Offshore Operations
This section describes the steps required for offshore operations.
Preparations
Thoroughly review the chapter on Manual Control.
Inspect the ship from which you plan to take off.
Identify the most suitable takeoff and landing area that offers sufficient space and is as far as possible from any metallic objects.
Determine the optimal position for the Ground Control Station and any optional antennas, if applicable.
Ensure that a clear line of sight between the vehicle and the antennas can be maintained at all times.
Power up the DeltaQuad Evo and the GCS (AMC).
Set AMC to Advanced Mode.
Determine the wind direction and position the vehicle so its nose faces into the wind.
Complete the Pre-flight Checklist.
Manual Takeoff and Transition
Ships are typically constructed with large amounts of metal, especially steel, in their hulls and superstructures. This metal composition can significantly impact the performance of UAV magnetometers.
A magnetometer is a sensor that detects magnetic fields and is often used in UAVs for navigation or other specialized applications. When a UAV operates near a large metal object, like a ship, the metal can create distortions in the Earth's magnetic field. This distortion can cause the magnetometer to give inaccurate readings, which may affect the UAV’s navigation systems, especially if they rely on magnetic heading for orientation.
For this reason, Altitude mode is the preferred flight mode for manually taking off from a ship. In Altitude mode, the UAV does not rely on its compass or GPS, making it less susceptible to these magnetic interferences. This allows for more stable manual control during takeoff in environments with strong magnetic disturbances, such as a metal ship.
Select Altitude Mode via the Mode button.
Press Disarmed at the top of the menu bar.
Arm the vehicle by pressing and holding the confirmation button.
Press the left stick upwards to ascend.
Continue the ascent to 15 meters altitude or above the highest point of the ship's structures. This value also needs to be adjusted based on the height of the ship's deck. Once exposed to the wind, the vehicle will begin to drift.
Correct the drift with stick input until the ship's structures are fully cleared. The right joystick controls the vehicle's position. Moving the joystick forward, backward, left, or right adjusts the vehicle's position relative to its current heading.
The left joystick controls the vehicle's altitude and heading. Moving the joystick up will increase the altitude while moving it down will decrease the altitude. Moving the joystick left or right changes the vehicle's heading (yaw).
There are two possibilities to proceed from this point.
1. Position Mode
Once the ship's structure is cleared and there is sufficient distance between the ship and the vehicle, switch to Position mode via the Mode button.
This mode provides enhanced navigational accuracy and stability by utilizing GPS and the magnetometer. However, a disadvantage is that the ship's metal can still create interference in the magnetometer.
When in Position mode and the vehicle is aligned with its nose into the wind, verify for the last time that the transition path is free of obstacles, then issue the transition command.
Once the transition is complete, typically after 2 to 3 seconds, ascend to a safe altitude by pulling the right joystick backward, as it controls altitude during fixed-wing flight.
Throughout the entire process, closely monitor the Telemetry Dashboard for:
Altitude
Windspeed and direction
Groundspeed and airspeed
Once a safe altitude and location are reached, issue the Hold command. The vehicle will orbit its current location at the present altitude with a radius of 100 meters.
From this point on, the vehicle can be controlled as described in Controlling the Vehicle.
2. Altitude Mode
If magnetic interference is strong, it is recommended to transition to fixed-wing mode while in Altitude mode, as this mode primarily relies on the IMU (Inertial Measurement Unit) without using the compass or GPS.
In Altitude mode, special care must be taken with regard to altitude readings, as accuracy will vary in this mode. Altitude mode relies heavily on barometric sensors (altimeters) and sometimes the Inertial Measurement Unit (IMU) for estimating altitude. These sensors can be affected by environmental factors, such as temperature and air pressure changes.
Once the ship's structure is cleared and the vehicle is aligned with its nose into the wind, verify for the last time that the transition path is free of obstacles, then issue the transition command.
Once the transition is complete, typically after 2 to 3 seconds, ascend to a safe altitude by pulling the right joystick backward, as it controls altitude during fixed-wing flight.
Throughout the entire process, closely monitor the Telemetry Dashboard for:
Altitude
Windspeed and direction
Groundspeed and airspeed
Once a safe altitude and location are reached, issue the Hold command. The vehicle will orbit its current location at the present altitude with a radius of 100 meters.
Select Position mode via the Mode button, as the vehicle has sufficient clearance and should be outside the ship's magnetic interference.
From this point on, the vehicle can be controlled as described in Controlling the Vehicle.
1. Landing - Transition to Multirotor Mode
Set an Orbit with a clear line of sight.
Identify the landing trajectory aligned into the wind, with a safe bailout option.
Reposition the orbit to align with the identified landing trajectory.
Lower the orbit’s altitude to a safe landing height of at least 15 meters above the ship's deck.
When the DeltaQuad Evo is facing the direction of the landing trajectory, switch to Altitude mode.
Guide the vehicle to the landing zone while maintaining its altitude with the right joystick.
Transition to Multirotor Mode at a safe distance from the landing zone (between 200m and 25m). Higher wind speeds require a shorter distance to complete the transition.
2. Landing - Multirotor Mode Descent to 5m
3. Landing - Multirotor Mode Descent 5m to Touchdown
When positioned above the landing zone, account for the deck's tilt and movement.
Adjust the vehicle's heading so that its wings are positioned to avoid hitting the deck due to its rolling.
Time the landing with the waves to ensure touchdown occurs at the deck's lowest point.
After touchdown, be prepared to manually disarm the vehicle through emergency actions if necessary. If the ship's movements are minimal, the vehicle will disarm itself within 2 seconds after touchdown.
Last updated