> For the complete documentation index, see [llms.txt](https://docs.deltaquad.com/sth/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.deltaquad.com/sth/flight/planning-a-mission/preparing-a-mission-plan.md).

# Preparing a mission plan

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.


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