docs: add voyager mode

sfuhrer · sfuhrer · commit 0f540ea88a5d · 2025-08-27T16:30:44.000+02:00
Signed-off-by: Silvan &lt;silvan@auterion.com&gt;
diff --git a/docs/en/flight_modes_fw/index.md b/docs/en/flight_modes_fw/index.md
@@ -17,6 +17,8 @@ Manual-Easy:
   Airspeed is actively controlled if an airspeed sensor is installed.
 - [Altitude](../flight_modes_fw/altitude.md) — Easiest and safest _non-GPS_ manual mode.
   The only difference compared to _Position mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
+- [Voyager mode](../flight_modes_mc/manual_voyager.md) — It behaves exactly like _Altitude mode_, with the only difference being that the manual control failsafe can be disabled. This is done by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, airspeed and heading (by leveling out the roll angle) is kept unilt the manual control link is regained or the mode is exited.
+It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
 - [Stabilized mode](../flight_modes_fw/stabilized.md) — The pilot directly commands the roll and pitch angle and the vehicle keeps the setpoint until the sticks are moved again.
   Thrust is directly set by the pilot.
   Turn coordination is still handled by the controller.
diff --git a/docs/en/flight_modes_fw/voyager.md b/docs/en/flight_modes_fw/voyager.md
@@ -0,0 +1,46 @@
+# Voyager Mode (Fixed-Wing)
+
+<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/altitude_icon.svg" title="Altitude required (e.g. Baro, Rangefinder)" width="30px" />
+
+Beside from the additional failsafe option described below, this mode (for fixed-wing) is used exactly the same way as _Altitue mode_. Have a look at
+
+_Voyager mode_ is a _relatively_ easy-to-fly manual contorl mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.
+
+When the sticks are released/centered the vehicle will keep the current tilt and maintain the current _altitude_.
+If moving in the horizontal plane the vehicle will accelerate until the wind resistance equals the acceleration caused by the set tilt angle.
+If the wind blows the aircraft will drift in the direction of the wind even if flying perfectly level.
+
+:::tip
+_Voyager mode_ is intended for long distance flights where the same tilt angle is kept for a long period of time. It is just like [Altitude](../flight_modes_mc/altitude.md) mode but does not go back to level tilt when the sticks are released.
+:::
+
+The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
+
+![Altitude Control MC - Mode2 RC Controller](../../assets/flight_modes/altitude_mc.png)
+
+## Technical Summary
+
+RC/manual mode like [Altitude mode](../flight_modes_mc/altitude.md) but with different interpretation of roll and pitch sticks.
+
+- Centered sticks (inside deadband):
+  - Roll/Pitch sticks: the current tilt is kept.
+  - Yaw: the current heading is kept.
+  - Throttle (~50%) holds current altitude.
+- Outside center:
+  - Roll/Pitch sticks control the rate of change of the tilt angle in respective orientations, resulting in corresponding left-right and forward-back movement. A maximum stick deflection results in a tilting rate setpoint to go from level to max tilt within 0.5 seconds.
+  - Yaw stick deflection rotates the tilt angle either left or right, causing the vehicle to change course. It is *not* causing a direct rotation around the body yaw axis like in [Acro mode](../flight_modes_mc/acro.md).
+  - Throttle stick controls up/down speed with a predetermined maximum rate (and movement speed in other axes).
+- Takeoff:
+  - When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).
+- Manual control input is required (such as RC control, joystick) to enter this mode. Other than all othe manual modes, it's though possible to disable the manual control loss failsafe by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, tilt and heading is kept unilt the manual control link is regained or the mode is exited.
+It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
+
+
+## Parameters
+
+Most of the relevant parameters are already covered in the corresponding section in the Altitude mode. Here a list of parameters of particular importance for Voyager.
+
+| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                |
+| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | The manual control failsafe can be disabled for Voyager by setting the 5th bit in this parameter.                                                                                                                                                                                                                                          |
+| <a id="NAV_DLL_ACT"></a>[NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Data link lost failsafe action. Recommended to set if the manual control failsafe is disabled.
diff --git a/docs/en/flight_modes_mc/index.md b/docs/en/flight_modes_mc/index.md
@@ -21,6 +21,8 @@ Manual-Easy:
 - [Stabilized mode](../flight_modes_mc/manual_stabilized.md) — Releasing the sticks levels and maintains the vehicle horizontal posture (but not altitude or position).
   The vehicle will continue to move with momentum, and both altitude and horizontal position may be affected by wind.
   This mode is also used if "Manual mode" is selected in a ground station.
+- [Voyager mode](../flight_modes_mc/manual_voyager.md) — Very similar to _Altitude mode_, with the difference that when the roll and pitch sticks are released the vehicle does not level out but keeps the tilt until further inputs are given.
+  Additionally it is possible to disable the manual control failsafe for this mode, having the vehicle continue on it's set path even if there are no new control inputs.
 
 Manual-Acrobatic
 
diff --git a/docs/en/flight_modes_mc/voyager.md b/docs/en/flight_modes_mc/voyager.md
@@ -0,0 +1,45 @@
+# Voyager Mode (Multicopter)
+
+<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/altitude_icon.svg" title="Altitude required (e.g. Baro, Rangefinder)" width="30px" />
+
+_Voyager mode_ is a _relatively_ easy-to-fly manual contorl mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.
+
+When the sticks are released/centered the vehicle will keep the current tilt and maintain the current _altitude_.
+If moving in the horizontal plane the vehicle will accelerate until the wind resistance equals the acceleration caused by the set tilt angle.
+If the wind blows the aircraft will drift in the direction of the wind even if flying perfectly level.
+
+:::tip
+_Voyager mode_ is intended for long distance flights where the same tilt angle is kept for a long period of time. It is just like [Altitude](../flight_modes_mc/altitude.md) mode but does not go back to level tilt when the sticks are released.
+:::
+
+The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
+
+![Altitude Control MC - Mode2 RC Controller](../../assets/flight_modes/altitude_mc.png)
+
+## Technical Summary
+
+RC/manual mode like [Altitude mode](../flight_modes_mc/altitude.md) but with different interpretation of roll and pitch sticks.
+
+- Centered sticks (inside deadband):
+  - Roll/Pitch sticks: the current tilt is kept.
+  - Yaw: the current heading is kept.
+  - Throttle (~50%) holds current altitude.
+- Outside center:
+  - Roll/Pitch sticks control the rate of change of the tilt angle in respective orientations, resulting in corresponding left-right and forward-back movement. A maximum stick deflection results in a tilting rate setpoint to go from level to max tilt within 0.5 seconds.
+  - Yaw stick deflection rotates the tilt angle either left or right, causing the vehicle to change course. It is *not* causing a direct rotation around the body yaw axis like in [Acro mode](../flight_modes_mc/acro.md).
+  - Throttle stick controls up/down speed with a predetermined maximum rate (and movement speed in other axes).
+- Takeoff:
+  - When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).
+- Manual control input is required (such as RC control, joystick) to enter this mode. Other than all othe manual modes, it's though possible to disable the manual control loss failsafe by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, tilt and heading is kept unilt the manual control link is regained or the mode is exited.
+It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
+
+
+## Parameters
+
+Most of the relevant parameters are already covered in the corresponding section in the [Altitude mode](../flight_modes_mc/altitude.md). Here a list of parameters of particular importance for Voyager.
+
+| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                         |
+| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | The manual control failsafe can be disabled for Voyager by setting the 5th bit in this parameter.                                                                                                                                                                                                                                          |
+| <a id="NAV_DLL_ACT"></a>[NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Data link lost failsafe action. Recommended to set if the manual control failsafe is disabled.                                                                                                                                                              |
+| <a id="MPC_MAN_TILT_MAX"></a>[MPC_MAN_TILT_MAX](../advanced_config/parameter_reference.md#MPC_MAN_TILT_MAX) | The maximum tilt angle the vehicle will go to. At max stick deflection, it will take 0.5 seconds from level flight to this tilt angle.
