Preparing a Mission Plan

This sections outlines how to prepare 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 thoroughly inspecting the entire mission area. All altitude variations and obstacles must be identified and accounted for. Google Earth can be used to gain a clearer understanding of the ground elevation.

2. Missions must comply with local laws and regulations.

3. The mission path should be free of obstructions for at least 200 meters in all horizontal directions.

4. During fixed-wing flight (Aero), the vehicle should maintain an altitude of at least 50 meters above ground level. Toward the end of the mission, it is required to maintain an altitude of 25 meters above obstacles to reduce landing energy consumption and ensure a safe distance from the ground and any obstacles below the flight path. For example, if there are trees in the landing area that are 10 meters tall, the landing altitude should be set to 25 meters above the height of the trees.

5. The takeoff altitude can be set to 15 meters above any obstacles in the takeoff area. For example, if there are trees in the takeoff area that are 10 meters tall, the takeoff altitude should be set to 15 meters above the height of the trees.

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

7. The takeoff altitude should be set high enough to allow the vehicle 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 into the wind while performing the transition.

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

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.

For a takeoff that cannot transition directly into the wind, the flight path may be adjusted to the desired transition direction, considering the following guidelines:

• The procedure should only be performed in wind conditions below 5 m/s.

• The vehicle should be facing into the wind during takeoff. It will automatically adjust its heading toward the transition direction upon reaching the transition altitude.

• If the vehicle is not aligned with the wind, it may drift in the wind direction during both forward and backward transition paths. Special care must be taken to avoid any obstacles.

• During takeoff and landing, the vehicle will automatically attempt to align its nose into the wind.