# Stabilized Flight Mode

Source: https://forum.modalai.com/topic/752/stabilized-flight-mode
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-02-16 15:00:34 UTC by alarm_hq
Replies: 3 · Views: 855

## alarm_hq · 2022-02-16 15:00:34 UTC

How can I enable a stabilized flight mode / configure the RC controller to do so?

Currently I have manual / position / off-board.
In positional mode, the drone will stabilize, but only allows changes to the z-position. 

Colloquially speaking, position mode previously allowed for x/y translation, but I don't have any proof of that nor could I explain what would have possibly changed from that point in time.

## Reply by mohammednaveed · 2022-02-16 16:16:33 UTC

Hi @alarm_hq 
You could swap out manual for stabilise mode.
Go to the Vehicle setup>flight modes and select it.

You are right in position mode you should be able to get x/y and z translation. 
If you have any obstacles around you, then its probably the collision prevention preventing you from making X/Y translations .

I hope this helps you out!

Regards,
Mohammed Naveed

## Reply by tom (ModalAI staff) · 2022-02-16 17:48:14 UTC

@alarm_hq I am not an expert in this area but I remember seeing a note that the solution to this issue is resetting the "CP_DIST" param

## Reply by alarm_hq · 2022-03-07 16:55:50 UTC

@tom After playing around with CP_DIST, it seems any value > 0 causes position mode to no longer want to allow x/y translation. From what I understand, any value < 0 disables object avoidance. Is this true?

As far as I'm aware, my settings should be in parity with Modal provided guidance in regards to seeker setup with additional configurations overridden to support voxl-mapper.

Thanks for the stabilized advice @mohammednaveed, I've gone as far to replace manual mode with this setting.