This section outlines the steps involved in planning the Land Approach.
To plan a Quick Takeoff, the DeltaQuad Evo must be connected to the GCS.
Position the vehicle at the desired takeoff location.
Ensure the nose of the vehicle is pointed into the wind.
In the Fly View, click on the Takeoff command.
An Octagon is positioned around the vehicle, divided into 8 red sectors called Pizza Slices.
The first step is to assign the sectors where the vehicle can loiter, transition, and land. This is done by clicking on the relevant sectors. These sectors must be free of obstacles, and since the vehicle should take off and transition into the wind, sectors behind the vehicle should be selected. The vehicle will place the Loiter Down Orbit within the dedicated green area
Grab the vertex at the top of the octagon and move it around for more granular control.
The vehicle places the Loiter Down Orbit within the dedicated Approach Zones (green) so the vehicle can transition and land into the wind. If this is not possible, the vehicle will choose a Loiter Down Orbit as close as possible to this direction, given the limitations of the selected sectors.
Set the altitude for the Back Transition using the Altitude Slider on the right side of the screen. The Altitude Frame is HGT, Height (Heights are referenced to the takeoff location).
The minimum Back Transition/Landing Altitude to which the vehicle descends must be set at least 25 meters above the highest obstacles in the landing area. For example, if the tallest tree in the landing area is 10 meters high, the Landing Altitude must be set to at least 35 meters.
When using the Quick Takeoff, only the Orbit Land Pattern is available as a landing option. A Straight Land Pattern is not available.
Hold to Confirm the settings for the Land Approaches.
This section explains the process of executing the Return.
To land the vehicle, click on the Return command on the left side of the screen.
The Pizza Slices reappear, and the Return command can now be confirmed.
Clicking on the Pen icon at the top of the octagon allows changes to be applied to the sectors and the Transition Altitude. This is useful after extended flight periods, especially if weather conditions have changed.
Hold to confirm after making changes.
Hold to Confirm the Return command.
The vehicle will automatically place the Loiter Down item within the available sectors. It will then perform the back transition to Multirotor Mode into the wind, or as close as possible to this direction, depending on the limitations of the selected sectors.
This section outlines the steps involved in planning the VTOL Takeoff.
In the next step, the VTOL Takeoff and Transition must be planned. A flight path from the vehicle to an orbit is shown. This orbit can be dragged within a confined space defined by AMC by grabbing the white vertex.
The VTOL Takeoff and Transition items must be planned in such a way that the vehicle can perform these into the wind.
Place the VTOL takeoff orbit with at least 25 meters of clearance above any obstacles. The orbit’s altitude is by default 80 meters (HGT) relative to the takeoff location.
The Transition Altitude must be set by adjusting the slider on the right side of the screen. The Altitude Frame is AGL, Above Ground Level (Altitude Above Ground Level).
The minimum VTOL Takeoff Altitude is 15 meters above the highest obstacle in the takeoff area. For example, if the tallest tree in the takeoff area is 10 meters high, the VTOL Takeoff Altitude must be set to at least 25 meters.
Before confirming the takeoff, the operator must review the Pre-flight Checklist.
Hold to Confirm the VTOL Takeoff.
After the VTOL Takeoff command has been given, the vehicle will arm its VTOL motors and ascend in Multirotor Mode to the set Transition Altitude. Once reached, the vehicle will engage the pusher motor and commence forward movement until enough lift can be generated with the wings. As soon as sufficient airspeed is reached to allow fixed-wing flight, the VTOL motors will be turned off. The transition phase is over, and the DeltaQuad Evo is flying in fixed-wing mode (Aero).
In the next stage, the vehicle will climb to the default 80 meters altitude (HGT) as fast as possible while moving towards the Orbit location. Once there, the vehicle will loiter clockwise with a radius of 100 meters at 80 meters altitude (HGT).
The vehicle can now be commanded to change location via the Orbit Command. The orbit can be adjusted in position, radius, direction, and altitude.
How to execute and monitor a mission will be addressed in the following chapter.
This section describes how to properly plan a Quick Takeoff.
A Quick Takeoff refers to a rapid and efficient method of launching the DeltaQuad Evo. The Quick Takeoff process is designed to minimize the time spent on the ground, enabling faster deployment, especially in situations requiring prompt action.
The Quick Takeoff consists of a VTOL Takeoff and Transition item and a Landing Pattern. The Landing Pattern consists of a Loiter Down Orbit, a Transition, and a Land item. These items are planned by the operator.
Before performing a Quick Takeoff, the following steps should be taken to ensure safe execution:
A Quick Takeoff should only be conducted after thoroughly inspecting the intended mission area. All altitude variations and obstacles must be identified and accounted for. Tools like Google Earth can help provide a clearer understanding of ground elevation.
The intended flight must comply with local laws and regulations.
Ensure the takeoff location is free from obstructions up to the transition altitude, with at least 500 meters of clearance in the transition direction and 200 meters in every horizontal direction.
Set the VTOL takeoff orbit with at least 25 meters of clearance above obstacles. The standard orbit’s altitude is 80 meters relative to the takeoff location.
During fixed-wing flight (Aero), the vehicle should maintain an altitude of at least 50 meters above ground level. At the start and toward the end of the mission, the vehicle must maintain an altitude of 25 meters above obstacles to reduce 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 35 meters (25 meters) above the height of the trees.
The takeoff altitude should 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 25 meters (15 meters) above the height of the trees.
The takeoff and landing sites must consist of a level, flat surface that is free of obstructions for at least 5 by 5 meters.
The takeoff altitude should be high enough to allow the vehicle to perform a transition in any direction.
Weather conditions must be within the maximum allowed limits for safe flight.
Both the front and back transition paths must be planned so that the vehicle is facing into the wind while performing the transition.
The intended flight should not consume more than 85% of the total available energy.
At any point in the flight, the vehicle must be able to return to its takeoff point in a straight line at its current altitude, assuming a minimum altitude as stated in the .
At any point in the flight, the vehicle must be able to initiate an unscheduled landing without causing damage to itself or the surrounding environment.
For a Quick Takeoff that cannot transition directly into the wind, the flight path can be adjusted to the desired transition direction by following these guidelines:
Landing Approach: Ensure that obstacle-free sectors are selected for the landing approach. The vehicle will automatically perform the back transition to multirotor mode into the wind, or as close as possible to this direction, given the limitations of the selected sectors.
Wind Conditions: This procedure should only be performed when wind speeds are below 5 m/s.
Takeoff Orientation: The transition direction can be set towards a safe direction. The vehicle should still be placed facing its nose into the wind during takeoff. Upon reaching the transition altitude, it will automatically adjust its heading toward the transition direction.
Drift Considerations: If the vehicle is not aligned with the wind, it may drift in the wind's direction during both the forward and backward transitions. Special care must be taken to avoid obstacles during these phases.
Automatic Wind Alignment: During both takeoff and landing, the vehicle will automatically attempt to align its nose into the wind for optimal performance.
In certain situations where launch and landing sites pose significant restrictions and obstacles, utilizing the Takeoff and Approach functionalities in Fly View becomes impractical. In such instances, it is advisable to employ the Plan View for comprehensive mission planning. The planned mission may be interrupted with reposition commands for performing the mission, and the RTL behavior will follow the landing as planned in the mission.
