# Mission End Action {% hint style="info" %} The **DeltaQuad Evo** is a VTOL UAV capable of **Fixed-wing Flight (Aero Mode)** and **Vertical Takeoff and Landing (Hover Mode)**. Unlike traditional UAVs requiring a landing runway, the **DeltaQuad Evo** transitions seamlessly from **Fixed-wing Mode** to **Multirotor Mode** for VTOL landings. During this transition, the aircraft switches from using its forward thrust for horizontal flight to relying on its rotors for vertical lift, allowing it to hover and land precisely. This capability offers several advantages: * **No runway required**: It can land in confined spaces, making it suitable for urban, mountainous, or remote areas. * **Versatile operations**: The vehicle can fly long distances in efficient Fixed-wing Mode and switch to Multirotor Mode for precise VTOL landings. * **Reduced risk**: VTOL landings reduce the risk of damage from hard landings or rough terrain. {% endhint %}
1. After all **Intermediate Waypoints** have been planned, click the **End** tab in the **Mission Editor** on the right side of the screen. Three options for the **Mission End Action** will be displayed.
2. By choosing either **Add Orbit Land Pattern** or **Add Straight Land Pattern**, the following two options will be available if the vehicle is connected to the **AMC**.
{% hint style="info" %} It is recommended to choose **Move land to vehicle**, as it will set the touchdown of the landing to the takeoff location. If the vehicle is not connected to **AMC**, choose **Click on map to set landing location** and set the landing location manually. {% endhint %} ## Orbit Land Pattern 1. When choosing **Add Orbit Land Pattern**, **AMC** automatically creates the **Landing Pattern** as shown on the map.
{% hint style="info" %} An **Orbit Land Pattern** involves the vehicle flying in an **Orbit** around a designated location while gradually descending to a set altitude. Once it reaches the predetermined altitude, the vehicle leaves the **Orbit** and heads toward the landing location, where it transitions from **Fixed-wing Mode** to **Multirotor Mode**, slowing down and hovering directly above the designated landing area. From there, it performs a vertical descent for a precise **VTOL landing**. This method allows for controlled, safe landings, especially in confined or challenging environments. {% endhint %} {% hint style="warning" %} The minimum **Landing Altitude** the vehicle descends to needs to be set at least **25 meters** above the highest obstacles in the landing area. For example, if the average tree height in the landing area is 10 meters, the **Landing Altitude** must be set to at least 35 meters. {% endhint %}
{% hint style="warning" %} 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. {% endhint %} 2. When choosing **Add Orbit Land Pattern**, the following window appears on the right side of the screen, providing options for the **Orbit** of the **Landing Pattern**.
3. The **Altitude Frame** is set to **HGT** by default. For standard operation, it is recommended to leave this setting as it is. ## Altitude Frame Options
SymbolMeaning
HGTHeight (Heights are referenced to the takeoff location)
MSLMean Sea Level (Altitude Above Mean Sea Leve)
AGLAbove Ground Level (Altitude Above Ground Level)
4. Set the **Altitude (Land Altitude)** to at least **25 meters** above any obstacle in the landing area**.** 5. It is recommended to leave the **Radius** at **100 meters**. **75 meters** is possible in calm winds. {% hint style="info" %} The indicated **Orbit** in the case of a loiter down is only an estimate. The **DeltaQuad Evo** may drift outside this **Orbit** by up to 100 meters based on wind conditions and the vehicle's position. Therefore, thoroughly inspect the entire landing area and its surroundings. {% endhint %} 6. The **Orbit Direction** will be **clockwise** by default. This option can be disabled, allowing the **Orbit** position to be set to the north, which enables a **counter**-**clockwise Orbit Direction**.
7. The direction of the **Landing Pattern** will be automatically set to match the **Takeoff** and **Transition Direction**, assuming that the **Transition Direction** was planned so that the vehicle can perform the **Takeoff** and **Transition** into the wind. The **Orbit** and, therefore, the **Landing Direction** can be repositioned if a crosswind landing is necessary. This procedure should only be performed in wind conditions **below 5 m/s**. The **Set to takeoff heading** button can be used to realign the landing direction to the vehicle's heading.
8. The **Move land to vehicle** option sets the **Landing Location** to the vehicle’s position when the vehicle is connected to **AMC**. This can be convenient if the mission was initially planned without the vehicle being connected.
9. The **Mission End Action** can be deleted by clicking the **Red Ttrash Bin** in the lower right corner of the **Mission Editor** window. By clicking the **Three Dashes** in the lower left corner of the **Mission Editor** window, the option **Move to vehicle position** appears. This option is the same as **Move land to vehicle.**
10. When choosing **Edit Land Position**, a window will open where geographic coordinates can be inserted for the **Landing** **Location**. Insert the values for the coordinate system of your choice and click **Set** to confirm the coordinates. **Set From Vehicle Position** will set the Landing Location to the current vehicle position.
## Straight Land Pattern 1. When choosing **Add Straight Land Pattern**, **AMC** automatically creates the **Landing Pattern** as shown on the map.
{% hint style="info" %} A **Straight Land Pattern** involves the vehicle descending from a set **Land Start altitude** to the **Transition altitude** in a straight line. Once it reaches the predetermined **Transition altitude**, the vehicle heads toward the landing location, where it transitions from **Fixed-wing Mode** to **Multirotor Mode**, slowing down and hovering directly above the designated landing area. From there, it performs a vertical descent for a precise **VTOL landing**. This method allows for controlled, safe landings, especially in confined or challenging environments. {% endhint %} {% hint style="warning" %} The minimum **Transition altitude** or **Landing Altitude** the vehicle descends to needs to be set at least **25 meters** above any obstacles in the landing area. For example, if the average tree height in the landing area is 10 meters, the **Landing Altitude** must be set to at least 35 meters. {% endhint %}
2. When choosing **Add Straight Land Pattern**, the following window appears on the right side of the screen, providing the following **Settings**.
3. The **Altitude Frame** is set to **HGT** by default. For standard operation, it is recommended to leave this setting as it is. ## Altitude Frame Options
SymbolMeaning
HGTHeight (Heights are referenced to the takeoff location)
MSLMean Sea Level (Altitude Above Mean Sea Leve)
AGLAbove Ground Level (Altitude Above Ground Level)
4. Set the **Land Start altitude**. This is the altitude the vehicle starts its descent to the set **Transition altitude**. 5. Set the **Transition altitude** to at least **25 meters** above any obstacle in the landing area**.** 6. The direction of the **Straight Land Pattern** will be automatically set to match the **Takeoff** and **Transition Direction**, assuming that the **Transition Direction** was planned so that the vehicle can perform the **Takeoff** and **Transition** into the wind. The **Straight Land Pattern** can be repositioned if a crosswind landing is necessary. This procedure should only be performed in wind conditions **below 5 m/s**. The **Set to takeoff heading** button can be used to realign the landing direction to the vehicle's heading.
7. The **Move land to vehicle** option sets the **Landing Location** to the vehicle’s position when the vehicle is connected to **AMC**. This can be convenient if the mission was initially planned without the vehicle being connected.
8. The **Mission End Action** can be deleted by clicking the **Red Trash Bin** in the lower right corner of the **Mission Editor** window. By clicking the **Three Dashes** in the lower left corner of the **Mission Editor** window, the option **Move to vehicle position** appears. This option is the same as **Move land to vehicle.**
9. When choosing **Edit Land Position**, a window will open where geographic coordinates can be inserted for the **Landing** **Location**. Insert the values for the coordinate system of your choice and click **Set** to confirm the coordinates. **Set From Vehicle Position** will set the Landing Location to the current vehicle position.
{% hint style="warning" %} The **Land start** item can be dragged in every direction. If the **Land start** item is too close to the **Transition** item where the vehicle is not able to reach the set **Transition altitude**, a warning will appear on the upper screen, and the orange flight path will turn red. To solve this, lower the **Land Start altitude** or drag the **Land start** item further away from the **Transition** item. {% endhint %}
## Add Loiter The **Mission End Action** can be set to a **Loiter**. This is useful when using the **Quick Takeoff** functionality, where a mission plan is created and uploaded to the vehicle after takeoff. These mission plans do not use a traditional **Takeoff** and **Transition** item, as the **Quick Takeoff** is used. After the mission plan has been executed, the vehicle will loiter at the planned **Orbit** location, awaiting the next commands. For more details about the **Quick Takeoff**, please read [here](https://docs.deltaquad.com/tac/flight/quick-takeoff).
## Mission Upload After the mission plan has been created, make sure to verify the ground elevation. The **Terrain Altitude Indicator** displays the mission height (orange top line) and the ground elevation (green ground profile).
A ground collision is indicated in the **Terrain Altitude Indicator** by the orange line turning red. On the map, the orange flight path will turn yellow. For more information about the **Terrain** **Altitude Indicator**, please revisit the dedicated section [here](https://docs.deltaquad.com/tac/auterion-mission-control-amc-overview/amc-menu/plan-view#terrain-visualization-terrain-altitude-indocator).
{% hint style="info" %} It is recommended to double-check the terrain altitudes in **Google Earth**. For more information, please revisit the **Best** **Practices and Tips** section [here](https://docs.deltaquad.com/tac/flight/planning-a-mission/best-practices-and-tips). {% endhint %} After the mission has been planned and all necessary items thoroughly checked, the mission plan can be uploaded to the vehicle by clicking on the **Upload Mission** button.