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.
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.
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 drone back towards the Home Point.
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!
This section describes the steps required for offshore operations.
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 is maintained at all times.
Power up the DeltaQuad Evo and the GCS (AMC).
Pre takeoff: -Determine safe transition direction -Position the Evo so it faces the incoming wind -Complete AMC pre flight checks
Take off hgt 0 to 40ft: -switch to altitude mode -manually arm -check for vtol rotor spin -take off to 40ft
Take off hgt 40ft to fixed wing transition: -Switch to position mode -confirm location and heading are safe for transition -confirm heading into the wind by checking airspeed telemetry -transition to fixed wing -ascend to desired & safe altitude -switch to hold mode
Landing fixed wing to multirotor: -Position in hold mode within clear line of sight -identify landing line into the wind with safe bailout option -reposition loiter so it is in line with the identitified landing line and lower loiter to safe landing altitude (50ft or higher hgt) -when the Evo is facing in the direction of the landing line, switch to altitude mode -guide the Evo to the landing zone in altitude mode -accounting the weather conditions, transition at a safe distance from the landing zone (200m to 25m) higher Windspeeds require less distance to compete the transition
Landing multirotor 50ft to 10ft hgt -after transition accounting for the weather conditions lower the altitude and move towards and over the landing zone. Higher wind speeds require a lower descent speed
Landing multirotor 10ft hgt to touchdown -when over the landing zone account for the decks tilt and movement -yaw the Evo so it's wings are positioned so they will not hit the deck due to the rolling of the deck -time the landing with the waves lowering the deck, so touchdown is at the decks lowest point. -after touchdown be ready to manually disarm through emergency actions if necessary
Notes:
-Plan Mission, load mission
-Switch AMC to Advanced Mode before launch
Failed Landing
-Switch to Altitude mode
-ascend
-point into the wind
-transition to fixed-wing mode after a safe altitude is reached
-in fixed-wing mode, hold park at a safe altitude
-Move Evo to pre-landing area
-point Evo into the wind toward the landing zone
-send to new orbit overhead
-before reaching the land position give the land command
-Evo will transition and go into descent mode
-nudge Evo to position above landing zone
-use Position Mode as the Optical Flow sensor will work from below 10 meters
-when the Evo descended to 5m let the vehicle land as optical flow sensor is used for positioning
-ready disarm in the Emergency Actions
-disarm manually as soon as the Evo touches down
This chapter covers how to operate in GPS-denied areas and perform offshore operations.
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.
Thoroughly review the chapter on .
Set AMC to .
Complete the .
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 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 -> .