3D Robotics Aero-M - Manual (Page 19)

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Configuring Automatic Takeoff and Landing
If you selected automatic landing in the Survey Tool by checking the Add Takeoff and Land WP’s option and unchecking
the Use RTL option, you will need to configure the landing waypoint pattern manually at this step in the mission planning
process.
To begin, determine the direction of the wind and select an unobstructed area 200-500 m in length leading to the
launch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decrease
altitude gradually from the survey altitude to 0, ensuring that:
» Turns along the flight path are greater than 90 degrees.
» The altitude decreases by a maximum of 20 m between waypoints
» There is at least 20 m between each waypoint
» The Grad % does not exceed 20%
To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP. For
each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add
the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in
the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission.
Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table.
To add a waypoint, right click on the map in the location of the waypoint
you would like to add, and select Insert WP. For each waypoint you add to
the mission, Mission Planner will prompt you for the new waypoint’s place
in the script: Add the series of landing waypoints immediately before the
LAND waypoint in the script of events. For the first waypoint in the pattern,
add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST
waypoint at the end of the mission. Specify the altitude of each waypoint
and check the distance and gradient angle in the waypoints table.
Set altitude.
Check Grad %.
Mission Planner Tip: Configure Waypoints
Measure the distance between waypoints by right-clicking at one
end and selecting Measure Distance; then right-click on the other end
and select Measure Distance again. A dialog box will open with the
distance between the two points.
Double-click on a field in the waypoint table to edit the parameters
for a waypoint.
Use the Up and Down arrow icons to re-order the waypoints.
Use the Delete option to remove a waypoint from the mission. Mission Planner Flight Plan tab: Correctly configured automatic landing pattern
Locate the Takeoff waypoint in the mission script and set the
first option in the row to assign the takeoff angle.
Set the takeoff angle to 20-25 degrees depending on the
length of your takeoff area.
Takeoff angle