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base repository: ArduPilot/ardupilot_wiki
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head repository: ArduPilot/ardupilot_wiki
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compare: 1bcb424512d153b9f60e352468a2bb7e6cb9f9d1
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Showing with 3 additions and 4 deletions.
  1. +3 −4 plane/source/docs/quadplane-parameters.rst
7 changes: 3 additions & 4 deletions plane/source/docs/quadplane-parameters.rst
Original file line number Diff line number Diff line change
@@ -37,8 +37,8 @@ Return Behavior QuickSetup Guide:
While there are many parameters setting distances and heights for the various home return modes/behaviors (read each mode's wiki page), this is a quick setup guide for basic behaviors.

1.If you lose RC link for greater than :ref:`FS_LONG_TIMEOUT<FS_LONG_TIMEOUT>` in fixed wing flight set :ref:`FS_LONG_ACTN<FS_LONG_ACTN>` value below to obtain various behavior options:
- "0" : do nothing if in AUTO mode, otherwise switch to RTL mode
- "1" : switch to RTL mode
- "0" : do nothing if in AUTO mode, otherwise switch to RTL mode (see #3,4 below)
- "1" : switch to RTL mode( see #3,4 below)
- "2" : cut throttle and glide in FWBA mode
- "3" : deploy parachute (assuming you have one setup)
- "4" : switch to AUTO mode and execute mission at current mission sequence pointer
@@ -56,8 +56,7 @@ While there are many parameters setting distances and heights for the various ho
- "2" : Transition to fixed wing, and do a special approach to home, transition back to VTOL mode, move to over home, switch to QLAND and land at home in VTOL
- "3" :Switch to QRTL mode. See below.

5. When switching to QRTL, instead of transitioning to fixed wing (assuming you are not close to home already), flying back to home, then switching to VTOL mode as you approach home, then switching to QLAND and landing at home (see :ref:`qrtl-mode` for more information), you can disable the fixed wing approach and return home and land in only VTOL mode if :ref:`Q_OPTIONS<Q_OPTIONS>` bit 16 set.

5. When switching to QRTL default behavior is to transition to fixed wing if in VTOL (assuming you are not close to home already in VTOL Flight), flying back to home, then switching back to VTOL as you approach home, switching to QLAND over home, and landing at home (see :ref:`qrtl-mode` for more information). You can disable the fixed wing approach, and return home and land only using VTOL mode if :ref:`Q_OPTIONS<Q_OPTIONS>` bit 16 set.


Q_OPTIONS