# Offshore Operations

## Preparations

* Thoroughly review the chapter on [**Manual Control**](/tac/flight/executing-and-monitoring-a-mission/manual-control.md).
* 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**](/tac/flight/auterion-mission-control-amc-overview/normal-and-advanced-mode.md).

<figure><img src="/files/IDJLx3HiGlrXsq2lguq3" alt="" width="375"><figcaption></figcaption></figure>

* Determine the wind direction and position the vehicle so its nose faces into the wind.
* Complete the [**Pre-flight Checklist**](/tac/flight/pre-flight-checks.md).

## Manual Takeoff and Transition

{% hint style="success" %}
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.
{% endhint %}

***

{% hint style="danger" %}
Before takeoff, ensure the Mode button is **not active** (no red light). The slider on the back of the controller must be in the default **‘X’ position** for the gimbals to function.
{% endhint %}

<figure><img src="/files/NOhWbXFPM63r85925Wup" alt=""><figcaption></figcaption></figure>

***

* Select Altitude Mode via the **Mode** button.&#x20;

<figure><img src="/files/GL0RlV8wYetqjRWJGKBm" alt="" width="375"><figcaption></figcaption></figure>

* Press **Disarmed** at the top of the menu bar.

<figure><img src="https://lh7-rt.googleusercontent.com/docsz/AD_4nXfN5ADX_hhm7FdzBF1BCcXcGBBIMigygSPjGbfcSmfd2lnS8R6wdmbBFCm1JQeHXDW6bGbxA16ornnNryzPOML-3iwwgrX_MJ6xN6Gkm6MD1AWTtnvdrfQq375o73Yuxp0r4UHJcgjdbdmMX2JoguMfoquZ?key=Z25JCuwFNGtVL0uHvNcY5g" alt="" width="188"><figcaption></figcaption></figure>

* **Arm** the vehicle by pressing and holding the confirmation button.

<figure><img src="/files/XPu29Nef1KIAo2FZUUpu" alt="" width="173"><figcaption></figcaption></figure>

* The VTOL motors will spin up. In **Multirotor** mode, the left control stick manages the throttle, regulating the drone's altitude. If you have any doubts, please review the stick controls for **Multirotor** mode [here](/tac/flight/executing-and-monitoring-a-mission/manual-control.md#joystick-control-multirotor-mode).

<figure><img src="/files/yA8F8RKucx1RCl4eHC51" alt=""><figcaption></figcaption></figure>

* 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.

<figure><img src="/files/lz8NwiReJokqIYWNUq7u" alt=""><figcaption></figcaption></figure>

* 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).

<figure><img src="/files/LRb48gMnTPIoU6ZpAnqI" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
During the **ascent**, it is crucial to keep the nose aligned **into the wind**, as this provides the most stability for the vehicle during takeoff and transition.. This alignment also allows the **Transition** command to be executed into the wind without needing to realign the vehicle.
{% endhint %}

* There are two possibilities to proceed from this point.&#x20;

#### 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.&#x20;

<figure><img src="/files/0DJra9d7L9Hyv6YHBwxJ" alt="" width="353"><figcaption></figcaption></figure>

{% hint style="info" %}
Position 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.&#x20;
{% endhint %}

* 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.&#x20;
* 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.

<figure><img src="/files/1H9BNrtab99Nqc8X8EI6" alt="" width="360"><figcaption></figcaption></figure>

* 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.

<figure><img src="/files/joBrlA82ukiMm18WRo2Q" alt=""><figcaption></figcaption></figure>

* Throughout the entire process, closely monitor the [**Telemetry Dashboard**](/tac/flight/auterion-mission-control-amc-overview/amc-menu/fly-view.md#telemetry-dashboard) for:
  * Altitude
  * Windspeed and direction
  * Groundspeed and airspeed

<figure><img src="/files/wnsY805cVpeMUsPzfzsL" alt=""><figcaption></figcaption></figure>

* 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.&#x20;
* From this point on, the vehicle can be controlled as described in [**Controlling the Vehicle**](/tac/flight/executing-and-monitoring-a-mission/controlling-the-vehicle.md).

#### 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.

{% hint style="danger" %}
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.
{% endhint %}

* 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.

<figure><img src="/files/1H9BNrtab99Nqc8X8EI6" alt="" width="360"><figcaption></figcaption></figure>

* 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.

<figure><img src="/files/joBrlA82ukiMm18WRo2Q" alt=""><figcaption></figcaption></figure>

* Throughout the entire process, closely monitor the [**Telemetry Dashboard**](/tac/flight/auterion-mission-control-amc-overview/amc-menu/fly-view.md#telemetry-dashboard) for:
  * Altitude
  * Windspeed and direction
  * Groundspeed and airspeed

<figure><img src="/files/wnsY805cVpeMUsPzfzsL" alt=""><figcaption></figcaption></figure>

* 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.&#x20;
* Select **Position** mode via the **Mode** button, as the vehicle has sufficient clearance and should be outside the ship's magnetic interference.

<figure><img src="/files/8ATDodgOZQEQ2aSfvHCa" alt="" width="353"><figcaption></figcaption></figure>

* From this point on, the vehicle can be controlled as described in [**Controlling the Vehicle**](/tac/flight/executing-and-monitoring-a-mission/controlling-the-vehicle.md).

## 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.

<figure><img src="/files/jWb3aaQwaXhrePp4pWdB" alt="" width="375"><figcaption></figcaption></figure>

* Guide the vehicle to the landing zone while maintaining its altitude with the right joystick.

<figure><img src="/files/pcI1k3ySeq1XFjCLWvjs" alt=""><figcaption></figcaption></figure>

* 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.**

<figure><img src="/files/teOJBDs6usjd8uwy3uu0" alt="" width="360"><figcaption></figcaption></figure>

## 2. Landing - Multirotor Mode Descent to 5m

* After the transition to **Multirotor** mode, lower the altitude while moving toward and above the landing zone. **Higher wind speeds require a lower descent speed.** If you have any doubts, please review the stick controls for **Multirotor** mode [here](/tac/flight/executing-and-monitoring-a-mission/manual-control.md#joystick-control-multirotor-mode).

## 3. Landing - Multirotor Mode Descent 5m to Touchdown&#x20;

* When positioned above the landing zone, account for the deck's tilt and movement.&#x20;
* Adjust the vehicle's **heading** so that its wings are positioned to avoid hitting the deck due to its rolling.&#x20;
* Time the landing with the waves to ensure touchdown occurs at the **deck's lowest point**.&#x20;
* **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.

<figure><img src="/files/fY4OdYQFalXgXzYWEHbJ" alt="" width="375"><figcaption></figcaption></figure>


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