MissionPlanner Slides 010823.pptx

ESBAAR Drone Services & AI Technologies Mission Planning Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning This is an overview of how to plan takeoff, landing, linear and grid missions for the...

ESBAAR Drone Services & AI Technologies Mission Planning Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning This is an overview of how to plan takeoff, landing, linear and grid missions for the K1000P UAS using the Ardupilot Mission Planner. Minimum Launch and Recover Runway Length 1300ft, 400m Minimum Flight Plan Requirement Per Flying Field For each qualified flying field(runway) independent takeoff AND landing mission plan(partials) for both runway directions must be planed. In addition, combined takeoff and landing plans should also be constructed. For example, for the following taxiway at Fahud we would plan: TXWY B 13 N2S TAKEOFF TXWY B 31 S2N TAKEOFF TXWY B 13 N2S LANDING TXWY B 31 S2N LANDING Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Takeoff and Landing The K1000P reference takeoff and landing pattern is captured in the following image. Abort landing associated waypoints are not shown in the reference pattern but is part of the landing mission. Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning K1000P Reference Takeoff Landing Pattern The takeoff should have a departure angle of 4° ± 1°, the initially loiter altitude should be set to 400ft(120m), the LiDAR inspection loiter altitude should be set to 200ft(60m) and most critically the landing approach angle should adhere to -2.5°. The distances employed in the reference pattern image will ensure correct takeoff and landing geometry if followed exactly. The exact lateral distances and target altitudes can be adjusted depending on runway circumstances EXCEPT for the landing pattern approach angle. NOTE that relative(AFE) altitude should be used for local TAKEOFF and LANDING mission partials. Waypoint based missions must be planned using absolute altitude (MSL). Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Takeoff Details Takeoff consists of the following waypoints. NOTE: all altitudes are relative to the runway, AFE. 1. TAKEOFF: Takeoff is a special waypoint type that is only used for the initial takeoff and should always be the first waypoint. Takeoff is completed when the altitude parameter is met, in this case it should ways be set to 5 meters for the K1000P. When the aircraft is executing the TAKEOFF maneuver the maximum demanded roll is reduced to 5 degrees. Note that takeoff does not have a direction associated with it; rather during TAKEOFF the aircraft will maintain the observed GPS heading until the altitude requirement is satisfied. 2. WAYPOINT: set for 115ft (35m) up wind. The waypoint should be placed far enough to achieve a 4° ascend angle ideally. The angle between the previous waypoint and the current waypoint is shown in the Angle column to the right of the waypoint. See image below for reference. Note that a waypoint is considered complete when the aircraft gets within the predefined distance away from it LATERALLY. The aircraft does not have to satisfy the target altitude associated with the Waypoint, it will simply do its best to attain that waypoint constrained by its climb and descend rates. 3. WAYPOINT: Crosswind leg to establish the box pattern 4. LOITER_TO_ALT: This is the initial loiter position. The waypoint is complete when the associated altitude criteria is met. 5. LOITER_TIME: This will instruct the aircraft for X amount of seconds as defined by the time parameter. In this case 600 means the aircraft will loiter for 10 minutes. This waypoint allows the operator to take care of post takeoff tasks and either start a guided style mission or predefined waypoint style mission. Created by: Intisaar Al Hosni K1000P Fixed Wing Mission Planning Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Landing Details Takeoff consists of the following waypoints. NOTE: All altitudes are relative to the runway, AFE. NOTE: In case of emergency this following set of landing procedures will be performed autonomously. Many of the waypoints can be skipped if the flight is executed in GUIDED mode. 1. DO_LAND_START: This waypoint type serves as a trigger point only and marks the start of the landing sequence. In case of emergency and Return To Launch(RTL) is executed then the aircraft will go into AUTO mode and jump to the waypoint index right below the DO_LAND_START. 2. LOITER_TO_ALT: Instruct the aircraft to descend in a loiter down to 400ft (120m). 3. LOITER_TIME: Instruct the aircraft to loiter in place for 600 seconds. This gives the operator sufficient time to execute pre-landing tasks. 4. LOITER_TO_ALT: Instruct aircraft to loiter down to 200ft(60m) to verify landing LiDAR engagement. 5. WAYPOINT: Downwind waypoint 6. WAYPOINT: Crosswind waypoint 7. WAYPOINT: Path alignment waypoint. The path between waypoint 6 and 7 allows the aircraft to align with the runway before the final landing approach 8. LAND: This is the target flare point. Depending on the headwind the aircraft may landing up to 1200ft(350m) down range from this point. CAUTION: Make sure to place the LAND waypoint such that the aircraft will still have AT LEAST 1200ft(350m) of runway to touchdown and come to rest. 9. CONTINUE_AND_CHANGE_ALT(ABORT SEQUENCE): This is part of the abort sequence. When landing is aborted, the aircraft will jump to this waypoint index and continue to climb to the altitude specified in the altitude parameter of this waypoint while keeping the current heading. This will instruct the aircraft to start climbing immediately if the aircraft is currently below the desired altitude before going to the next waypoint. 10. WAYPOINT(ABORT SEQUENCE): Part of the box pattern before returning to loiter position after abort 11. WAYPOINT(ABORT SEQUENCE):Part of the box pattern before returning to loiter position after abort 12. DO_JUMP(ABORT SEQUENCE): Instruct the aircraft to go to waypoint index X as specified in the parameter. In this case the waypoint index is 4 which is the start of the box pattern landing sequenceCreated starting at by:200ft(60m). Intisaar Al CAUTION: Hosni the waypoint index parameter must be adjusted if the landing mission file is appended to a takeoff or any other mission file because the desired index value will shift depending K1000P Fixed Wing Mission Planning Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Loading Multipart Mission Plans(Partials) Sequentially Mission partial can ONLY be appended to the end of what has already been loaded. To load a TAKEOFF mission then a LANDING mission use the following sequence: UNDER PLAN TAB LOAD FILE: TAKEOFF MISSION Right Click Map → FILE LOAD/SAVE → LOAD AND APPEND → LANDING MISSION Created by: Intisaar Al Hosni K1000P Fixed Wing Mission Planning Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning To create a linear waypoint mission left click on the map along the path you would like the aircraft to fly and make sure that: The command type is WAYPOINT The frame is ABSOLUTE (MSL) the Altitude is set to desired value in meters Once the mission is planned, press Save File to save the mission. Ensure that the planned mission does not have any terrain collision using the simulated KHA GCS detailed below. Planning a Grid Mission for Mapping Start in the PLAN tab of the mission planner. To create a grid pattern mission: Make sure the altitude is set to Absolute (MSL) otherwise the altitude checker won't work properly, see image below. Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Planning a Linear Waypoint Mission Start in the PLAN tab of the mission planner. Make sure the altitude is set to Absolute (MSL) otherwise the altitude checker won't work properly, see image below. Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Right click map → Polygon → Draw a Polygon. Draw the desired Area of Capture. There is a KML area file you can use Right click map → Map Tool → KML Overlay to load it for visual assistance. Right click on map → Auto WP → Survey (Grid) → configure the grid per configuration Dialog. Following are some suggested settings. Simple Tab Altitude(m): Set capturing altitude Angle [deg]: Set grid pattern rotation angle Uncheck Camera top facing forward Uncheck Use speed for this mission Uncheck Add Takeoff and Land WP's (planned separately) Uncheck RTL (planned separately) CHECK Advanced Options Created by: Intisaar Al Hosni K1000P Fixed Wing Mission Planning Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Grid Options Tab Distance between lines [m]: sets the distance between each pass. This is determined by side overlap requirement. Use 3rd party overlap calculator to determine this parameter. Set Overshoot and LeadIn in meters to based on how long it takes the aircraft to line up with the path during turns. Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Camera Config Load Sample Photo to set camera options. Note that this is optional as you can set the grid line distance in the Grid Options page manually if you are using a separate overlap calculator. Use CAM_TRIGG_DIST parameter to trigger camera capture. Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Saving Grid Mission Once the grid mission is configured, click ACCEPT on simple tab to render the grid plan. Change the CAM_TRIGG_DIST → Dist parameters in the waypoint list to adhere to desired forward overlap. Save the mission using the Save File button to the right and this is now a standalone Grid mission partial. Ensure that the planned mission does not have any terrain collision using the simulated KHA GCS detailed below. Once validated the mission can be loaded between the TAKEOFF and LAND mission partials for PhaseOne iXM100 survey capture. Triggering PhaseOne iXM100 Photo Capture By Ground Distance In Mission Plan To set camera trigger by distance, simply add a DO_SET_CAM_TRIGG_DIST waypoint and set the Dist parameter to the desired triggering distance. Setting the parameter to 0 stops the camera from triggering. In the following example the aircraft will… start triggering camera capture every 300m (ground distance) → Fly from WAYPOINT 2 to WAYPOINT 3 and trigger camera along the way → stop triggering camera capture Created by: Intisaar Al Hosni K1000P Fixed Wing Mission Planning Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning Waypoint Mission Altitude Validation (MSL) Note that the waypoint altitude must be in MSL. Terrain collision can be check using the Simulated KHA GCS. To do so, follow the steps below: Navigate to gcs.dev.krausaerospace.com. (REPLACE WITH OMAN SPECIFIC) Log in to the GCS using credentials provided by KHA. Click on any of the simulated aircraft in the list of aircraft Click Launch to start the launch sequence Click on Load Mission to load the mission of interest Navigate to the mission area and use the following legend to check for collision RED Collision with terrain detected ORANGE The mission will be within 400ft(120m) of terrain YELLOW SAFE, the mission will be at least 400ft(120m) above terrain Created by: Intisaar Al Hosni  K1000P Fixed Wing Mission Planning AQ Why do we need combined takeoff and landing missions when we already have independent takeoff and landing partials? This is because if a TAKEOFF mission is appended with a LAND mission then we will have to remember to adjust the DO_JUMP mission index parameter at mission load time. Having a combined TAKEOFF LAND mission allows us to make the DO_JUMP index adjustment ahead of time. What's the difference between AFE and AGL AFE = Above Field Elevation ( this is the reported altitude in Mission Planner). It is the aircrafts relative altitude above the airfield from which it took off. AGL = Above Ground Level. This is the aircraft's current altitude above the ground beneath. Created by: Intisaar Al Hosni  THANKS Does anyone have any questions? [email protected] Created by: Intisaar Al Hosni