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PHANTOM UAV – Flight 003

 

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Flight 003 - Mode Tests : Return To Launch Mode

Flight Plan

    Waypoint Display

    Command List

Dataflash Log Display in Google Maps

Onboard Video

Flight Files

 

Flight 003 - Mode Tests : Return To Launch Mode

This flight includes three tests of the failsafe feature RTL (Return To Launch site).

  • The first test is to change mode to RTL while flying a route of waypoints in auto.
  • The second test is an RTL command at the end of the command list.
  • The third test is to turn off the transmitter while under manual control.

 

This flight uses a flight plan with 4 waypoints.

When the aircraft is powered up, it sets the home point to that location. This location is then used as the ‘RTL’ destination that the aircraft aims for and loiters at. The ‘RTL’ target height is determined by the parameter ALT_HOLD_RTL which is 100m.

Flight Plan

Waypoint Display

.

Command List

Dataflash Log Display in Google Maps

The aircraft took off in ‘Manual’ mode (orange) and was then switched to ‘Auto’ (yellow). It then navigated a path from the home point to the first and second waypoints. While on the way to the waypoint 3, I changed the mode using the transmitter to ‘RTL’ (blue). It returned and circled around the home point at an altitude of 100m.

I then changed the mode back to auto mode and the aircraft resumed doing the command list which was to fly to waypoints 3 and then 4 (purple).

 

 

After reaching waypoint 4, the aircraft executed the ‘RTL’ (red) command in the command list. Notice that the aircraft circles in a clockwise direction. 

 

 

I changed mode to ‘FBW_’A (Stabilise) mode (orange) and flew out to test turning off the transmitter.

When I turned off the transmitter, the mode changed to ‘Circle’ mode (yellow) while in ‘Short Failsafe’ state for 20 seconds.

The mode then changed to ‘RTL’ mode (blue) when the state changed to ‘Long Failsafe’.  The aircraft returned and loitered around the home point at 100m.

 

 

I then turned on the transmitter while still in ‘FBW_A’ mode (pink). I then changed to ‘Manual’ mode (red), descended and landed.

 

Onboard Video

Play the video in the ‘Flight Files’ list below.

For this flight, the camera was on a fixed mount so the camera rolls and pitches with the aircraft.

Flight Files

To download a file, right click on the filename and select ‘Save Link As …’ or ‘Save Target As …’

 

File Type

Filename

 

Flight Plan File

Flight Plan MP013.txt

Display the waypoints and command list in ‘Mission Planner’

Dataflash Log File

-

 

Dataflash .kmz File

2014-06-13 14-35-46.kmz

Display this flight in 3D in Google Maps.

Telemetry Log File

-

 

Onboard Video File

http://youtu.be/dENQsmOn_eA

Watch the youtube video.

Observer Video File

-

 

 

 

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