For setting up a joystick or an RC controller refer to [Dragon SR/Software Setup/Manual controller configuration](https://docs.auterion.com/vehicle-operation/dragon-setup/dragon-sr/software-setup#manual-controller-configuration)
#### GNSS-denied use
Before every flight, the vehicle's global position must be set. This can happen via GNSS fix or manually. If working in a GNSS-denied environment, you always have to set the vehicle position and heading manually before takeoff (even if using position sources like beacons or Starlink).
In AMC this is done from the **Position & Heading Reset** tool. This can be accessed in the side bar of the fly view. The position reset can only be performed if the GNSS fusion is disabled.
#### Using Rally Points for Return mode
Several failsafe conditions can be configured to trigger Return mode, including low battery, RC/manual-control loss, GCS/data-link loss, and geofence breach. A full return-to-home is frequently not the preferred response in these operations, and continuing the mission after a critical failure is not recommended. We therefore recommend defining **rally points** and setting `RTL_TYPE=5`, which directs the vehicle to the nearest rally (safe) point and excludes both the home location and any mission landing pattern from the return path.
For how to set rally points see:
#### Further important parameters
[GF\_ACTION](https://docs.px4.io/main/en/advanced_config/parameter_reference#GF_ACTION): sets the action triggered at a geofence violation. We recommend to set return mode on geofence violation