Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
This chapter covers the command and control features of the vehicle.
Mission conforms with local laws and regulations.
The mission was planned in accordance with the guidelines set forth in the Plan section.
The mission passed the DeltaQuad Mission Validator
Altitudes verified across terrain height.
The mission path is free of obstructions for at least 200 meters in each horizontal direction.
VTOL Takeoff and VTOL Land items were correctly applied.
The takeoff location is free from obstructions at transition altitude for 500m in every direction.
Takeoff and land site are clear of obstacles and structures higher than transition altitude.
The path for takeoff and landing is set so that the vehicle points into the wind.
The vehicle does not exceed the scheduled maintenance or preventive maintenance cycles.
The airframe conforms with all local rules and regulations and is permitted to fly the intended mission.
The propellers are mounted in the correct position, orientation, and direction as specified in the Assembly section.
Visual inspection for damage, and dirt, correctly mounted and securely fastened:
Propellers
Motors
Wings
Servos
Elevons
Devices inside the fuselage
Flight battery
When the vehicle sits outside, the hatch must not be closed until the vehicle is ready for takeoff as the components inside could overheat when sitting idle. Exposure to direct sunlight when idle for more than 5 minutes should be avoided.
Flight battery - Securely attached, moved as far forward as possible, connector fully joined.
Telemetry - Attached and working.
SD-card installed.
Aileron linkage - Properly secured without slop or play.
The payload sits within the payload bay (center bay) and does not exceed 1.2kg.
Components inside the fuselage are securely fastened and cannot move during flight.
Hatch secured (unable to pull up)
The hatch sits flush with the fuselage (no obstructions under the hatch legs)
VTOL modules and wing joiners are properly secured with lock clips down.
Weather conditions and mission within tolerances.
The vehicle is pointing into the wind.
No warnings on GCS.
The wing servos are powered (try to move the elevons and feel resistance from the servo).
The vehicle's current physical orientation matches the heading observed on GCS.
The flight battery is fully charged.
The ground equipment has sufficient charge to perform the mission.
Safety features are set correctly.
GPS lock is stable with at least 10 registered satellites.
Mission uploaded and downloaded to verify.
The takeoff waypoint is active (green)
Line of sight (LOS) is a crucial consideration for drone radio systems, as it directly impacts communication reliability and performance.
Line of sight refers to the unobstructed path between two points, such as between a drone and its remote control or between two communication devices. Maintaining a clear line of sight is essential for reliable communication regarding radio systems on drones.
Signal Strength:
Radio signals, including those used for drone communication, travel in straight lines. Any obstacles, like buildings or trees, can weaken or disrupt the signal.
LOS minimizes signal interference, ensuring a strong and stable connection between the drone and the remote control.
Reliability and Stability:
A clear line of sight enhances the reliability of communication. This is particularly crucial for real-time control of drones, where a delay or loss of signal could lead to accidents or loss of the drone.
Range Limitations:
The effective range of radio signals is limited. Maintaining LOS allows the drone to operate within its specified range, ensuring that commands from the remote control reach the drone and vice versa.
Physical Obstacles:
Buildings, hills, and other physical structures can obstruct the line of sight. It's essential to fly the drone in areas with minimal obstructions for optimal communication.
Environmental Conditions:
Weather conditions, such as heavy rain, fog, or snow, can also affect LOS. In adverse weather, LOS may decrease, leading to potential communication issues.
Frequency and Wavelength:
The frequency of the radio signal used by the drone affects its ability to penetrate obstacles. Higher frequencies may have more difficulty passing through obstacles, emphasizing the need for LOS.
The Fresnel zone, in the context of drone radio systems, is a critical concept related to the propagation of radio waves between the transmitter (typically the remote control) and the receiver (the drone). It plays a significant role in ensuring reliable communication by accounting for potential obstacles that might impact the signal's path.
Key points about the Fresnel zone in drone radio systems:
Elliptical Zone:
The Fresnel zone is an elliptical region that surrounds the direct line of sight (LOS) between the transmitter and the receiver. It extends both horizontally and vertically, forming an elongated shape.
Importance for Signal Propagation:
The Fresnel zone is crucial because it represents the area through which radio waves travel as they propagate between the transmitter and the receiver. An obstruction within this zone can cause signal diffraction, leading to signal weakening or disruption.
Factors Influencing Fresnel Zone:
The size of the Fresnel zone depends on several factors, including the distance between the transmitter and receiver, the frequency of the radio signal, and the terrain along the path.
Clearance for Unobstructed Signal:
For optimal signal strength and reliability, it is essential to ensure that the Fresnel zone is relatively free of obstructions. Obstacles within this zone, such as buildings, trees, or hills, can cause signal degradation.
Interference Avoidance:
Understanding the Fresnel zone is crucial for avoiding interference from obstacles and maintaining a robust communication link between the drone and the remote control. Interference can lead to signal loss, reduced control range, and potential safety hazards.
Choose Open Spaces:
Fly drones in open areas with fewer obstructions to ensure a clear line of sight.
Monitor Environmental Conditions:
Be aware of weather conditions that could impact LOS. Avoid flying in heavy rain or foggy weather.
Adhere to local regulations that may require maintaining visual line of sight with the drone. These regulations are often in place to ensure safety and prevent accidents.
In summary, maintaining a clear line of sight is crucial for the effective operation of radio systems on drones. It ensures reliable communication, stable control, and compliance with regulations, contributing to a safer and more efficient drone flight experience.
The DeltaQuad uses QGroundControl as its primary Ground Control Station (GCS). The GCS consists of buttons and has been optimized for touchscreen devices.
QGroundControl has already been installed and configured on your DeltaQuad Controller. There is no need for further setup.
The main menu bar is located at the top of the GCS screen and consists of the following buttons:
By clicking the "Q" symbol the Select Tool will prompt, giving you the following three options to choose from:
Vehicle Setup: Configure the DeltaQuad's parameters, safety features and perform sensor calibration.
Analyze Tools: Download logs, geotag images from a survey mission, and access the Mavlink console.
Application Settings: Configure the QGroundControl application. Please refer to the QGC settings manual.
Status icons
Arm status: Displays and controls current armed status. Flight mode: Displays the current flight mode, when clicked it offers control over the flight mode.
Note: The DeltaQuad is designed to operate in the following flight modes:
Mission
Position (only when using the DeltaQuad Controller)
Altitude
Hold
Return
Other flight modes are not supported and should not be activated.
Notifications: Click to show a dropdown of messages from the vehicle. This will change to a Yield sign if there are critical messages. GPS Status: Displays current GPS satellite link information. RC Status: RC signal strength information, is only applicable when using a traditional transmitter. Battery status: Displays remaining percentage and additional information when clicked.
Under NO circumstances reset the parameters to the firmware's defaults or the vehicle's configuration defaults! Resetting the parameters will render the Ground Control Station non-functional. When encountering any issues with your DeltaQuad, please reach out to our support team for assistance: [email protected]
When the DeltaQuad has completed operations it should be switched off, inspected, dismantled, and stored. Flight logs should be retrieved and registered.
Before approaching the vehicle to switch it off note the following;
The vehicle should never be approached when the motors are spinning.
In the unlikely event of a crash, the vehicle should not be approached within 15 minutes. The battery could have been damaged and may ignite.
Always stay clear of the propellers until the vehicle has been powered off by disconnecting the main flight battery.
To switch the vehicle off open the canopy clip and remove the lid. Then disconnect the main battery connector and remove the battery. The battery should be stored directly and safely.
After a landing, specifically a hard landing or a grass landing, the DeltaQuad should be inspected for damage. Inspecting the vehicle visually at the landing site can help in determining the cause of any problems that might arise in the future. It is recommended, specifically when in doubt or with visible damage, to take pictures of the vehicle before dismantling it.
If there is any dirt on the vehicle or the propellers this should be removed with a damp cloth. Dirt on the wings, fuse, or propellers will significantly impact the performance.
Special care must be taken to inspect the propellers both before and after every flight. If there is any visible or palpable damage to a propeller it should be replaced directly in accordance with the section.
Dismantle the vehicle in accordance with the section. If you are able to transport and store the vehicle safely with only the wings detached this is recommended as it will reduce the risk of assembly problems.
Note: Never remove the carbon spars with the VTOL modules still attached. This can damage the wing joiner and void your warranty.
The DeltaQuad should be transported and stored inside the DeltaQuad Flightcase.
Using the DeltaQuad Controller, The vehicle is capable of being controlled in a manual override mode referred to as ALTITUDE mode. This mode is useful in the following conditions:
When the vehicle is flying in GPS-denied environments
When granular control over the vehicle is required
When the vehicle experiences a compass misalignment during takeoff or landing
Altitude mode requires some piloting skills and should only be performed by operators who have some experience flying drones using joysticks.
While in multirotor mode, the pusher motor can still activate if the vehicle is more than 3 meters above the ground and forward movement is requested.
If the data link is lost during Altitude mode, the vehicle will always activate an automatic return mode, regardless of the safety settings.
In ALTITUDE mode the vehicle no longer relies on the GPS or compass sensor data. It will maintain altitude based on the barometer and accelerometer data only. The vehicle is capable of flight in this mode both in multirotor and fixed-wing mode.
As the vehicle does not use positioning data in this mode, wind can cause the vehicle to drift away. It is the pilot's responsibility to position the vehicle by using the control joysticks on the DeltaQuad Controller.
To activate ALTITUDE mode tap on the flight mode button in the top bar.
This will present a dropdown menu with a list of all flight modes. Taping on the word "Altitude" will activate the Altitude flight mode.
Caution: when tapping on a flight mode from this menu, the flight mode is applied immediately, there is no confirmation required. If the wrong flight mode is selected, press the pause button before deciding your next step.
In multirotor mode, the left joystick's up and down position controls the desired altitude. The center position will hold the current altitude, moving the joystick up or down will result in upward or downward movement of the UAV.
In fixed-wing mode, the right joystick (pitch) controls the altitude in a similar way a manned aircraft is controlled. Moving the right joystick forward results in a "nose down" command which will tell the aircraft to descend. Moving the joystick backward will result in a "nose up" command which will tell the aircraft to climb. Keeping the left joystick centered will make the vehicle maintain its current altitude.
When the vehicle is on the ground, it can be launched in ALTITUDE mode if needed. To do this, activate ALTITUDE mode first, then press the "Ready to fly" button and press ARM. after confirming the ARM action the vehicle will start the motors. Pushing the left joystick up within 10 seconds will make the vehicle perform a takeoff. When the vehicle is at a safe altitude for a transition, it can be transitioned to fixed-wing mode by pressing the VTOL MODE switch (G).
When in fixed-wing mode, the same method can be used to transition the vehicle back to multirotor mode.
To land the vehicle in ALTITUDE mode, make sure the vehicle is in multirotor mode and navigate to the desired landing spot. Holding the left joystick down will cause the vehicle to descend. When the vehicle touches down, keep holding the left joystick down for approximately 5 seconds. The vehicle will automatically disarm.
The DeltaQuad has been designed to fly autonomously, this is achieved by planning and executing missions. Missions are set through the Ground Control Station. They can be created and sent to the vehicle directly, loaded from an existing mission plan, or saved to a mission plan. This section covers the basics of planning a mission for the DeltaQuad. For advanced usage of the mission planning features please review the .
Before the mission plan can be created, the following steps should be taken to ensure safe execution:
A mission plan should only be executed after a thorough inspection of the entire mission on site. All altitude differences and obstacles should be known and taken into account.
Missions must be allowed to be executed in accordance with local laws and regulations.
The mission path must be free of obstructions for at least 200 meters in each horizontal direction.
During fixed-wing flight the vehicle should stay 50m above ground level, near the end of the mission, to reduce landing energy consumed, an altitude of 25m above ground is recommended.
For maximum endurance a takeoff altitude can be set to 25m, however, to ensure the safety systems can function properly, the takeoff altitude should be at a minimum of 60 meters above ground level.
The takeoff and land sites must consist of a level, flat surface that is free of obstructions for at least 5x5 meters.
The takeoff altitude should be set high enough for the vehicle to be able to perform a transition in any direction.
The weather conditions must fall within the.
Both the front and back transition paths must be planned in such a way that the vehicle is pointing with its nose toward the wind while performing the transition.
The intended mission should not consume more than 85% of the total energy available.
At any point in the mission, the vehicle must be able to return to its takeoff point in a straight line at its current altitude.
At any point in the mission, the vehicle must be able to initiate an unscheduled landing without causing damage to itself or its environment.
The Validator will check your mission for feasibility, sanity, and safety. It will also check weather conditions, terrain altitudes, and no-fly zones. The DeltaQuad Mission Validator can not be used as an authoritative validation, it is provided as an additional verification system and all validations should be verified manually.
A vertical takeoff or landing consumes significantly more energy than a fixed-wing flight. For maximum efficiency, an altitude between 20 and 30 meters is recommended for landing. A takeoff altitude should be at a minimum of 60 meters for all safety systems to function.
The altitude of the "Landing point" defines the expected touch-down altitude.
The back transition from fixed-wing to quadcopter flight is performed at the altitude set in the Final approach of the "Landing Pattern" command.
During the transition phase of the "Transition Direction" item, the vehicle has limited navigational abilities and could drift from its intended direction. The transition should therefore always be performed at an altitude where it is safe for the vehicle to perform the transition in any direction.
The image above shows a simple mission that starts with a "Launch" and a "Transition Direction" item. The mission continues to fly through three waypoints which are followed by a "Landing Pattern", ending in a "Land" command at the indicated location.
The steps for creating missions are:
Change to Plan View.
Add commands to the mission and edit as needed.
Send the mission to the vehicle.
Change to Fly View and fly your mission.
On the left edge of the screen, you will see the Plan Tools.
The order of the tools from top to bottom is:
Fly View
File (Sync)
Takeoff
Waypoint
Land
Center map
The first items to be placed in a mission are the "Launch" and "Transition Direction" items.
Click to activate the "Takeoff" tool.
While active, clicking on the map will add a "Launch" and a "Transition Direction" item at the clicked location with the direction North.
By default, the distance between the "Launch" and "Transition Direction" items is at the recommended minimum of 300 meters.
If the DeltaQuad is connected to the Ground Control Station the "Launch" item will be automatically placed where the DeltaQuad is positioned.
On the right side of the screen, you find the mission command list where all commands such as waypoints are accessible and can be edited by clicking on the individual items.
The first waypoint in the mission command list is called "VTOL takeoff" command. On the map, it is displayed as "T-Transition Direction". This waypoint will be the position the DeltaQuad flies to after it has ascended vertically to the altitude defined in the VTOL takeoff command. i.e. if the first waypoint is set at 60 meters altitude and 300m north of the current position, the DeltaQuad will ascend to 60 meters, transition to forward flight and proceed 300m north.
Set the desired transition altitude. A minimum altitude of 25 meters is recommended, the takeoff altitude should never be below 20m. As mentioned before, for all safety systems to function properly, the takeoff altitude should be at a minimum of 60 meters.
Note: The first waypoint should be a minimum of 300m, and a maximum of 800m away from the takeoff position. Note: The vehicle has been designed to transition into the direction it was when positioned on the ground. This allows the operator to perform upwind transitions, regardless of the mission plan. During the transition phase, the vehicle may travel as much as 300 meters. The mission plan should account for this. Note: During the transition phase the vehicle's heading may change due to wind influence. The mission plan should account for this.
The DeltaQuad will proceed to these waypoints, continuing in fixed-wing mode.
Activate the "Waypoint" Tool by clicking on it.
Click on the map to select the desired position.
Set the desired altitude the vehicle should have when reaching this position.
Note: The vehicle will fly from its current altitude to the defined altitude linearly and reach the target altitude when arriving at the waypoint.
Note: The ground control station will indicate the Gradient (degrees of climb along the path). The gradient should not exceed 10 deg.
Select the "Land" Tool.
Click on the map to select the desired position.
The "Land" Tool creates a "Loiter" waypoint where the DeltaQuad circles and descends to the set altitude for the final approach.
The altitude of the final approach should be between 20m and 30m. The Loiter Radius needs to be at 100m. The second item created by the "Land" Tool is the "Land" item. The distance between the "Land" and "Loiter" items will be automatically set to 300m. You can change this distance by dragging the "Land" item on the map. The recommended minimum distance between "Loiter" and "Land" is 250m.
The "Land" Tool automatically positions the "Loiter" and "Land" items in the same direction as the "Launch" and "Transition Direction" items. As the DeltaQuad needs to launch and transition into the wind it also needs to do the final approach and landing into the wind.
If the DeltaQuad is connected to the Ground Control Station you will have the option to click anywhere on the map to set the landing point or set the landing point to the vehicle location. By choosing the last option the landing point is automatically the same as the takeoff point.
If the DeltaQuad is not connected to the Ground Control Station you can either click anywhere on the map for the landing point or choose the takeoff point as the landing point manually. Just click on the map close to the takeoff point. When applied drag the "Land" item on top of the "Launch" item.
The altitude of the "Landing point" is the relative altitude to the "Launch" item where the vehicle is expected to touch down. When landing at the same altitude where the takeoff occurred this can be left at 0.
The "File" Tool allows you to move missions back and forth between QGroundControl and your Vehicle. Before you fly a mission you must be sure to upload your mission to your vehicle. If you have made changes to your mission which you have not sent to your vehicle a blinking button will appear in the Plan Toolbar reading "Upload Required".
The "File" tool will change to have an "!" within it to indicate that you made changes to your mission which you have not sent to your vehicle.
The "File" Tool provides the following functionality:
Create Plan
Blank - Start a mission from scratch.
Survey, Corridor scan, and Structure scan - Provides templates for specific tasks.
Storage
Open
Save
Save As...
Save Mission Waypoints As KML...
Vehicle
Upload - Send to Vehicle.
Download - Load from Vehicle.
Clear - Clear mission from the vehicle.
To ensure the mission was correctly sent to your vehicle it is recommended to perform a "Download" from the vehicle after performing an "Upload" to the vehicle and verify the correct mission is loaded.
On the right edge of the display is the list of mission commands for this mission. You can click on one of these to edit the values for the item. Above are a set of options to switch between editing the Mission and GeoFence. Rally Points are currently not supported.
Click on a mission command to show its editor which allows you to specify the values for the command. You can also change the type of the command by clicking on the command name. This allows you to choose from a set of available commands to build your mission. The trash bin left to the command name deletes the command. To the right of the command name is a menu you can open by clicking. This menu provides you access to additional options.
When planning a mission, the "Launch" item is shown. This is used to simulate the home position of the vehicle such that waypoint lines can be drawn correctly to the first actual waypoint. Keep in mind that the actual home position for a mission is set by the vehicle at the takeoff position and may differ from the "Launch" position.
In the center of the map, you will see a visualization of your current mission. You can click on the waypoint indicators to select them and also drag them around to move.
At the bottom of the map, the "Mission Height Display" is located.
The letters and numbers at the bottom of the "Mission Height Display" indicate the mission commands and waypoints. The orange graph on top indicates the altitudes of the different mission commands and waypoints and the altitude changes of the Deltaquad. The green graph in the middle represents the relative height above ground level.
The orange graph will become red in case a waypoint or the trajectory between two waypoints is lower than the ground elevation. That means that you have a collision with the ground.
On the "Mission Display", you can also see a collision between two waypoints. The orange line turns red when a collision with the ground is detected.
The ground level is an estimation based on satellite surveys, these do not account for structures like buildings, power lines, or trees. A visual on-site inspection must always be performed.
The "Zoom Tool" is located in the left corner above the "Mission Height Display".
Use the "plus" and "minus" signs to zoom in and zoom out. By pressing the letter "T", the "Mission Height Display" will be hidden.
Before executing a mission the following conditions must have been met:
The mission must be planned in accordance with the guidelines set out in .
The mission plan must have passed the .
The must have been performed and passed.
The vehicle should be pointing with its nose towards the wind.
All flights must be started with a fully charged battery.
The operator and any observers must keep a safe distance from the vehicle, a 10m minimum is recommended.
From the (GCS) activate the Flyscreen.
From the Flyscreen, ensure all key telemetry data "A" has been activated. The key telemetry data can be configured by clicking anywhere on the telemetry display.
You will now have the possibility to add vertically and horizontally extra lines to the display by using the "plus" and "minus" signs or to change the category of the existing telemetry data.
By clicking on any of the displayed values a window will open which gives you the option to select any of the available data to be displayed in the field where you clicked.
By clicking the "Lock" you finish the setup and lock the telemetry data display.
The following telemetry data is recommended:
Altitude-rel: The relative altitude of the vehicle compared to its home position.
Ground speed: The ground speed in meters per second.
Current: The amount of Current in Amperes currently consumed by the vehicle.
Consumed: The total amount of current drawn from the battery since starting the vehicle.
Pitch: The current pitch angle in degrees.
Roll: The current roll angle in degrees.
Flight time: The total flight time from the moment of arming the vehicle.
Distance to home: The distance in meters from the takeoff location.
When all checks are performed, and everything is set up and working properly, you can start the mission. The mission can be started by sliding the "Start mission" activator to the right as indicated under "C". If the start mission block has been closed this will be available under the action button "B".
When the vehicle needs to be returned while executing a mission, the recommended method is to direct the UAV toward a waypoint that will provide a clean entry into the pre-defined landing sequence. You can change the active waypoint that the vehicle is following by clicking the desired waypoint from the fly screen and confirming the change request.
Please note: when changing the active waypoint, the vehicle will immediately change its altitude to the altitude of the selected item. It will not gradually climb or descend but reach the new altitude as fast as possible. It is therefore recommended to select a waypoint that has an altitude at which the vehicle can safely return from its current position. If a waypoint with a safe altitude is not available, it is recommended to first reposition the UAV to a safe location by tapping a location on the map. While repositioning the UAV it will maintain its current altitude.
Using the simulator is recommended to practice returning the UAV during a mission using the method described in this section.
Throughout the mission, both the telemetry data and the vehicle should be monitored. This task can be performed by a single operator, but it is recommended to perform this task with one operator and an observer. The observer should continue to watch the vehicle and its surroundings and alert the operator of any problems or nearby traffic.
Note: It is highly recommended to practice the following exercise in the simulator several times before operating the vehicle.
From the flight screen, and when the vehicle is armed, the following key functions are available:
LAND (A): Land immediately.
The vehicle will land at its current location. If the vehicle is in Fixed Wing mode the vehicle will transition back to quadcopter mode first.
This button is called "Take off" while on the ground.
RTL (B): Return To Launch.
The vehicle will return to its takeoff point via the "Landing Pattern" command which consists of the "Loiter" waypoint and the "Land" item.
The advantage of facilitating the "Landing Pattern" command is that it will provide a clean entry into the pre-defined landing sequence and execute the transition and landing into the wind.
Note: using RTL is a last resort. The recommended method of returning the vehicle in fixed-wing mode is described in the section "Returning the vehicle during a mission" above.
PAUSE (C): The vehicle will hold its current position.
In Fixed Wing mode it will circle the current position with a radius of 100 meters. While in pause mode, when there are no open dialogs, tapping anywhere on the map will give you the ability to select "Goto location".
When sliding to confirm the goto command, the vehicle will proceed to the selected location.
ACTION (D): The "Action" button.
With the "Action" button the mission can proceed, or the flight altitude can be changed. The "Action" button becomes available when the vehicle is in HOLD mode (pause). See the picture below.
When tapping the action button two options become available.
CONTINUE MISSION will resume the mission towards the next waypoint indicated by a green color. If the option CONTINUE MISSION is not available you can resume the mission by switching to MISSION mode using the "Flight Mode" button.
CHANGE ALTITUDE will present a slider on the right side of the screen to change the vehicle's altitude.
The minimum and maximum altitudes can be set in the "Application Settings" under the "Q" icon.
FLYING/READY TO FLY (E): This button will indicate the current state of the DeltaQuad.
When the vehicle is in flight (armed) this button can be clicked and the option to "Disarm" the vehicle will appear.
When clicking the "Disarm" button the emergency stop box will appear.
When confirming the emergency stop all motors will stop IMMEDIATELY. This procedure should only be used while the vehicle is on the ground or as a last resort to avoid damage to people or property.
Note: Using this function during flight will crash your vehicle and void your warranty.
FLIGHT MODE (F): This button displays the current flight mode. By tapping this button a new flight mode can be selected. Supported flight modes are HOLD, RETURN, and MISSION. Switching flight modes using this method will not require slider confirmation. Note: When a new flight mode is selected this will be activated immediately.
VTOL MODE (G): This button indicates if the vehicle is currently in multi-rotor or fixed-wing mode. Tapping this button will provide the option to switch mode.
At altitudes higher than 100m above ground, or in strong winds, it is not recommended to switch from fixed-wing to multi-rotor mode.
WAYPOINT items:
The waypoint items on the screen can be tapped. When tapped a dialog appears asking if the vehicle should proceed to the selected waypoint. When confirmed the vehicle will proceed in a straight line towards the selected waypoint. It will also immediately change to the altitude of the selected waypoint.
The operator should monitor the following:
The following should be monitored directly after takeoff while the vehicle is ascending vertically to its transition altitude.
Not holding position Operator action: LAND The vehicle should take off in a straight line. If the vehicle starts drifting from its position more than a few meters it should be commanded to LAND. Contact Vertical Technologies support to have your log files analyzed.
After reaching transition altitude the vehicle will commence the transition to fixed-wing flight. (switching from quadcopter to fixed wing). It will transition into the direction that the vehicle was placed in, but wind can have an effect on the direction, especially if the vehicle is not positioned with its nose directly into the wind. The vehicle will engage full thrust for 15 seconds using its pusher motor. After this period it should navigate towards the takeoff location or the first waypoint.
No forward motion Operator action: LAND If the vehicle is not moving forward or is drifting with the wind and does not seem to transition towards fixed wing there is likely a problem with the pusher motor or propeller.
Flying backward Operator action: LAND If the vehicle starts flying backward with increasing speed it is likely to have the pusher propeller mounted in the wrong direction. The transition should be aborted and the pusher motor should be inspected.
High current slow forward flight Operator action: RTL If the vehicle is moving horizontally in the direction of the first waypoint at low speed, with the quadcopter motors still engaged after 15 seconds, and the current draw remains above 30 Amperes, it is likely that the mission did not issue a VTOL TAKEOFF command but a TAKEOFF command. The vehicle will attempt to complete the mission in quadcopter mode. If this was not intended, RTL should be initiated by the operator. Note: The DeltaQuad can activate its pusher motor in quadcopter mode too. The spinning of the pusher motor is no indication that the vehicle is attempting fixed-wing flight.
Switch to multi-rotor mode Operator action: Transition to fixed-wing or LAND There are some conditions where the vehicle can switch to multi-rotor mode. These include loss of positional awareness or accidental mode switching by the operator. In these events, it is usually prudent to attempt to resume fixed-wing flight by pressing the VTOL mode switch (G). If this fails for any reason, the vehicle must be landed. When the vehicle is higher than 200m this must happen immediately as the multirotor mode may consume too much energy to complete a full return.
Abort error displayed due to loss of altitude or maximum bank angle Operator action: LAND This error is displayed on the Ground Control Station when the vehicle has activated the failsafe system. The UAV must be landed as soon as possible. Do not attempt to complete the automatic return sequence if the vehicle is higher than 100m or further than 800m from the home position. If the battery is lower than 35% it should always be landed. Use the map to locate a safe area to land the UAV and direct the UAV to this location. Then press the LAND button to land immediately.
After such an event the cause must be determined before a new flight is attempted. Please contact Vertical Technologies support for assistance in analyzing the cause of the failsafe event.
Excessive altitude loss Operator action: Return or LAND During and shortly after transition, the vehicle may lose some altitude, this is generally not more than 5 meters. In extreme cases (high payload, strong wind). This can be up to 8 meters. The vehicle should recover from this loss quickly, and regain and maintain altitude. Some altitude gain or loss may occur when banking (changing direction). This should not exceed 5 meters.
If the vehicle does not maintain altitude, or if the altitude error exceeds 10m and the vehicle does not recover from this altitude error an RTL should be commanded. If the vehicle does not adequately perform the RTL procedure (continues to lose altitude or fails to navigate back) a LAND instruction should be given. After a LAND instruction is given, and the vehicle is performing a landing in quadcopter mode, the RTL instruction can be given again to have the vehicle return in quadcopter mode. This should only be attempted when the vehicle is less than 1km from the takeoff site and more than 50% of the battery capacity is available.
The reason this can occur could be related to weight, balance or a problem with the servos or pusher drive. A thorough inspection of the vehicle is required. If the problem can not be found and resolved you should contact Vertical Technologies support.
Failure to track the mission path Operator action: Return or LAND During the transition, the vehicle does not fly in the direction expected:
When the transition phase completes, the vehicle should fly towards its takeoff location or first waypoint. If the vehicle does not follow its intended path after the transition phase, an RTL should be commanded. If the vehicle does not adequately perform the RTL procedure (continues to lose altitude or fails to navigate back) a LAND instruction should be given. After a LAND instruction was given, and the vehicle is commencing a landing in quadcopter mode, the RTL instruction can be given again to have the vehicle return in quadcopter mode. This should only be attempted when the vehicle is less than 1km from the takeoff site and more than 70% of the battery capacity is available.
The reason this can occur can be related to a failure of the servo actuation or an incorrect mission being loaded.
Battery level and current consumption Operator action: Return The battery level percentage indicated in the top bar of the flight screen should be monitored throughout the flight. the percentage should always be higher than the relative distance the vehicle still has to travel. For example, if only 50% battery remains, more than 50% of the mission should have been completed. The CURRENT and CONSUMED values will also help determine this. The DeltaQuad should draw between 9 and 15 Amperes of current on average during cruise flight. This value increases;
The vehicle is flying significantly above sea level
If the vehicle is flying with maximum payload.
As the battery percentage drops.
When the vehicle is climbing or banking.
When the cruise throttle is set higher.
When the LiPo gets older.
When a power-consuming payload is active.
When the DeltaQuad is flying towards its last waypoint (the VTOL_LAND waypoint) it will determine the appropriate distance from the waypoint to initiate its back transition. The distance depends on the current ground speed and can vary between 5 and 100 meters from the land position. During the back transition, the DeltaQuad will activate its pusher motor in reverse direction to slow down.
No auto disarm after touchdown Operator action: Disarm The DeltaQuad should disarm automatically 5 to 10 seconds after touchdown. If the vehicle does not disarm automatically the disarm command (emergency stop) should be sent. This command can be sent by pressing the "Armed" label.
After every session of flights the on-board logs should be retrieved from the SD-Card and the flight should be registered in the flight log. For more information on retrieving the on-board logs and maintaining the flight log, refer to the section.
For video instruction on planning a mission please visit
After planning your mission you can validate it using the
Most wind forecasts are based on ground-level wind. Even 10 meters above the ground the wind can be significantly stronger. The will indicate estimated wind levels at transition and cruise altitude.
Validate your mission in the
Planning a mission can be done from the by entering the Plan View.
The Plan View is used to plan autonomous missions for your vehicle. Once the mission is planned and sent to the vehicle, switch to the to perform and fly the mission.
The will verify terrain altitudes across the entire mission path.
The vehicle will reach the "Landing Pattern" command in a straight line from its current location at its current altitude. If the current altitude is lower than the Return Home altitude in the it will climb to this altitude. If the vehicle is flying in Quadcopter mode it will return to the "Landing Pattern" command and land in this mode. If the vehicle is in Fixed Wing mode it will return as Fixed Wing to the "Landing Pattern" command, perform a back transition when reaching the takeoff location, and land in quadcopter mode.
Toilet bowling Operator action: LAND The vehicle should take off in a straight line after the first few meters. If the vehicle starts "toilet bowling" (circling up) the mission should be aborted and a must be performed.
Takeoff failure Operator action: DISARM If the vehicle fails to take off or only one half of the vehicle rises it is likely that the quadcopter propellers are damaged, mounted incorrectly, or upside down. The operator should disarm the vehicle and review the propeller's configuration as described in the .
Excessive current draw Operator action: LAND If the current draw indicated by CURRENT from the telemetry display exceeds 180 Amperes the flight should be aborted. The vehicle could be overweight, flying outside of , or has a malfunction. In the case of a malfunction inspect the vehicle for visible damage to the propellers or a higher resistance in any of the motors. If there was no evident damage then contact Vertical Technologies support for analysis.
Excessive pitch Operator action: Increase cruise throttle / Return The DeltaQuad should cruise at an average pitch angle between 3 and 9 degrees unless a change in altitude is commanded. If the pitch angle consistently exceeds 12 degrees while the vehicle is not attempting to climb to a higher altitude the cruise throttle should be increased. Increasing the cruise throttle can be done by changing the parameter as described in the . This parameter can be changed during flight. If this does not resolve the problem the flight should be aborted by issuing an RTL command. Note: When changing the cruise throttle during flight special care must be taken to monitor the battery level.
The reason for this could be related to , overweight, too low , or a problem with the fixed-wing drive. To resolve this attempt to level the vehicle as described in the sensor calibration section, verify the weight or increase the cruise throttle. If the problem persists please contact Vertical Technologies support.
Ground speed Operator action: Increase cruise throttle The DeltaQuad will generally maintain a constant speed through air, but wind conditions will impact the effective ground speed. If the ground speed drops below 6 m/s the cruise throttle should be increased. Increasing the cruise throttle can be done by changing the parameter as described in the . This parameter can be changed during flight. Note: When changing the cruise throttle during flight special care must be taken to monitor the battery level.
When this happens the vehicle is likely flying in wind conditions that exceed the .
Excessive overshoot Operator action: None If the vehicle overshoots its landing waypoint significantly and does not seem to slow down during the back transition, there could be a problem with the pusher reverse system. The vehicle should be thoroughly inspected for loose connectors on the flight controller (specifically connectors 7 and 8 as indicated on the ). If no problem was found with the connectors the vehicle should be grounded and undergo extended maintenance.
Unstable descent Operator action: None If the vehicle becomes unstable during landing the land speed as indicated in the is likely set too high.
The reason for this could be related to landing on a significantly uneven surface or slope. It can also indicate the sensors need .
