1. Power on the DeltaQuad Evo and the DeltaQuad Controller. Open Auterion Mission Control. In the upper right corner of the screen, the Radio icon is located. If it has a strike-through and the radio link is not available, a rebinding is required.

1. Remove the hatch of the avionics bay by loosening the two screws with a Torx tool (T10).

1. In the avionics bay you will see the radio modem. Push the SET button. This puts the modem into the bind mode. When in bind mode, the LED of the modem rotates through different colors.

1. On the Controller, open the Radio Settings app.

1. Open WIRELESS PARAMETER CONFIGURATION.

1. Tap on FREQUENCY MATCHING.

1. Click on Confirm.

After the binding process has been successful, a connection will be established between the DeltaQuad Evo and the DeltaQuad Controller.

Chapter index

• DeltaQuad Controller

• Radio range and Line of sight (LOS) operation

• Ground Control Station overview

• Planning a mission

• Pre-flight checks

• Executing and monitoring a mission

• Post-flight

Before the mission plan can be created, the following steps should be taken to ensure safe execution:

1. 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.

2. Missions must be allowed to be executed in accordance with local laws and regulations.

3. The mission path must be free of obstructions for at least 200 meters in each horizontal direction.

4. During fixed-wing flight (Aerodynamic mode) 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.

5. 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.

6. The takeoff and land sites must consist of a level, flat surface that is free of obstructions for at least 5x5 meters.

7. The takeoff altitude should be set high enough for the vehicle to be able to perform a transition in any direction.

8. The weather conditions must fall within the maximum allowed conditions.

9. 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.

10. The intended mission should not consume more than 85% of the total energy available.

11. 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.

12. At any point in the mission, the vehicle must be able to initiate an unscheduled landing without causing damage to itself or its environment.

Understanding Line of Sight (LOS):

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.

Importance of LOS for Radio Systems on Drones:

1. 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.

1. 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.

1. 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.

Factors Affecting LOS:

1. 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.

1. 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.

1. 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.

Fresnel Zone

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:

1. 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.

1. 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.

1. 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.

1. 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.

1. 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.

Tips for Maintaining LOS:

1. Choose Open Spaces:

• Fly drones in open areas with fewer obstructions to ensure a clear line of sight.

1. Monitor Environmental Conditions:

• Be aware of weather conditions that could impact LOS. Avoid flying in heavy rain or foggy weather.

Understand Regulations:

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.

Requirements:

• Auterion Suite account to download the latest AMC version.

• An AMC-compatible device such as a Windows, Linux, or macOS computer or Android device.

• A hotspot.

• A powered DeltaQuad Evo system (UAV + Controller).

Downloading and installing AMC on a laptop or Android device.

1. Log into your Auterion Suite account on the device of your choice. Select the latest version of AMC and choose your operating system.

1. Download and run the installer. On Windows, a window might pop up saying Windows protected your PC. Click on More info and Run anyway.

1. Install AMC by following the instructions.

Connect to the DeltaQuad Controller via hotspot.

1. Power up your DeltaQuad Evo system (UAV and Ground Control Station). Make sure a radio connection has been established.

2. Create a hotspot on your smartphone. Connect both devices, the DeltaQuad Controller and the computer or tablet, to the hotspot.

3. On the DeltaQuad Controller, open the Evo Control Panel.

Remember the WiFi: IP address.

1. On your secondary device, open AMC. Go to the AMC menu in the upper left corner of the screen and open the Comm Links tab. Click on Add in the lower bottom of the screen.

1. Name the Comm Link. Choose UDP as the Type. The listening port is 14550.

Add a target host which is the WiFi IP address displayed in the Evo Control Panel on the DeltaQuad Controller.

It consists of 4 numbers divided by three dots. At the end of the IP address type a colon and the 5760 which is the port. See the example below.

1. Click on OK. Choose the Comm Link you want to connect with and click on Connect at the lower part of the screen.

A connection should be established within seconds. Switch to Fly View to see the telemetry and data link.

Connect to the DeltaQuad Controller via USB.

1. Power up your DeltaQuad Evo system (UAV and Ground Control Station). Make sure a radio connection has been established.

2. Connect the secondary device to the DeltaQuad Controller via USB by using the USB-C connection on top of the DeltaQuad Controller.

1. If not automatically done, USB Tethering must be enabled on the DeltaQuad Controller. You need to navigate to the settings menu (cogwheel).

• You can do that by sliding your fingers from the top of the screen downwards. A quick menu will open. Click on the small cogwheel.

• Another way to navigate to the settings is by sliding your fingers from the bottom of the screen upwards. A menu with all apps will be displayed. Select the Settings app (cogwheel).

• In the settings menu, search for USB and select USB Preferences.

• Enable USB tethering.

1. On the DeltaQuad Controller, open the Evo Control Panel.

Remember the USB: IP address.

1. On your secondary device, open AMC. Go to the AMC menu in the upper left corner of the screen and open the Comm Links tab. Click on Add in the lower bottom of the screen.

1. Name the Comm Link. Choose UDP as the Type. The listening port is 14550.

Add a target host, which is the USB IP address displayed in the Evo Control Panel on the DeltaQuad Controller.

It consists of 4 numbers divided by three dots. At the end of the IP address type a colon and the 5760 which is the port. See the example below.

1. Click on OK. Choose the Comm Link you want to connect with and click on Connect at the lower part of the screen.

A connection should be established within some seconds. Switch to Fly View to see the telemetry and data link.

The DeltaQuad Evo Enterprise Edition comes with the DeltaQuad Controller. It provides the communication link between your UAV and the ground systems.

The following section gives a basic overview of the DeltaQuad Controller and its functionality.

The DeltaQuad Controller has three working frequency bands of 800MHz(806-826Mhz), 1.4GHz(1427-1467Mhz), and 2.4GHz(2401.5-2481.5MHZ). It comes with interchangeable antennas to match the frequency band of choice.

Getting started

To connect your UAV to the DeltaQuad Controller simply switch on the UAV and press and hold the POWER button (5) on the controller for 5 seconds. Once the controller is booted up, the main menu will display.

Before launching your flight control system it is recommended to connect the controller to a mobile hotspot or Wi-Fi network. The controller uses internet connectivity to load satellite maps and for LTE connectivity to the UAV. The DeltaQuad controller must be connected to a 5Ghz mobile hotspot or WiFi network. As one of the primary communication links for the controller is based on 2.4 GHz, these networks will not be displayed. When using a mobile phone hotspot, please configure the hotspot for 5 GHz. Alternatively, you can insert a SIM Card for internet connectivity.

Overview of the buttons

Overview of the controller interface

The DeltaQuad controller comes with a rich interface offering HDMI, 4G SIM card, USB, Type-C, LAN, Micro SD card, and PPM.

Shutting down & charging the controller

The DeltaQuad Controller can operate continuously for approximately 5 hours. If more operation time is required, the controller can be charged during operation.

To charge the controller, open the rubber cover between the antennas and attach the provided USB charger to the USB-C port. The controller requires high-voltage charging. Standard USB chargers or USB sockets from laptops are not always capable of providing high voltage, but they will extend the battery life of the controller.

To shut down the controller, press and hold the power button until the shutdown menu appears. Select "Power off" to shut down the controller.

The DeltaQuad EVO uses Auterion Mission Control (AMC) as its primary Ground Control Station (GCS). The Ground Control Station consists of buttons and has been optimized for use with touchscreen devices.

If you have ordered a Ground Control Station with your DeltaQuad EVO it will have been installed and tested before it was shipped to you.

To install Auterion Mission Control on a separate device such as a laptop or desktop computer, please refer to the . After a successful installation make sure to follow the .

When starting Auterion Mission Control by default the Fly View will be selected.

The application drop-down menu will open. The blue colored tab is the active view. To switch to the other view simply click on the respective tab.

The application menu has four more tabs to choose from.

Normal and Advanced mode

The DeltaQuad EVO 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 EVO.

The operator can plan a takeoff and landing from the Fly View by selecting sectors that are free of obstacles at the approach altitude.

The DeltaQuad will take off and transition to aerodynamic mode into a set direction and orbit until new commands are given.

How to take off and land using Fly View will be discussed thoroughly in a later section of this manual.

In the Plan View, you can create, edit and save missions, which can be uploaded to the DeltaQuad EVO. To plan a mission the DeltaQuad EVO does not need to be connected to Auterion Mission Control.

When opening Auterion Mission Control by default the Fly View will be selected. To change to the Plan View Click on the Menu icon in the upper left corner of the screen. A drop-down menu will open. Select the Plan tab.

The image below shows a simple mission that starts with a Start and a Transition Direction item. The mission continues to fly through three waypoints which are followed by a Mission End Action.

The steps for creating missions are:

1. Change to Plan View.

2. Add commands to the mission and edit as needed.

3. Upload the mission to the vehicle.

4. Change to Fly View and fly your mission.

Plan View elements

The following section describes all elements of the Plan View.

The Top menu bar consists of the same elements as the Fly View.

1. AMC Menu

2. Vehicle Status and Selector

3. Flight Mode

4. Emergency Actions and Arm Status

5. GPS Status

6. Radio Signal Strength

7. LTE Status and Signal Strength

8. Battery Status of the Vehicle

9. Battery Status of the Ground Control Station

10. Notifications Tab

Plan Tools

On the left side of the screen, the Plan Tools are located. The Plan Tools provide tools for working with plans, including adding waypoints, inserting survey patterns, saving, loading, uploading, and downloading plans. Some of the options are only displayed when working on a particular type of plan.

File and Sync Tool

Storage

Vehicle

Waypoint Tool

Point Of Interest (POI) Tool

Cancel POI Tool

Pattern Tool

Center Tool

Mission Statistics

Under the top menu bar, the mission statistics are located.

The mission statistics give information about the total mission distance, the maximum telemetry distance, and the total mission time.

Upload Button

The Upload Button uploads the current mission, geofence, and rally points to the vehicle. The button has two states.

Plan Item Selector

At the top right of the screen, the Plan Item Selector is located.

The Plan Item Selector sets the part of the mission plan which is being edited.

Plan Item Editors

The Plan Item Editors are displayed below the Plan Item Selector. Different item editors are displayed for each part of the mission plan:

• Start: In this tab, you can edit the values of the Mission Start Action which consists of the Start or takeoff item and the Transition Direction item.

• Missions: The mission tab shows a list of editors, one for each item in the mission (waypoint, commands, etc.)

• End: In this tab, you can edit the values of the Mission End Action. The Mission End Action can be either a landing pattern that consists of the Orbit and the Land item or only an Orbit item.

• Extras: In this tab, you can add or remove GeoFence definitions, and select the current GeoFence region for editing on the map.

Measurement Tool

The distance between two points can be measured or the area in the form of a selectable polygon. Clear all will delete all Measurement Tools on the map.

Coordinates can be entered manually.

Terrain Altitude Indicator

At the bottom of the screen, the Terrain Altitude Indicator is located.

In the upper left corner of the Terrain Altitude Indicator, you can select between three different altitude measurements.

Simply tap the letters next to the three dots to change to the different altitude measurements:

Scale Marker

Above the Measurement Tool and the Toggle button, the Scale Marker is located.

It indicates the scale of the map depending on how much the map is zoomed in or zoomed out.

To use the zoom function the mouse wheel can be used or two fingers when operating on a touchscreen.

In the Fly View, missions are executed and monitored. The operator has two layouts available. By default, the map is the primary view and the video feed is the secondary view. You can change the layout by clicking the small window in the lower left corner.

Primary view - map, secondary view - video feed:

Primary view - video feed, secondary view - map view:

The following is a complete list of actions that can be taken within the secondary window.

1. Minimize or maximize the window

2. Adjust the size of the window

3. Detach the window from the lower left corner

Map is the primary view: Video is the primary view:

All Fly Tools are available Payload controls are available

Fly View elements

The following list describes all elements of the Fly View.

1. AMC Menu

2. Vehicle Status and Selector

3. Flight Mode

4. Emergency Actions and Arm Status

5. GPS Status

6. Radio Signal Strength

7. LTE Status and Signal Strength

8. Battery Status of the Vehicle

9. Battery Status of the Ground Control Station

10. Notifications Tab

11. Telemetry and Compass

12. Video feed

13. Map Tools

14. Flight Tools

15. Fly View Tools

16. Estimated flight Time Remaining

17. Additional information depending on mounted payload

18. Map, Mission Items, Smart Actions, Vehicle Location (blue arrow), and Vehicle Track (red trail)

Connection Manager

The DeltaQuad EVO does not make use of the Connection Manager. In Settings>General>Miscellanous this option can be disabled.

Telemetry Panel

The Telemetry Panel is located in the lower right corner of the screen. It is available in both layouts when the map is the primary view and when the video is the primary view.

1. Time since armed (approximate flight time)

2. Distance between vehicle and ground station

3. Compass (incl. vehicle heading, camera field of view, direction towards the Ground Control Station)

4. Roll Index

5. Wind direction and wind speed

6. Pitch Index

7. Altitude display - tap the letters above the three dots to change to the different altitude measurements:

1. Vertical speed

2. Calibrated airspeed

3. Ground speed/horizontal speed

Fly View Tools

The following Fly View Tools are available on the left side of the screen when the map is primary.

Flight Tools

These values can be changed in Settings>General>Fly View.

Map Tools

Marker Tool

When clicking on the Marker Tool button a menu will open.

Different Marker Tool Categories can be chosen by color and form. Click on the map to set the marker.

To delete a marker, select it on the map and click on Del. Selected in the Marker Tool menu.

Measurement Tool

The distance between two points can be measured or the area in the form of a selectable polygon. Clear all will delete all Measurement Tools on the map.

Coordinates can be entered manually.

Flight Mode icon

The third item in the upper-left corner of the screen is the Flight Mode icon.

This item displays the vehicle`s current flight mode. When clicked the operator can change to the Position flight mode for manual control.

During operation, the Flight Mode icon can display the following modes.

Mission / Quick Takeoff

• Mission conforms with local laws and regulations.

• The mission was planned in accordance with the guidelines set forth in the Plan section.

• Altitudes verified across terrain height.

• At every stage in the fixed wing portion of the flight, a vertical separation of at least 25 meters above the highest obstacle is maintained.

• 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.

Airframe

• 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, dirt, and correctly mounted and securely fastened:

• Propellers

• Motors

• Wings

• Servos

• Elevons

• Devices inside the fuselage

• Flight battery

In conditions below 5 degrees celcius

• The landing gear is free from ice, snow or mud. This could cause the landing gear to freeze and prevent deployment.

• The vehicle is launched from a solid surface that is devoid of snow, or mud.

• The pitot tube is free from icing

• The batteries are heated above 10 degrees celcius before takeoff.

Before closing hatch

• 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 positioned, connector fully joined.

• Telemetry - Attached and working.

• The payload sits within the payload bay, is properly connected, and does not exceed 3 kg.

• Components inside the fuselage are securely fastened and cannot move during flight.

After closing hatch

• Hatch secured (closing mechanism pushed down and locked)

• Hatch sits flush with the fuselage

• Wings are properly secured.

Before takeoff

• 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 plan is uploaded

• The takeoff waypoint is active (green)

Before executing a mission the following conditions must have been met:

1. The mission must be planned in accordance with the guidelines set out in Planning a mission.

2. The Pre-flight checks must have been performed and passed.

3. The vehicle should be pointing with its nose towards the wind.

4. All flights must be started with a fully charged battery.

5. The operator and any observers must keep a safe distance from the vehicle, a 10m minimum is recommended.

Execute the mission

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.

Returning the vehicle during a mission

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.

Monitoring the mission

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: 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: 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 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 Safety settings 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.

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: 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: 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.

The minimum and maximum altitudes can be set in the "Application Settings" under the "Q" icon.

Emergency Actions: 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.

Land: 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.

FLIGHT MODE: 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: This button indicates if the vehicle is currently in multi-rotor or fixed-wing mode. Tapping this button will provide the option to switch modes.

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:

During takeoff

The following should be monitored directly after takeoff while the vehicle is ascending vertically to its transition altitude.

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 sensor calibration must be performed.

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 support to have your log files analyzed.

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 assembly section.

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 tolerable wind conditions, 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.

During transition

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.

During 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 if a mission is incorrectly loaded.

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 parameters as described in the Key parameters section. 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 sensor calibration, overweight, too low cruise throttle, 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.

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.

Ground speed Operator action: Increase cruise throttle The DeltaQuad will generally maintain a constant speed through the 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 parameters as described in the Key parameters section. 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 specified tolerance.

During back transition

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.

Excessive overshoot Operator action: None If the vehicle overshoots its landing waypoint significantly and does not seem to slow down during 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 wiring diagram). 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 safety features is likely set too high.

No auto disarm after touch down Operator action: Disarm The DeltaQuad should disarm automatically 5 to 10 seconds after touch down. 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.

The reason for this could be related to landing on a significantly uneven surface or slope. It can also indicate the sensors need calibration.

When the DeltaQuad EVO has completed operations it should be switched off, inspected, dismantled, and stored. Flight logs should be retrieved and registered.

Switching off the vehicle

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 and remove the lid. Then disconnect the main battery connector and remove the battery. The battery should be stored directly and safely.

Inspect the vehicle

After a landing, specifically a hard landing or a grass landing, the DeltaQuad EVO 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 preventative maintenance section.

Dismantle the vehicle

Dismantle the vehicle in accordance with the assembly 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.

Transporting and storing the vehicle

The DeltaQuad EVO should be transported and stored inside the DeltaQuad EVO Flightcase.

Retrieving the onboard logs and registering the flight

When a sim card is installed inside the UAV, the logs will be uploaded automatically to your Auterion Suite account. Logs can also be manually retrieved through the Analysis section of the Ground Control Station.

Introduction

Auterion Mission Control is installed on your DeltaQuad Controller. This is the main application to control your UAV and the installed payload(s). Before launching AMC please carefully review the DeltaQuad Controller section.

Mission planning

Before starting a flight a mission needs to be planned to instruct the vehicle on the takeoff and landing patterns.

This can be done by planning a full mission in the Plan View or by planning a takeoff and landing in the Fly View.

For example, when flying a survey mission with a mapping sensor, you can choose to plan a full mission in the Plan View. For a speedy deployment during a surveillance mission, it might be more practical to plan only the takeoff and landing in the Fly View. It is possible to take control of the vehicle after the takeoff and initiate a Return command when the mission has ended. The vehicle will use the landing pattern from the mission plan or from the planned landing to execute a return command.

When starting AMC the Fly View is displayed. You can choose to plan the takeoff and landing in the Fly View. For a full mission, you need to switch to the Plan View. You can switch to the Plan View by pressing the Plan View icon in the left-side command bar.

Please review the mission planning section for detailed information on how to plan a mission.

Launching your vehicle

Once your mission is uploaded you can return to the Fly View by pressing the Fly View icon in the left-side command bar. If you created a takeoff and landing in the Fly View it is not necessary to switch views. Once you have performed the pre-flight checks you can start the mission by pressing and holding the Mission Start button. If the button is not displayed you can press the Action button in the left-side command bar. The Mission Start button will reappear. When pressing and holding to confirm the takeoff your vehicle will start its motors and takeoff.

Before starting your first flight, you will need to be familiar with the DeltaQuad Controller button and joystick functions as described in the DeltaQuad Controller section.

Operating your vehicle

Once the vehicle is launched and has transitioned to fixed-wing flight mode, you can control the flight of your vehicle through the following methods.

Repositioning the vehicle

While the vehicle is in flight, you can select the Orbit or Fig 8 command from the pilot controls on the left side of the screen. Tap anywhere on the satellite map to choose the Orbit's or Fig 8's location. On the right side of the screen, the altitude slider will appear. By dragging it up and down you can set a desired altitude for the orbit or Fig 8.

After confirming the command by pressing and holding the command button, the vehicle will change course to the set location and adapt to the set altitude. When orbiting the DeltaQuad will keep a radius of 100m.

Joystick control

The vehicle can be controlled using the right-side joystick (2).

To activate the joystick control, switch the flight mode switch (1) to ALTITUDE mode. In this mode, the vehicle will fly in a straight line at its current altitude until a joystick command is received.

Moving the joystick left or right will make the vehicle change direction.

Moving the joystick forward or backward controls the altitude of the vehicle. A forward (up) joystick movement moves the nose of the vehicle down and decreases altitude. A backward (down) joystick movement pulls the nose of the vehicle up and increases altitude.

Flight modes explained

Changing altitude

When giving an Orbit or Fig 8 command, the altitude can be changed. A vertical slider will appear on the right side of the screen that allows you to select a new altitude. Once the correct altitude is selected, and the location for the Orbit or Fig 8 command is chosen slide the slider to confirm the command.

When the vehicle is following a mission path, it will always track the altitude as defined in the mission plan. When resuming a mission the vehicle will immediately change the altitude to match the currently active waypoint.

Resuming a mission

When the vehicle is in ALTITUDE, HOLD, or TARGET FOLLOWING mode, the mission can be resumed by moving the flight mode switch to the MISSION position. Alternatively, the mission can be resumed by tapping on the ACTION button on the FLY screen and selecting "resume mission".

Please make sure to disengage the TARGET FOLLOWING mode before returning to MISSION flight mode.

Returning the vehicle

At any point in the flight, the vehicle can be returned by activating the RETURN button (4). Alternatively, RETURN mode can be activated by tapping on the RETURN button on the FLY screen, and sliding to confirm the command.

In RETURN mode, the vehicle will immediately fly towards the landing pattern that was defined in the mission. The landing pattern consists of a circle-to-altitude item, a direction and altitude on which to exit the circle, and a landing coordinate.

When the RETURN mode is activated, the vehicle will fly at its current altitude towards the 'circle to altitude' part of the landing pattern. When reaching this location the vehicle will circle down to the indicated altitude, and complete the circle until it has reached the indicated exit heading of the circle. It will then proceed toward the landing coordinates, transition to multirotor flight mode, and land in the indicated position.

Controlling the vehicle in multirotor mode

The most common situation where it is practical to use stick control in multirotor mode is during the landing to reposition the Evo if necessary.

This can be achieved by using the NUDGE function.

After the Evo transitioned from fixed-wing mode to multirotor mode, the vehicle will deploy the landing gear and descend to the planned landing point.

The operator can halt the descent by moving the left joystick up. The Evo will hold its altitude and position. The RIGHT joystick (2) controls the position of the vehicle. Moving this joystick, forward, backward, left, or right changes the position of the vehicle relative to its current heading.

The LEFT joystick (6) controls the vehicle's altitude and heading. Moving the joystick UP will halt the descent. Moving the joystick to its middle position or down will continue the descent. Moving the joystick left or right changes the heading (yaw) of the vehicle.

Altitude mode in multirotor mode

During takeoff or landing, your vehicle is in multirotor mode. Multirotor mode means the 4 motors for Vertical takeoff and Landing are activated.

To take control of the vehicle in multirotor mode, change the flight mode switch to ALTITUDE mode. In this mode, the vehicle will hold its position and altitude until joystick commands are received.

The LEFT main joystick (6) controls the vehicle's altitude and heading. Moving the joystick UP will increase the altitude. Moving the joystick down will decrease the altitude. Moving the joystick left or right changes the heading (yaw) of the vehicle.

The RIGHT joystick (2) controls the position of the vehicle. Moving this joystick, forward, backward, left, or right changes the position of the vehicle relative to its current heading.

After the waypoints have been placed the Mission End Action has to be planned. When clicking on the End tab within the Plan Item Selector two options are available.

Add Land Pattern

When selecting Add Land Pattern a window will appear with the request to choose a location on the map.

If the Ground Control Station is connected to the DeltaQuad EVO or the simulator you get a second option to set the Land item to the vehicle location.

After the Land Pattern is positioned several options will be available in the Mission End Action tab on the right side of the screen.

Orbit point

Altitude - The altitude at which the aircraft transitions from Aerodynamic mode to Hover mode prior to landing. The altitude is relative to the launch altitude.

Radius - The radius of the descent circle. The aircraft will descend in Aerodynamic mode from the mission altitude to the specified altitude mentioned in the Altitude setting above.

The DeltaQuad EVO will orbit clockwise when the Orbit clockwise box is checked.

Disable that option to orbit counter-clockwise. This will change the location of the Orbit.

Landing point

Heading - When placing the Land Pattern it automatically positions the Orbit and Land items in the same direction as the Start and Transition Direction items. As the DeltaQuad EVO needs to launch and transition into the wind it also needs to do the final approach and landing facing into the wind.

The heading can be changed by dragging the Land Pattern items on the map or using the Heading slider.

Altitude - The altitude of the Landing point is the relative altitude to the Start 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 aircraft will confirm the setting by utilizing its integrated ground distance sensor.

Landing Dist - The distance between the Orbit and the Land item will be automatically set to 50m. You can change this distance by dragging the Land item on the map or by using the slider. Values between 50m and 200m are available.

At the bottom of the Mission tab, you can edit the position of the mission item, or delete it.

Add Loiter

When choosing Add Loiter from the Mission End Action tab an Orbit waypoint will be placed on the map.

The Waypoint type and other settings can be adjusted as explained in the chapter Set intermediate waypoints.

1. To plan mission items such as regular waypoints select the Waypoint Tool from the Plan Tools on the left side of the screen.

1. Click anywhere on the map to designate a location for the waypoint.

1. After placing the waypoint on the map, the Mission tab in the Plan Item Selector on the right side of the screen will open.

Plan View mission items

1. Choose and set up the desired mission item from the Waypoint type tab.

When AMC is used in Normal Mode three options are available.

Waypoint type - Waypoint

The Altitude mode is the altitude above the launch elevation.

Set the altitude for the waypoint with the altitude slider.

The default range can be changed in the Application Settings. Settings>General>Plan View>Waypoints Maximum Altitude

Waypoint type - Orbit (time)

The Altitude mode is the altitude above the launch elevation.

Set the altitude for the waypoint with the altitude slider.

Set the duration of how long the DeltaQuad EVO should orbit at the designated location.

Set the radius of the Orbit. We recommend a minimum radius of 100m. 75m is possible in calm winds.

Choose the vehicle's exit point from the Orbit.

At the bottom of the Mission tab, you can edit the position of the mission item, or delete it.

Waypoint type - Orbit (altitude)

The Altitude mode is the altitude above the launch elevation.

Set the altitude for the waypoint with the altitude slider.

Set the radius of the Orbit. We recommend a minimum radius of 100m. 75m is possible in calm winds.

Choose the vehicle's exit point from the Orbit.

At the bottom of the Mission tab, you can edit the position of the mission item, or delete it.

Before creating a new mission plan make sure that there are no items such as waypoint commands on the map.

1. First, enter the Plan view by selecting the Plan tab from the AMC menu.

You can clear all waypoints from AMC and the vehicle by selecting the File Tool from the Plan Tools. Choose the clear option.

1. When selecting the Start tab the option Add VTOL Takeoff is available.

1. Set the VTOL Takeoff altitude in the Plan Item Editor. This is the altitude at which the vehicle transitions from Hover mode to Aerodynamic mode.

1. We recommend a minimum VTOL Takeoff altitude of 60m for all safety features to function properly. Always make sure to set an altitude that surpasses the height of all obstacles present between the Start and Transition Direction waypoints.

1. In the Initial Mission Settings, the default Waypoints altitude can be set.

• A vertical takeoff or landing consumes significantly more energy than a fixed-wing flight. For maximum efficiency, an altitude between 25 and 35 meters is recommended for landing.

• At every stage in the fixed wing portion of the flight, a vertical separation of at least 25 meters above the highest obstacle must be maintained.

• The altitude of the "Planned Home Position" defines the expected touch-down altitude.

• The back transition from fixed-wing flight (Aerodynamic mode) to multirotor flight (Hover mode) is performed at the altitude set in the "Orbit point" of the Mission End Action command.

• Most wind forecasts are based on ground-level wind. Even 10 meters above the ground the wind can be significantly stronger.

• 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.

Follow the steps below to reset your controller to its factory settings:

1. Power on the controller.

2. Go to the Settings.

1. Go to System.

1. Navigate to Reset options.

1. Choose Erase all data (factory reset).

This process might take a few minutes. After the factory reset, make sure that the controller and all apps work properly. If problems should persist, please contact [email protected].