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PHANTOM UAV – Flight 004

 

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Flight 004 – Geofence Test

  Geofence Operation Summary

Create the Test Geofence

Flight Plan

  Test 1 – Geofence Disabled

  Test 2 – Geofence Enabled, Breach the Boundary

  Test 3 – Geofence Enabled, Breach the Maximum Altitude

  Test 4 - Geofence Enabled, Breach the Minimum Altitude

Test Results

  The Complete Flight

  Test 1 - Geofence Disabled and Test 2 - Geofence Enabled, Breach the Boundary

  Test 3 – Geofence Enabled, Breach the Maximum Altitude

  Test 4 - Geofence Enabled, Breach the Minimum Altitude

  Completing the Flight – Landing

Flight Log Graph

Flight Files

 

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Flight 004 – Geofence test

This flight tests the operation of the geofence features under the following conditions.

  • With the geofence disabled, check the aircraft can fly outside the geofence.
  • With the geofence enabled, check operation when flying outside the geofence, and above the set maximum altitude and below the set minimum altitude.

Geofence Operation Summary

A boundary is created using Mission Planner software by first creating a polygon of border lines joining plotted GPS points. A return point is also defined within the border. The border lines become the geofence when they are uploaded into the APM (Autopilot Module) with the return point. A minimum and maximum altitude are also defined during the upload process.

 

The geofence is enabled and disabled using the AUX2 switch on the DX7 transmitter. The Gear switch is used to reset the geofence after a geofence breach. The geofence can also be reset by disabling it with the AUX2 switch.

 

When the geofence is disabled, the aircraft can fly inside or outside the geofence as normal.

When the geofence is enabled, if the aircraft flies outside the geofence area, it will change mode to ‘Guided’ mode and navigate itself back to the return point and circles it until the pilot resets or disables the geofence.

Create the Test Geofence

This is the geofence created for the test flight.

The minimum altitude is 10 metres and the maximum altitude is 70 metres.

The altitude of the return point is 50 metres.

 

.geofence

 

Flight Plan

The flight plan included the following parts.

Test 1 – Geofence Disabled

With the geofence initially disabled, fly outside of the boundary and back inside. Check that the autopilot mode does not change. The pilot should retain control without any changes.

Test 2 – Geofence Enabled, Breach the Boundary

With the geofence enabled, fly across the boundary. Check that the autopilot changes mode to ‘Guided’ and navigates the aircraft back and circles around the return point at an altitude of 50m until the pilot resets the geofence breach. After resetting, the autopilot mode should return to the mode it was in before the breach.

Test 3 – Geofence Enabled, Breach the Maximum Altitude

With the geofence enabled, fly up to above the maximum altitude of 70m. Check that the autopilot changes mode to ‘Guided’ and navigates the aircraft back and circles around the return point at an altitude of 50m until the pilot resets the geofence breach. After resetting, the autopilot mode should return to the mode it was in before the breach.

Test 4 - Geofence Enabled, Breach the Minimum Altitude

With the geofence enabled, fly up to below the minimum altitude of 10m. Check that the autopilot changes mode to ‘Guided’ and navigates the aircraft back and circles around the return point at an altitude of 50m until the pilot resets the geofence breach. After resetting, the autopilot mode should return to the mode it was in before the breach.

Test Results

The Complete Flight

The complete flight is shown here with all the separate segments created when the autopilot mode changes.

 

dataflash log 01

 

The segments are separated out below to show the results of each test.

 

Test 1 - Geofence Disabled and Test 2 - Geofence Enabled, Breach the Boundary

 

dataflash log 02

 

Before take off, the geofence is initially disabled.

The aircraft took off in ‘auto’ mode (green) and was then switched to ‘training’ mode (blue). With the geofence still disabled, the aircraft is flown outside the geofence and then flown back inside.

While inside, the geofence is then enabled and then flown across the geofence boundary again. At the boundary, the mode changes to ‘guided’ (purple)  and the aircraft flies itself to the return point and circles it at 50m.

 

Test 3 – Geofence Enabled, Breach the Maximum Altitude

 

dataflash log 03

 

After circling about one full turn, the geofence was reset and the mode changed back to ‘training’ (pink). The aircraft was turned around to fly north and then began to climb. At 70m, the geofence maximum altitude is breached and the mode again changes to ‘guided’ (red).

It descends to 50m while it flies back to the return point.

 

Test 4 - Geofence Enabled, Breach the Minimum Altitude

 

dataflash log 04

 

After circling at least on turn, the geofence was disabled and then enabled again so the mode switched back to ‘training’ (orange). It was then flown manually, slowly descending until it breached the geofence minimum altitude of 10m. It again changed to ‘guided’ mode (yellow) and then ascended to 50m and circled the return point.

 

Completing the Flight – Landing

 

dataflash log 05

 

The geofence is disabled and the mode again changes to ‘training’ (green). With the geofence remaining off, the plane was manually landed.

 

Flight Log Graph

This is a graph created from the dataflash log file. It shows the autopilot modes and the aircraft altitude during the flight.

When the pilot is in control, the autopilot mode is ‘training’ mode. After a geofence breach, the autopilot mode changes to ‘guided’.

 

geofence test altitude graph

 

The aircraft after power up was in training mode. When changed to ‘auto’, the plane took off under auto control and the pilot switched to training mode at about 25m altitude.  It was then flown manually up to about 65 m while it was flying outside the boundary and then back inside.  The geofence was then enabled and the aircraft crossed the boundary. This is where the autopilot changed to ‘guided’ mode and then changed its altitude to about 50m. After resetting the geofence, the aircraft then climbed in ‘training’ mode until at 70m the mode changed to ‘guided’ because the geofence ceiling was breached. It then descended to about 50m before the mode again changed to ‘training’. The aircraft then descended until at 10m the mode again changed to ‘guided’. The aircraft again climbed to 50m while returning to the return point. The aircraft was then landed with the geofence disabled.

 

The autopilot passed all the geofence tests!

 

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

-

Dataflash Log File

-

Dataflash .kmz File

2014-12-02 15-19-42.kmz

Display this flight in 3D in Google Maps.

Telemetry Log File

-

Onboard Video File

-

Observer Video File

-

 

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