New flight mode: parking on a vertical surface

ArduCopter
1

Hello,
I need to create a new flight mode based on the “Land” flight mode: parking on a vertical surface. Parking order:

  1. the operator in the “AltHold” mode touches the electromagnet
  2. the operator switches the quadcopter to a new flight mode
  3. the quadcopter evenly reduces the thrust on the propellers and smoothly takes a vertical position
    Need help creating a new flight mode?

the quadcopter is parked at the window.pdf (204.7 KB)