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This section provides practical tips for mission planning.
An internet connection is needed for AMC to access the necessary map and elevation data. When operating in offline mode, map and elevation data can be downloaded beforehand through the AMC Menu -> Settings -> Offline Maps.
The altitude calculations in AMC and any Geographic Information System (GIS) software, such as Google Earth, do not account for the height of trees and obstacles. However, Google Earth has a higher resolution in terms of altitude calculation. In challenging conditions, it is recommended to consult Google Earth and verify the correct altitudes of the mission area. Mission plans can be exported as a KML file by navigating to File -> Local Storage -> Save as KML and then imported into Google Earth. By moving the mouse around, you can see the absolute altitudes in the bottom right corner. Note: these are ground altitudes, not tree-top heights.
The flight path can be extended to the ground to visualize the space between the mission altitude and the ground. In Google Earth, select the Flight Path -> Properties -> Altitude -> check Extend path to ground.
The indicated Orbit in the case of a loiter down is only an estimate. Based on wind conditions and the vehicle’s position, the DeltaQuad Evo may drift outside this circle by up to 100 meters. Therefore, be sure to thoroughly inspect the entire landing area and its surroundings.
In most cases, the Straight Land Pattern is a better approach and is the recommended standard for the landing pattern.
Planning altitudes should always be done relative to the Landing Point (HGT), and altitude differences between the Landing Points and the location of the Landing Orbit should be checked to ensure a safe landing.
A vertical takeoff or landing in Multirotor Mode (Hover) consumes significantly more energy than a Fixed-Wing (Aero) flight. For maximum efficiency, an altitude between 25 and 35 meters above the highest obstacles in the landing area is recommended for landing.
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.
Most wind forecasts are based on ground-level wind. Even 10 meters above the ground the wind can be significantly stronger.
During the transition phase of the Transition Direction item, the vehicle has limited navigational abilities and could drift from its intended direction. The transition should therefore always be performed at an altitude where it is safe for the vehicle to perform the transition in any direction.
When planning a mission in the Plan View, a simulated flight path prediction is available if the DeltaQuad Evo is connected to the GCS. The simulated flight path, represented in blue, helps plan smoother directional and altitude changes between waypoints by indicating a loiter at a new waypoint if the climb rate is too high for the vehicle. The simulated flight path is enabled by default and can be accessed through AMC Menu -> Settings -> Plan View.
This section explains how to properly plan a VTOL takeoff and transition.
A VTOL (Vertical Takeoff and Landing) Takeoff refers to a vehicle's ability to lift off vertically, eliminating the need for a runway. Once airborne, the drone transitions from Multirotor Flight (Hover) to Fixed-wing Flight (Aero), enabling more efficient forward flight and greater range. The transition is a critical phase where the vehicle switches from vertical lift, using rotors, to forward thrust, using its wings to generate lift, optimizing performance for long-distance travel.
First, enter the Plan View via the AMC Menu.
When the Plan View is selected the Mission Editor appears on the right side of the screen.
Click on Add VTOL Takeoff. When the DeltaQuad Evo is connected to AMC, the VTOL Takeoff and Transition item is automatically placed at the vehicle's current location. The transition direction is also planned automatically, aligning with the vehicle’s nose to ensure a takeoff and transition into the wind. The Transition Direction item can be adjusted by dragging it to the desired location on the map.
The Transition Direction item must be planned so that the vehicle performs the Takeoff and Transition into the wind.
If the vehicle is not connected to AMC, a dialog window will appear. Click on the map to set the planned launch location, and adjust the Transition Direction item to the desired position.
If the vehicle is not connected to AMC during mission planning, make sure to select VTOL for the Vehicle Type.
After the VTOL Takeoff and Transition Direction item is placed, the VTOL Takeoff Altitude must be set.
The minimum VTOL Takeoff Altitude is 15 meters above any obstacle in the takeoff area. For example, if the average tree height in the takeoff area is 10 meters, the VTOL Takeoff Altitude must be set to at least 25 meters.
Set the VTOL Takeoff Altitude by adjusting the Altitude Slider or by typing in the desired altitude.
In Multirotor Mode (Hover), the DeltaQuad Evo uses up to 12 times more energy compared to Fixed-wing Mode (Aero). The VTOL Takeoff Altitude cannot be set higher than 100 meters, as this will impact the total flight time. As a rule of thumb, every additional minute ascending in Hover Mode will reduce the total mission length by 10 km, while every extra minute descending in Hover Mode will reduce it by 7 km.
The Altitude Frame is set to HGT by default. For standard operation, it is recommended to leave this setting as it is.
Always verify ground elevation using the Terrain Altitude Indicator. A ground collision is indicated when the orange line turns red in the Terrain Altitude Indicator and is also visible on the map.
In the Initial Mission Settings, the default value for the Default Waypoints Altitude can be set. This altitude will be applied to all waypoints during the planning stage but can be changed for each waypoint individually. A new waypoint will take over the altitude of the previous waypoint.
The Default Waypoints Altitude value and the available range of the slider can also be set in the AMC Menu under Settings -> General -> Plan View.
| Symbol | Meaning |
|---|
HGT | Height (Heights are referenced to the takeoff location) |
MSL | Mean Sea Level (Altitude Above Mean Sea Leve) |
AGL | Above Ground Level (Altitude Above Ground Level) |
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:
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.
Missions must comply with local laws and regulations.
The mission path should be free of obstructions for at least 200 meters in all horizontal directions.
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.
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.
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 set high enough to allow the vehicle to perform a transition in any direction.
The weather conditions must fall within the maximum allowed conditions.
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.
The intended mission should not consume more than 85% of the total available energy.
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.
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.
This chapter covers the key aspects of mission planning.
The DeltaQuad Evo is designed for autonomous flight, accomplished through the planning and execution of missions. Missions can be planned using the Ground Control Station and can be created and sent directly to the vehicle, loaded from existing mission plans, or saved for future use. The following sections provide an overview of the fundamental steps involved in planning a mission for the DeltaQuad Evo.
This section provides an overview of how to plan a survey pattern.
A Survey Pattern is a pre-planned flight path designed to systematically cover a specific area, essential for missions such as aerial mapping, inspections, and agricultural monitoring. In Intelligence, Surveillance, and Reconnaissance (ISR) operations, using survey patterns offers several key benefits:
Maximized Coverage: Survey patterns like grid or spiral paths ensure that all areas of interest are fully covered, leaving no gaps in data collection. This is crucial in ISR operations for monitoring large areas, tracking enemy movements, or surveying infrastructure.
Improved Efficiency: Pre-programmed flight patterns optimize the UAV’s flight time, allowing for efficient data collection over large areas without unnecessary overlap. This ensures quicker intelligence gathering, which is vital in time-sensitive ISR missions.
Accurate Intelligence: By maintaining consistent flight paths, UAVs can collect high-resolution imagery and sensor data. This enhances situational awareness, enabling decision-makers to assess threats, gather battlefield intelligence, or monitor border areas with precision.
Reduced Human Error: Automated flight patterns reduce the need for constant manual control, minimizing the risk of human error during data collection. This is particularly beneficial in high-risk ISR missions where focus on data analysis is critical.
Adaptability: Survey patterns can be adapted for different terrains or mission needs, such as contour-following for topographic analysis. This versatility is crucial in ISR operations, where varied environments and mission parameters are common.
In ISR missions, the systematic, automated coverage offered by survey patterns ensures comprehensive surveillance, rapid intelligence collection, and enhanced operational decision-making, contributing to mission success.
Payload-specific survey patterns are discussed in their respective sections within this manual.
Once the Mission Start Action has been created, a Survey Pattern can be placed anywhere on the map to autonomously cover an area by flying a predefined path. To do this, click on the Pattern Tool in the Plan Tools located on the right side of the screen and choose Survey.
A Survey item will be created and the Mission Editor on the right side of the screen will display the Survey Settings.
For ISR operations, it is recommended to choose Manual (no camera specs) as this provides direct access to the Survey Altitude and Spacing without the need to set the Overlaps.
Survey settings for specific mapping payloads are covered in their respective chapters.
The Survey area selector offers predefined shapes for the Survey Pattern.
Creates a rectangular survey on the map. Use the outer vertices to shape the form and the green vertex in the middle of the pattern to reposition it. Clicking the plus sign on the survey edge adds additional vertices.
Creates a circular survey on the map. Use the outer vertex to expand or contract the shape, and the green vertex in the middle of the pattern to reposition it.
The Trace Tool lets the operator draw a survey form by clicking anywhere on the map. Use the outer vertices to shape the form and the green vertex in the middle of the pattern to reposition it. Clicking the plus sign on the survey edge adds additional vertices.
Click on a vertex with the left mouse button to remove it or enter geo-coordinates for that specific point.
During tracing, the map can be dragged by holding down the Ctrl key on the keyboard and dragging the map with the right mouse button.
Once tracing is complete, confirm by clicking the Done Tracing button in the Mission Editor.
This provides the option to import KML or SHP files for the survey pattern.
Altitude sets the altitude of the Survey Pattern, which is usually relative to the Home Position.
Spacing determines the distance between the transects (trajectories within the green survey area). Spacing on the left side is 50 meters, and spacing on the right side is 150 meters.
The Trigger Distance can be ignored. Payload-dependent survey planning will be discussed in the dedicated chapters.
Pattern Options provide additional settings for the Survey.
Set the Pattern angle by moving the slide or entering a value. On the left side, the Pattern angle is 90 degrees, and on the right side, it is 180 degrees.
The Turnaround Distance refers to the horizontal distance the drone travels beyond the survey area's edge at the end of a transect before making a turn to start the next parallel transect. This buffer provides the drone with enough space to turn, and align itself accurately for the next pass, ensuring smooth transitions between flight lines. Set the Turnaround Distance by moving the slider or entering a value. On the left side, the Turnaround Distance is 50 meters, and on the right side, it is 300 meters.
Rotate Entry Point determines the vehicle's entry and exit locations for the survey. Click the button to toggle through all possible positions.
The Options tab provides four additional options for the survey item.
Refly at a 90-degree offset adds vertical trajectories to the horizontal ones. This is typically used for mapping missions, as it collects twice the amount of data, which is useful for creating a 3D map, for example. This tool can also be useful for ISR operations, as it covers the area in question twice.
The Images in turnarounds option is important for survey missions using a mapping payload, such as the Sony A7R Mark IV. This option will be discussed in the dedicated payload chapter and is not relevant to ISR operations.
Fly alternate transects - When not selected the vehicle is flying the exact pattern line after line.
The DeltaQuad Evo has less space between the two lines to perform the turnaround and re-enter the survey area. When Fly alternate transects is enabled the vehicle will fly constantly skipping one line. When reaching the end, the DeltaQuad Evo will fly back and follow the lines it previously skipped. This option will be discussed in the dedicated payload chapter and is not relevant to ISR operations.
Relative altitude: When enabled, altitudes are relative to the home point. When disabled, altitudes are measured above mean sea level (AMSL).
Be cautious and always double-check ground elevation.
The Survey item 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 Edit Position appears. Insert the values for the coordinate system of your choice and click Set to confirm the coordinates.
Always verify the ground elevation using the Terrain Altitude Indicator. A ground collision is indicated when the orange line turns red in the Terrain Altitude Indicator.
The Vehicle follows terrain option allows the aircraft to maintain a constant distance from the ground. If the ground elevation changes, the vehicle adjusts its altitude accordingly. This option will be discussed in the dedicated payload chapter and is not relevant to ISR operations.
A fixed-wing aircraft has limited capabilities to follow ground elevation due to its need for constant forward movement to generate lift. This continuous motion restricts its ability to make quick altitude adjustments. Additionally, fixed-wing aircraft have a limited climb and descent rate, meaning they cannot rapidly adapt to sudden changes in terrain elevation, unlike multirotor drones that can hover and change altitude more quickly.
The Presets tab allows you to save settings as a preset for frequent use and load existing presets.
This section explains how to properly plan waypoints.
Waypoints are pre-set GPS coordinates that guide the aircraft along a specific path. Each waypoint includes information like altitude, action commands, and other flight parameters. As the DeltaQuad Evo flies autonomously, it follows these waypoints in sequence, adjusting its position to stay on course. This allows for precise navigation during missions such as surveying, mapping, inspections, and cargo drops.
After the Mission Start Action has been planned, Waypoints can be added by clicking anywhere on the map. Select the Waypoint Tool from the Plan Tools on the left side of the screen.
Click anywhere on the map to designate a location for the waypoint.
After placing the Waypoint on the map, the Mission tab in the Mission Editor on the right side of the screen will open.
When clicking on the waypoint number, the Waypoint Summary opens, where all planned waypoints, survey and corridor items, and custom actions are available. Click on any of them to jump to the selected item.
Waypoint type changes the waypoint command. The following Waypoint Commands are available in AMC's Normal Mode.
The vehicle will fly to the User-specified Location and Altitude, and once there, continue on to the next mission item. If there is no mission item after the waypoint, the vehicle will orbit in place at the waypoint’s location.
The vehicle will travel to the User-defined Orbit Location and Altitude. Once it arrives, the vehicle will Orbit the area until the specified orbit time expires, then it will proceed to the next mission item.
If the altitude of an Orbit (time) or Waypoint mission item is different from the vehicle’s current altitude, the vehicle will fly directly to the mission item in a straight line. It will not first ascend or descend to match the mission item’s altitude before proceeding forward.
If the vehicle’s climb or descent rate isn’t sufficient to reach the destination mission item on a direct path, it will orbit at the mission item’s horizontal position until it completes the climb or descent to the required altitude.
Orbit Time defines the duration of the Orbit Command, while Orbit Radius determines the size of the Orbit. Exit orbit from provides two choices for where within the Orbit the vehicle will exit.
The vehicle will fly to the Orbit (altitude) point at its current mission altitude. Only after reaching the horizontal location of the Orbit (altitude) will the vehicle begin climbing or descending to the user-specified altitude. This behavior differs from that of the other mission items described above. When using Orbit (altitude), be especially cautious about terrain collisions.
Orbit (altitude) is suitable for reaching a specific altitude before the flight path continues. This is necessary to avoid terrain collisions if the vehicle cannot achieve the required climb or descent rate directly on route.
Altitude defines the final height of the Orbit Command, while Orbit Radius determines the size of the Orbit. Exit orbit from provides two choices for where within the Orbit the vehicle will exit.
A waypoint that becomes a Custom Action attaches itself to the former Waypoint. This Custom Action can be used, for example, to enable or disable the Stealth Switch or to plan a Cargo Drop. The Stealth Switch and the Cargo Drop will be discussed in a later chapter in this manual.
The Altitude Frame is set to HGT by default. For standard operation, it is recommended to leave this setting as it is.
Set the Altitude of the Waypoint using the Altitude Slider or by typing in the desired value. The Default Waypoints altitude is set in the Mission Start Action and can be adjusted for each Waypoint individually. The following Waypoint automatically inherits the altitude of the previous Waypoint.
Always verify ground elevation using the Terrain Altitude Indicator. A ground collision is indicated when the orange line turns red in the Terrain Altitude Indicator and is also visible on the map.
The Waypoint 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, Geographic Coordinates can be inserted for the Waypoint. Insert the values for the coordinate system of your choice and click Set to confirm the coordinates. Set From Vehicle Position will set the Waypoint to the current vehicle position.
Select the POI Tool from the Plan Tools on the left side of the screen. Click on the map where you want to set the POI location. The camera gimbal will automatically point towards the most recently created POI.
In the Mission Editor, located on the right side of the screen, the POI menu displays the following settings.
For the POI the Altitude Frame is set to AGL by default. It is recommended to leave this setting as it is.
The altitude of the POI can be set using the Altitude Slider. In most cases, it is recommended to leave this value at 0 m.
The POI 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, Geographic Coordinates can be inserted for the POI. Insert the values for the coordinate system of your choice and click Set to confirm the coordinates. Set From Vehicle Position will set the Waypoint to the current vehicle position.
To cancel the POI, select the Cancel POI tool from the Plan Tools.
| Symbol | Meaning |
|---|
| Symbol | Meaning |
|---|
HGT | Height (Heights are referenced to the takeoff location) |
MSL | Mean Sea Level (Altitude Above Mean Sea Leve) |
AGL | Above Ground Level (Altitude Above Ground Level) |
HGT | Height (Heights are referenced to the takeoff location) |
MSL | Mean Sea Level (Altitude Above Mean Sea Leve) |
AGL | Above Ground Level (Altitude Above Ground Level) |
This section provides an overview of how to plan a survey pattern.
A corridor Scan is a flight pattern designed to survey or monitor a long, narrow area, such as roads, pipelines, coastlines, or borders. In ISR operations, Corridor Scans are particularly useful because they can efficiently cover vast stretches of terrain while maintaining a high altitude. This allows for continuous monitoring of infrastructure, moving targets, or environmental changes over long distances, with minimal fuel or energy consumption.
For mapping, Corridor Scans are valuable when creating detailed maps of linear features like roads or utility lines, where precision and consistency over narrow, extended areas are required.
Payload-specific corridor scans are discussed in their respective sections within this manual.
Once the Mission Start Action has been created, a Corridor Scan can be placed anywhere on the map to autonomously cover an area by flying a predefined path. To do this, click on the Pattern Tool in the Plan Tools located on the right side of the screen and choose Corridor Scan.
A Corridor Scan item will be created and the Mission Editor on the right side of the screen will display the Corridor Scan Settings.
For ISR operations, it is recommended to choose Manual (no camera specs) as this provides direct access to the Corridor Scan Altitude and Spacing without the need to set the Overlaps.
Survey settings for specific mapping payloads are covered in their respective chapters.
The Survey area selector offers tools to create shapes for the Survey Pattern.
Creates a rectangular corridor on the map. Use the vertices to shape the form and to reposition it. Clicking the plus sign in the green survey area adds additional vertices.
The Trace Tool lets the operator draw a Corridor Scan by clicking anywhere on the map. Use the vertices to shape the form and to reposition it. Clicking the plus sign in the green survey area adds additional vertices.
Click on a vertex with the left mouse button to remove it or enter geo-coordinates for that specific point.
During tracing, the map can be dragged by holding down the Ctrl key on the keyboard and dragging the map with the right mouse button.
Once tracing is complete, confirm by clicking the Done Tracing button in the Mission Editor.
This provides the option to import KML or SHP files for the survey pattern.
Altitude sets the altitude of the Corridor Scan, which is usually relative to the Home Position.
Spacing determines the distance between the transects (trajectories within the green survey area). Spacing on the left side is 180 meters, and spacing on the right side is 50 meters.
The Trigger Distance can be ignored. Payload-dependent survey planning will be discussed in the dedicated chapters.
The Corridor tab provides additional settings.
Set the Width of the Corridor Scan by using the slider or entering a value. On the left side, the Width is 200 meters, and on the right side, it is 50 meters.
The Turnaround Distance refers to the horizontal distance the drone travels beyond the survey area's edge at the end of a transect before making a turn to start the next parallel transect. This buffer provides the drone with enough space to turn, and align itself accurately for the next pass, ensuring smooth transitions between flight lines. Set the Turnaround Distance by moving the slider or entering a value. On the left side, the Turnaround Distance is 50 meters, and on the right side, it is 300 meters.
The Options tab provides two additional settings for the Corridor Scan.
The Images in turnarounds option is important for Corridor Scans using a mapping payload, such as the Sony A7R Mark IV. This option will be discussed in the dedicated payload chapter and is not relevant to ISR operations.
Relative altitude: When enabled, altitudes are relative to the home point. When disabled, altitudes are measured above mean sea level (AMSL).
Be cautious and always double-check ground elevation.
Rotate Entry Point determines the vehicle's entry and exit locations for the Corridor Scan. Click the button to toggle through all possible positions.
The Corridor Scan 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 Edit Position appears. Insert the values for the coordinate system of your choice and click Set to confirm the coordinates.
Always verify the ground elevation using the Terrain Altitude Indicator. A ground collision is indicated when the orange line turns red in the Terrain Altitude Indicator.
This section explains how to plan a mission that facilitates the stealth switch.
The Stealth Switch is a feature that allows the DeltaQuad Evo to turn off all radio emissions, making it undetectable to interception systems. When activated, the vehicle disables all radio transmissions, ensuring it operates in complete stealth mode.
The operator can plan missions with predefined stealth operation phases using Auterion Tactical Stack Avionics. The drone autonomously executes these stealth phases and then reconnects with the operator at a designated point in the mission.
To ensure a successful stealth operation, the settings for the Data Link Loss Failsafe Trigger are always ignored and set to disabled by default during mission plan execution. This prevents the stealth mission from being aborted (e.g., by initiating Return-to-Launch) if radio transmission is cut.
To use the Stealth Switch, a mission plan must be created. Plan a VTOL Takeoff and Transition, along with Intermediate Waypoints, up to the location where you wish to engage the Stealth Switch. Please review the instructions for planning a VTOL Takeoff, Transition, and Intermediate Waypoints.
To engage the Stealth Switch, an additional waypoint must be planned, which will be set as a Custom Action Command.
Create a waypoint at the location and altitude where the Stealth Switch should be engaged. In the example below, the Stealth Switch should be engaged at waypoint 3.
Create a waypoint anywhere on the map.
In the Mission Editor, on the right side of the screen, click on the Waypoint type (Waypoint).
A menu will open, allowing you to Select a Waypoint Type, choose Action.
As soon as the Waypoint Type is set to Action, Waypoint 4 will be attached to Waypoint 3 as a Custom Action.
In the Mission Editor, the Action tab is available on the right side of the screen. When you click on it, a drop-down menu will appear. Select Turn radio off.
We have now planned for the Stealth Switch to engage at Waypoint 3. From that point onward, all subsequent waypoints will be flown without any radio emissions, meaning no radio connection to the GCS. Now, let’s plan the next waypoint where the Stealth Switch will disengage. We will place this at Waypoint 4, just beyond the riverbed.
If we now click on the Waypoint Summary at the top of the Mission Editor, the Custom Action attached to Waypoint 3 is listed as Action.
Since Custom Actions are not displayed on the map, the only way to access and change their settings is through the Waypoint Summary.
We create another Waypoint anywhere on the map, which will be set as the Custom Action to disengage the Stealth Switch. In the Mission Editor, on the right side of the screen, click on the Waypoint type (Waypoint).
A menu will open, allowing you to Select a Waypoint Type, choose Action.
As soon as the Waypoint Type is set to Action, Waypoint 5 will be attached to Waypoint 4 as a Custom Action to disengage the Stealth Switch.
In the Mission Editor, select Turn radio on from the drop-down menu in the Action tab.
After a few seconds, the Radio Connection with the GCS should be re-established. From this point, the mission can continue with another Stealth Switch activation or a landing at the home position.
In fixed-wing UAVs (Unmanned Aerial Vehicles), the acceptance radius refers to the radius around a waypoint within which the UAV considers itself to have reached that waypoint and can proceed to the next. It’s a tolerance value, typically measured in meters, that allows for slight deviations due to wind or other factors affecting flight path accuracy.
For fixed-wing UAVs, the acceptance radius is usually larger compared to rotary-wing UAVs because fixed-wing aircraft can’t make sharp turns and require a smoother, more gradual transition between waypoints.
Typical acceptance radius values for fixed-wing UAVs range from 5 to 50 meters, depending on factors like mission type, aircraft speed, and waypoint precision required. If the UAV enters this radius, it will consider the waypoint achieved and adjust its heading toward the next one.
This section describes the use and functionality of geofences.
A geofence is a virtual boundary set around a specific geographic area. It restricts where the UAV can fly, often for safety, regulatory compliance, or privacy reasons. If a UAV approaches this boundary, it can trigger automated actions, like alerting the operator, pausing, or returning to a safe area. Geofencing helps prevent UAVs entering restricted zones, such as airports, military areas, or other sensitive locations.
One or more geofences can be placed in the Plan View and uploaded to the vehicle. This is possible with or without a takeoff, waypoint, or landing item being present. This is beneficial when operating the vehicle with the Quick Takeoff functionality while requiring complex geofencing.
A faster and simpler way to create a geofence is to use the Geofence Failsafe Trigger option in the Safety tab, as explained in the following section.
Navigate to the Geofence option in the Safety tab: AMC Menu -> Vehicle Overview -> Safety -> Geofence Failsafe Trigger.
When AMC is running in Normal Mode, the Action on breach tab provides the following four options to choose from. Set the action required for the planned operation.
When enabling Max Radius, a geofence will be placed with the DeltaQuad Evo at its center. Set the values for Max Radius and Max Altitude (HGT) in the respective fields.
The Max Altitude is referenced to the takeoff location (HGT), not above ground level (AGL). Special care must be taken when operating in an area with varying ground elevations. For more information, please read the chapter Geofence Failsafe Trigger.
Go to the Plan View and navigate to the Extra tab in the Mission Editor on the right side of the screen: AMC Menu → Plan View → Extra.
In the Extra tab, two geofence options are available: Polygon Fences and Circular Fences. Add a geofence by clicking the plus sign next to the desired geofence shape. A geofence will be positioned at the center of the map.
The Polygon Fence can be repositioned by dragging the geofence while holding the inner vertex (green point). Clicking on the outer (white) vertices gives the option to remove a vertex or enter the geocoordinates for that specific point. The outer vertices can also be dragged in any direction to shape the polygon into the desired form.
Clicking any of the plus signs on the geofence adds another vertex.
Hold and drag any of the vertices to shape the polygon.
Hold and drag the inner green vertex to reposition the fence in any direction.
The geofence can be set to be inclusive or exclusive. By default, the Type is set to Inclusion. Change the Type by selecting Exclusion in the respective tab.
Inclusionary geofence: A geofence where the vehicle stays within the defined area; an action is triggered before breaching and leaving the area.
Exclusionary geofence: A geofence that defines an area the vehicle shall not enter; an action is triggered before breaching and entering the area.
If a height limit for the geofence is required, this can be set in the Geofence Failsafe Trigger tab in the Safety settings. Enable Max Altitude (HGT) and set the desired value. The Action on breach will be triggered when the vehicle crosses the set altitude.
The Max Altitude is referenced to the takeoff location (HGT), not above ground level (AGL). Special care must be taken when operating in an area with varying ground elevations.
When the Extra tab (Geofences) is selected, two Plan Tools on the left side of the screen are available. The full functionality of these tools can be reviewed in the chapter Plan View. The File option allows you to save the geofence(s), and the Center option provides multiple ways to center the view.
When adding a Circular Fence, it will be placed at the center of the map.
The radius can be adjusted by holding and dragging the outer vertex left or right. Alternatively, a value for the radius can be set in the Radius tab in the Mission Editor on the right side of the screen.
The Circular Fence can be repositioned by holding and dragging the inner vertex in any direction.
As with the Polygon Fence, the Circular Fence Type can be set to either inclusive or exclusive.
If a height limit for the geofence is required, this can be set in the Geofence Failsafe Trigger tab in the Safety settings. Enable Max Altitude (HGT) and set the desired value. The Action on breach will be triggered when the vehicle crosses the set altitude.
The Max Altitude is referenced to the takeoff location (HGT), not above ground level (AGL). Special care must be taken when operating in an area with varying ground elevations.
When the Extra tab (Geofences) is selected, two Plan Tools on the left side of the screen are available. The full functionality of these tools can be reviewed in the chapter Plan View. The File option allows you to save the geofence(s), and the Center option provides multiple ways to center the view.
When an inclusive geofence is planned with the DeltaQuad Evo outside the geofence, the following two scenarios can occur:
The vehicle will not be able to arm while on the ground, as it is outside the geofence.
The vehicle will trigger the Action on breach when airborne, as it is outside the geofence.
When a exclusive geofence is planned with the DeltaQuad Evo inside the geofence, the following two scenarios can occur:
The vehicle will not be able to arm while on the ground, as it is inside the geofence.
The vehicle will trigger the Action on breach when airborne, as it is inside the geofence.
As stated in this manual, when an RTL command is triggered, the vehicle will return in a straight line to its designated landing point. If an exclusionary geofence or the boundary of a complex inclusionary geofence lies between the vehicle and the landing point, the vehicle will ignore the geofence and pass through it during its return.
In Altitude and Position Mode, the vehicle will breach both inclusionary and exclusionary geofences for a small distance until the RTL command is triggered. The system has a delay in responding to a geofence in these modes because the system needs to verify for a longer period that it has breached the geofence.
Rally Point and Breach Return Point are not supported by the DeltaQuad Evo.
(When AMC is running in Advanced mode, Rally Points are available in the Plan Tools on the left side of the screen, and the option to set a Breach Return Point is available in the Mission Editor on the right side of the screen. These options are not supported on the DeltaQuad Evo.)
This section explains how to properly plan a transition and VTOL landing.
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.
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.
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.
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.
When choosing Add Orbit Land Pattern, AMC automatically creates the Landing Pattern as shown on the map.
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.
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.
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.
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.
The Altitude Frame is set to HGT by default. For standard operation, it is recommended to leave this setting as it is.
Set the Altitude (Land Altitude) to at least 25 meters above any obstacle in the landing area.
It is recommended to leave the Radius at 100 meters. 75 meters is possible in calm winds.
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.
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.
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.
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.
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.
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.
When choosing Add Straight Land Pattern, AMC automatically creates the Landing Pattern as shown on the map.
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.
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.
When choosing Add Straight Land Pattern, the following window appears on the right side of the screen, providing the following Settings.
The Altitude Frame is set to HGT by default. For standard operation, it is recommended to leave this setting as it is.
Set the Land Start altitude. This is the altitude the vehicle starts its descent to the set Transition altitude.
Set the Transition altitude to at least 25 meters above any obstacle in the landing area.
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.
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.
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.
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.
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.
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).
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.
| Symbol | Meaning |
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| Symbol | Meaning |
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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 .
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 .
It is recommended to double-check the terrain altitudes in Google Earth. For more information, please revisit the Best Practices and Tips section .
None
No action
Warning
A warning message will be displayed/announced.
Hold mode
The vehicle will enter Hold mode and orbit at the location and altitude where the failsafe action was triggered.
Return mode
The vehicle will enter Return mode and fly directly to the designated landing location at the set return altitude, then land.
Max Radius
The horizontal radius of the geofence cylinder around the Home Position. Alternatively, a circle can be drawn and freely positioned in the Plan View. The horizontal geofence is disabled if set to 0.
Max Altitude
Height of geofence cylinder. Altitude geofence disabled if 0.
HGT | Height (Heights are referenced to the takeoff location) |
MSL | Mean Sea Level (Altitude Above Mean Sea Leve) |
AGL | Above Ground Level (Altitude Above Ground Level) |
HGT | Height (Heights are referenced to the takeoff location) |
MSL | Mean Sea Level (Altitude Above Mean Sea Leve) |
AGL | Above Ground Level (Altitude Above Ground Level) |
