This section describes the steps required for offshore operations.
Thoroughly review the chapter on Manual Control.
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.
Determine the wind direction and position the vehicle so its nose faces into the wind.
Complete the Pre-flight Checklist.
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.
Select Altitude Mode via the Mode button.
Press Disarmed at the top of the menu bar.
Arm the vehicle by pressing and holding the confirmation button.
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.
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.
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).
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.
There are two possibilities to proceed from this point.
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.
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.
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.
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.
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.
Throughout the entire process, closely monitor the Telemetry Dashboard for:
Altitude
Windspeed and direction
Groundspeed and airspeed
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.
From this point on, the vehicle can be controlled as described in Controlling the Vehicle.
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.
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.
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.
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.
Throughout the entire process, closely monitor the Telemetry Dashboard for:
Altitude
Windspeed and direction
Groundspeed and airspeed
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.
Select Position mode via the Mode button, as the vehicle has sufficient clearance and should be outside the ship's magnetic interference.
From this point on, the vehicle can be controlled as described in Controlling the Vehicle.
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.
Guide the vehicle to the landing zone while maintaining its altitude with the right joystick.
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.
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.
When positioned above the landing zone, account for the deck's tilt and movement.
Adjust the vehicle's heading so that its wings are positioned to avoid hitting the deck due to its rolling.
Time the landing with the waves to ensure touchdown occurs at the deck's lowest point.
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.
This chapter covers how to operate in GPS-denied areas and perform offshore operations.
Advanced flight operations encompass GPS-denied environments, manual flying, and offshore operations. These scenarios require skilled piloting without GPS assistance and demand a deep understanding of the DeltaQuad Evo and its controls. Only experienced pilots should attempt these maneuvers, as they involve navigating without GPS, which can complicate situational awareness and precision. A deep understanding of the Flight chapter is essential for maintaining stability and control in challenging conditions. Always prioritize safety and preparedness in such operations.
The following parameters can be adjusted for special operations in AMC Menu (Advanced Mode) -> Advanced -> Parameters.
Search for the parameter that needs to be changed.
Set the value and save it.
MPC_MAX_HOVER_T
Default: 90 Max: 150
The DeltaQuad Evo's default maximum hover time is 90 seconds, but this can be extended to a maximum of 150 seconds. After the timeout, the vehicle will automatically force-land at its current location. Adjusting this value may be necessary for offshore operations.
COM_WIND_MAX
Default: 14 Max: -1 (off)
By default, the DeltaQuad Evo can tolerate a maximum windspeed of 14 m/s. This limit can be disabled if a mission must be completed regardless of wind conditions.
COM_WIND_MAX_ACT
Default: Return Optional: Warning
The maximum windspeed action can be changed to a warning. By default, the vehicle will return if the windspeed exceeds the tolerance limits.
If arming without GPS is not possible, set the following parameter to Allow arming without GPS.
COM_ARM_WO_GPS
The warranty will be void if any incident occurs as a result of changes made to the parameters.
This section will describe the steps required for GPS-denied operations.
Thoroughly review the chapter on Manual Control.
A good knowledge of the mission area is required to fly in GPS-denied areas, as the vehicle’s position will be estimated based on visual identification of landmarks and other prominent features.
To navigate in GPS-denied areas, the use of an ISR payload is mandatory, as it enables visual identification of landmarks. Refer to the dedicated payload manual for proper use and handling of ISR cameras.
The takeoff and landing area should have sufficient space with as few obstacles as possible.
Power up the DeltaQuad Evo and the GCS (AMC).
Set AMC to Advanced Mode.
Complete the Pre-flight Checklist.
The functions to disable GPS Fusion, set the Home Position manually, and allow takeoff without GPS lock, must be enabled in AMC Menu -> Vehicle Overview -> More -> GPS Advanced Settings.
GPS Fusion - GPS data is combined with other sensor data to enhance the accuracy and reliability of the drone's navigation and positioning systems. When GPS Fusion is disabled, the vehicle position based on the raw GPS data will be displayed as a grey arrow in AMC. The blue arrow shows the estimated vehicle position based on the IMU, compass, and wind speed sensor.
If no GPS signal is available, only the blue arrow will be displayed.
When operating in GPS-denied areas, it is recommended to disable GPS Fusion before takeoff.
Click the GPS icon in the menu bar and Disable GPS Fusion.
Once disabled, the GPS symbol in AMC's Top Bar will turn red.
If a GPS signal is available during the start-up of the vehicle, the DeltaQuad Evo will set the Home Position automatically before disabling GPS Fusion. If no GPS signal is available, the Home Position must be set manually. When the function to set the Home Point manually is enabled, simply click on the waypoint displaying an H (Home Point). The option will be provided to set a new Home Point.
If GPS spoofing is prominent at the mission site, the raw GPS data will be false and therefore unusable. If the vehicle sets the Home Position automatically, it is recommended to reference the Home Point against the vehicle’s actual location before taking off. If the Home Position set by the system does not align with reality, set the Home Position manually as described above.
The DeltaQuad Evo is equipped with an optical flow sensor. A Quick Takeoff can be used to take off and transition autonomously. The optical flow sensor will work up to 10 meters. The transition altitude can be set to 15 meters. In strong winds, drift can be expected for the last 5 meters.
If a Quick Takeoff is not preferred, follow these steps for a manual takeoff.
Select Position Mode via the Mode button.
Position mode must be selected for the optical flow sensor to work. The sensor is not available in Altitude mode and will function up to 10 meters above ground level. When the vehicle is higher than 10 meters, it will automatically switch to Altitude mode.
Optical flow sensors provide real-time information about the drone's movement relative to the ground, enabling precise control and stabilization even in challenging environments where GPS signals may be unreliable or unavailable.
While optical flow sensors are versatile and effective in many scenarios, they may not provide reliable navigation or stabilization on surfaces where challenges are present, such as plain and featureless surfaces, highly reflective or transparent surfaces, moving surfaces, extreme lighting conditions, and irregular or unpredictable textures. In such cases, drones may rely on alternative sensors or navigation methods, such as GPS (if available), and IMUs to maintain stability and control.
If Allow takeoff without GPS lock is enabled, manually arming the vehicle is available and the Vehicle Status Indicator reads Ready to Fly.
Press Disarmed at the top of the menu bar.
Arm the vehicle by pressing and holding the confirmation button.
Manual arming is only possible in Advanced Mode.
The VTOL motors will spin up. In multirotor mode, the left control stick manages the throttle, regulating the drone's altitude.
Press the left stick upwards to ascend.
Continue the ascent. At approximately 10 meters altitude, the vehicle will switch to Altitude Mode, and the optical flow sensor will no longer be available. The vehicle may start to drift.
Correct the drift with stick input. The right joystick controls the position of the vehicle. Moving this joystick forward, backward, left, or right changes the vehicle's position relative to its current heading.
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).
When a safe transition altitude is reached, transition to fixed-wing mode.
A safe transition altitude should be higher than any nearby object, specifically 15 meters above the highest obstacle in the takeoff area. The transition should be performed into the wind. Use the left stick for yaw control to point the vehicle’s nose into the wind.
After the vehicle has transitioned to fixed-wing mode, continue ascending to a safe altitude. Moving the right joystick forward and backward controls the vehicle's altitude. Pull the right joystick backward to increase altitude.
Stay close to reset the vehicle's position based on a nearby landmark, such as a tall tree or something similar.
Or reset the vehicle position based on the camera’s center field of view.
As soon as the vehicle's position has been reset with the Set Position feature, it will switch from Altitude to Position mode.
The vehicle uses inertial navigation with sensors to track the drone's motion and orientation by measuring its acceleration and rotation.
When using inertial navigation, several factors such as wind gusts, turbulence, and magnetic interference can affect the drone's motion and introduce errors in the inertial navigation system.
Consider flying at a higher altitude, as altitude readings depend solely on barometer readings.
Once the vehicle is in Position mode, a Return command can be initiated. Depending on wind speeds, direction, and gusts, the accuracy of the Return can vary significantly.
Bring the DeltaQuad Evo back toward the Home Point and align the vehicle with its nose into the wind.
When above the landing site press Land.
The DeltaQuad Evo will do a back transition, overshoot, and initiate the landing.
As soon as the Land command has been given, the vehicle will lose its position estimate and go into Land Descent mode.
The vehicle will drift with the wind, the operator needs to nudge!
The optical flow sensor will work as soon as the vehicle is 10 meters above ground.
The DeltaQuad Evo will switch to Position Mode.
When the optical flow sensor is working, let the landing process happen. Do not interfere!
