WanderB-VTOL G2 Emergency Checklist (Airspeed 2024)

WanderB-VTOL G2 Checklist – Emergencies Publication No: TL-75-CL0005 Revision No: 05 Date of Issue: 04 June 2024 WanderB-VTOL G2 Checklist Emergencies...

WanderB-VTOL G2 Checklist – Emergencies Publication No: TL-75-CL0005 Revision No: 05 Date of Issue: 04 June 2024 WanderB-VTOL G2 Checklist Emergencies Proprietary Data Notice This document includes data proprietary to BlueBird Aero Systems and shall not be duplicated, used, or disclosed, in whole or in part, for any purpose other than to evaluate this information. Any use of the data contained herein or any part thereof for other than the evaluation of the information without written authorization from BlueBird Aero Systems is strictly prohibited  List of changes Publication History Publication Date Revision Remarks 04 June 2024 5 Change of Min speed 28 December 2023 4 Addition of QAssist Disable Emergency 20 November 2023 3 Asio GeoRef Failure Emergency 15 November 2023 2 Addition of Alerts checklist 27 October 2023 1 Addition of Anti-Spoofing Features 15 October 2023 Original Publication Revision Table Page Page Notes Date Page Page Notes Date No. revision No. revision 20 01 Detection - Changed 27.10.2023 25 01 VTOL Erratic Behavior 27.10.2023 33 02 Alerts Checklis - Added 15.11.2023 22 03 Asio Emergency - Added 20.11.2023 26 04 Qassist Disbled – Added 28.12.2023 22 04 Seperation of 2 types of 28.12.2023 Asio emergencies 9 05 Min speed - changed 04.06.2024 11 05 Min speed - changed 04.06.2024 12 05 Min speed - changed 04.06.2024 22 05 Min speed - changed 04.06.2024 2 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Table of Contents 1. Emergency Landing Method............................................................................................... 5 2. Flight Motor Fail.................................................................................................................. 9 3. VTOL Motor Fail.................................................................................................................10 4. Flight Battery Low Voltage / Malfunction............................................................................11 5. VTOL Battery Malfunction..................................................................................................12 6. Transition Timeout.............................................................................................................13 7. Communication Interruptions..............................................................................................15 8. UAV Loss Of Link Logic.....................................................................................................17 9. Video Channel Failure........................................................................................................18 10. GPS Failure.......................................................................................................................20 11. Asio GeoRef Failure...........................................................................................................22 12. UAV Erratic Behavior.........................................................................................................23 13. VTOL Erratic behavior........................................................................................................25 14. QAssist Disabled................................................................................................................26 15. Icing...................................................................................................................................28 16. Wind Shears......................................................................................................................29 17. Unexpected Cloud coverage / Overcast (5/8-8/8)...............................................................30 18. GCS Application Failure.....................................................................................................32 Alerts checklist..........................................................................................................................33 3 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Emergency Landing Method 4 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 1. Emergency Landing Method Note: Print screen, write landing coordinates, notify crew members Caution: 30 m is the lowest altitude of VTOL landing. If UAV descends below this altitude, command immediate QLAND even if UAV did not reach the landing point [END] 5 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 1.1 Emergency Landing Methods 68 Km/h 68 Km/h 68 Km/h 6 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  68 Km/h 68 Km/h 68 Km/h 68 Km/h 68 Km/h 7 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Electrical Malfunctions 8 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 2. Flight Motor Fail Detection: a) UAV descends rapidly and not intentionally b) Current – 0-1A c) Throttle – Increases to 100% Significance: a) Automatic landing is not available b) Motor has failed or cut off – Perform forced landing! Immediate Actions: a) According to current altitude QLAND – Consider commanding Heading Landing site – Command Airspeed – Command 68 Km/h (Best for Glide) Note: When flying above 2,000m QNH – Set target airspeed 70 Km/h Caution: If UAV descends below 30m, command immediate QLAND even if UAV did not reach the landing point Actions: a) Potential cruising distance – Calculate using Glide Calculator b) Refer to “Emergency Landing method” (page 5-6) [END] 9 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 3. VTOL Motor Fail Detection: a) One or more VTOL motor/s stopped working b) UAV is hovering unstable c) UAV is hovering with unusual noise from VTOL motors / Propellers Significance: a) VTOL Motor has failed or cut off b) VTOL Propeller not spinning Immediate Actions: a) During Takeoff: QLAND – Command b) During Landing: Direct to clear zone – Command QLAND – Command Warning: If UAV poses a threat on personnel and behaves erratically command VTOL cut immediately [END] 10 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 4. Flight Battery Low Voltage / Malfunction Detection: a) Flight battery voltage is insufficient for reaching landing site b) Red / Yellow “Battery” Alert Significance: a) Flight battery may not have sufficient voltage for mission completion b) Landing at the original landing site might not be possible c) Landing at an alternate landing site might be necessary d) UAV may lose altitude e) Motor may cut off Immediate Actions: a) Heading Landing site - Command b) Airspeed – Command 68 Km/h (Best for Glide) c) Safety Altitude according to communication and terrain – Maintain Caution: Engine cut voltage – 27.5V Actions: a) In case of motor failure: Refer to “Flight Motor Fail” (page 9) b) Video transmitter – Consider switching to “Low” c) If UAV can reach the landing site: Fly to landing site Normal Landing Procedure – Perform d) If UAV cannot reach the landing site: Fly to alternate landing site Refer to “Emergency Landing method” (page 5-6) Warning: Avoid flying above populated areas [End] 11 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 5. VTOL Battery Malfunction Detection: a) VTOL Battery – Below 32V b) Red / Yellow “V-Battery” Alert Significance: a) VTOL battery may not have sufficient voltage for mission completion b) UAV may not be able to land safely Immediate Actions: a) During VTOL procedure: Command QLAND Actions: a) Soft terrain landing location – Update if necessary b) Radius – Set 100 m c) Airspeed – Reduce to 68Km/h d) Altitude – Command 50m AGL e) QLAND – Command At 50 m / 165 ft AGL Warning: In case of a Flight and VTOL batteries malfunctions - Avoid flying above populated areas. Make sure 70m radius from landing point is clear from people and objects. [END] 12 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 6. Transition Timeout Detection: a) UAV doesn’t complete transition b) UAV doesn’t reach 60 Km/h Significance: a) UAV preforms automatic emergency landing after 30 seconds Immediate Actions: a) Landing – Announce Cation: If UAV descends below 30 m, command immediate QLAND [END] 13 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Communication Malfunctions 14 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 7. Communication Interruptions Detection: a) Red “Comm” alert b) Red UAV icon c) All telemetry updates – Frozen/blinking Significance: a) UAV enters “Loss of Link” logic Immediate Actions: a) Communication channel – Switch to secondary / primary b) Amplification – Increase Actions: Link improvements attempts: a) GDT checks ON and powered – Verify DIR / OMNI – Consider changing Antenna heading direction – Verify towards the UAV Green LED ON – Verify DIR and OMNI Antennas – Verify physical connection intact GDT amplifiers – Set to “high” b) GCS checks LAN cable connected – Verify Active power source – Verify c) UAV checks UAV amplifiers – Set to “High” Climbing – Consider Channel – Check every 10 minutes if works properly 15 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Return to the last point where both channels worked d) If none of the above recovers the link – Continue to Second Stage Second Stage: a) If one communication channel doesn’t work: Operational sortie – Consider continuing mission with one channel only Training sortie – Return to landing site b) If both communication channels don’t work: Last UAV position – Check and calculate ETA Noise sources – Shutdown Crew – Search for eye contact with UAV [END] 16 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 8. UAV Loss Of Link Logic 17 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 9. Video Channel Failure Detection: a) Nose camera image – Jammed or Black screen b) Red "UAV link" Alert c) Primary channel – Operative d) Secondary communication – Not operative / No down-link Significance: a) Flight mode – Available b) No video Immediate Actions: a) Communication – Use operative channel Actions: a) Video transmitter – Set to "High" b) GDT ON and facing UAV location – Verify c) DIR/ OMNI antenna connection intact – Verify d) Camera video – Press "Stop" and "Play" If results are not satisfactory: a) GCS components – Consider replacing If failure persists: a) Flight – Consider abort [END] 18 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Flight Control Malfunctions 19 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 10. GPS Failure Detection: a) Alert – GPS LOSS b) Red UAV Icon c) Spoofing Detected d) Aircraft cannot maintain GPS flight mode (FPL/PPL/RADIUS ( Significance: a) UAV position report – Unreliable b) Wind strength and direction – Unreliable c) UAV true position – May be unknown e) GDT heading may be incorrect f) Waldo Mission may not be possible Immediate Actions: a) CG/Roll bar/HDG – Maintain radius. b) Camera – find familiar place. Notes: GDT RSSI can indicate UAV’s direction. GDT will be able to indicate UAV direction with DIR Antenna Only. Actions: a) If UAV is on ground and Asio is use – Enter coordinates to Asio app b) GPS loss time – Write down c) if ASIO is in use – consider continuing mission d) If UAV's spoofed entity is realigned with UAV: "Use GPS" - Press e) If camera is functional: Aborting flight – Consider 20 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  According to video - Navigate f) If camera is Dysfunctional: Mission – Abort ETA to landing point – Calculate fly to landing point – Command HDG/Roll bar to calculated direction Amplifiers – Set to "High" Altitude – Consider descending to establish visual contact Lights – Consider ON to establish visual contact Crew – Search for eye contact with UAV g) Refer to Emergency landing method (page 5-6) [END] 21 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  11. Asio GeoRef Failure After Takeoff During flight Detection No GeoRef for 8 minutes While No GeoRef for more than 1 flying in 200m AGL and above minute Significance a) UAV true position – May be unknown b) Asio Obox has encountered an error Immediate a) Roll bar – Command ±15 a) Roll bar – Command ±15 b) Radius – Complete 3 full b) Camera – Find familiar area circles and flight direction c) Airspeed – Verify 68 Km/h Actions a) CG/Roll bar/HDG – Landing a) If Obox is in SLAM mode for site another 1 min b) Refer to "Emergency Landing CG/Roll bar/HDG – Landing Methods" (page 5-6) site Refer to "Emergency Landing Methods" (page 5- 6) 'GPS_AUTO_SWITCH' parameter – Change to '0' b) If GeoRef returns – Continue mission [END] 22 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 12. UAV Erratic Behavior Detection: a) UAV behaves erratically / performs abrupt maneuvers b) "Servo" Alert may appear c) UAV fails to hold the flight mode or altitude d) Unexpected airspeed / pitch / roll / altitude changes e) May be followed by accommodating alerts f) May be followed by “QAssist” g) UAV does not respond to commands Caution: UAV activates VTOL motors during flight Significance: a) UAV – Unable to maintain altitude and airspeed commands b) UAV – May activate VTOL motors and drain the battery c) UAV – May not reach the landing site d) UAV – May perform 'Transition Timeout' Caution: UAV may not have sufficient battery to perform safe vertical landing Immediate Actions: a) UAV is under 150m / 450 ft AGL: UAV is above safe landing area - verify QLAND – Command b) UAV is above 150m / 450 ft AGL and stabilizes: If climbing/descending – Move to leveled flight Airspeed – Change as required to stabilize UAV Heading – Close safe landing area Warning: Avoid flying above populated areas 23 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Actions: a) If the UAV stabilizes – Consider returning to landing site b) If UAV doesn’t stabilize: Heading landing site – Command Altitude – Change as required Refer to “Emergency Landing method” (page 5-6) Caution: If UAV descends below 30 m, command immediate QLAND even if UAV did not reach the landing point [END] 24 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 13. VTOL Erratic behavior Detection a) UAV behaves erratically / performs abrupt maneuvers b) UAV fails to hold its current position c) UAV may activate QRTL mode in unwanted area. Significance: a) Aircraft may not land in accurate position b) Aircraft may drift towards unwanted area Caution: UAV may not have sufficient battery to perform safe vertical landing Immediate actions: a) UAV is under 150m / 450 ft AGL: QHOVER – Command UAV is above safe landing area - verify Warning: Avoid flying above populated areas [END] 25 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 14. QAssist Disabled Detection: a) Alert: 'Q-Assist mode has been disabled' Significance: a) VTOL battery doesn’t have enough power for QAssist usage b) VTOL motors won't be activated for stabilizing the UAV c) UAV may stall Immediate actions: Heading Landing site - Command Airspeed – Command maximum Note: Maintain straight flight and avoid performing small radiuses Actions: a) In case of severe weather conditions: Flight area – Change Severe weather zone - Escape b) If UAV can reach the landing site: Fly to landing site Normal Landing Procedure – Perform c) If UAV does not reach landing site: Fly to alternate landing site Refer to “Emergency Landing method” (page 5-6) [End] 26 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Weather Conditions 27 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 15. Icing Detection: a) Ice on the nose camera detected b) Ice on fuselage detected c) UAV struggles to maintain airspeed d) UAV struggles to maintain altitude Significance: a) UAV – Unable to maintain command b) UAV – May cause premature aerodynamic stall Immediate Actions: a) Flying close to visible moisture – Avoid b) Heading to Landing site – Command Actions a) Altitude – Descent below freezing level b) Returning to landing site – Consider c) If UAV isn’t stable Perform “UAV Erratic Behavior” checklist (page 22) d) If UAV does not reach landing site Refer to “Emergency Landing method” (page 5-6) [END] 28 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 16. Wind Shears Detection: a) UAV struggle to maintain altitude b) UAV airspeed changes rapidly c) Unexpected airspeed / pitch / roll / altitude changes d) May be followed by accommodation alerts e) May be followed by “QAssist” Warning: UAV may not have sufficient battery to perform safe vertical landing Significance: a) UAV – Unable to maintain command b) UAV – May stall Immediate Actions: a) Airspeed – Increase b) Flight area – Change Actions: a) Altitude – Consider changing b) If UAV behaves erratically Refer to “UAV Erratic behavior” checklist (page 22) 29 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 17. Unexpected Cloud coverage / Overcast (5/8-8/8) Detection: a) No visibility / clouds in nose camera video b) UAV airspeed changes rapidly c) Unexpected airspeed / pitch / roll / altitude changes May be followed by accommodating alerts May be followed by QAssist Warning: UAV may not have sufficient battery to perform safe vertical landing Significance: a) Flying in close proximity to clouds may lead to UAV erratic behavior b) UAV – May stall c) ASIO may not work properly Immediate Actions: a) Airspeed – verify and change as required b) Altitude – change to exit cloud base Actions: a) Flight area – Consider changing b) If UAV behaves erratically Refer to 'UAV Erratic behavior' checklist (page 22) [END] 30 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  GCS Malfunctions 31 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 18. GCS Application Failure Detection: a) Error message – May appear b) Application – Stuck / Not responding Significance: a) UAV flight control mode – Unavailable b) UAV – Activates “Loss of Link” logic Actions: a) Application – Restart b) Connect – Press c) Flight mode – Command to UAV d) If UAV fails to respond: GDT – Reset Computer – Reset e) If UAV still not responding: Laptop – Consider replacing GDT – Turn OFF Last UAV position – Check and calculate ETA Noise sources – Shutdown Crew – Search for eye contact with UAV [END] 32 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Alerts checklist Table 1 - UAV Alerts Alert’s Description Color Ground VTOL Flight Actions Name Red High - - 60 1. Monitor Deviation Altitude above/below the 2. Check for commanded malfunction ASL Alt altitude - Above Red Low - - (-60) source Sea Level 3. Consider [meters] flight continuation 1. Monitor Above Ground Altitude AGL Alt Level Altitude Red Low - - 50 2. Verify ASL [meters] commanded and indicated Red High - 120 Warning! UAV may lose structural integrity. Yellow - - 115 Refer to High Barometric Air "Erratic Speed [kph] – Behavior" – Air Speed Page 22 Exceeded acceptable range Yellow Warning! - 54 Low UAV may stall. - Refer to "Erratic Red Low - 53 Behavior" – Page 22 Red High - 30° 30° Yellow - 25° 25° High Refer to Pitch [degrees] – Yellow - (-25°) (-20°) "Erratic Pitch Exceeded Low Behavior" - acceptable range Page 22 Red Low - (-30°) (-25°) 33 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 Alert’s Description Color Ground VTOL Flight Actions Name Red High - 35° 45° Yellow Refer to Roll [degrees] - - 30° 40° High "Erratic Roll Exceeded Yellow Behavior" – acceptable range - (-30°) (-40°) Low Page 22 Red Low - (-35°) (-45°) Red High - 30 70 Warning! Wind velocity exceeded Wind Strong Wind Yellow limitations Speed Velocity [km/h] - 25 60 High Refer to Wind Shears page 28 Red low 0° 0° 0° Warning! Awareness to external UAV’s External External temp and temperature is Yellow Temp 5° 5° 5° icing. low low Refer to "Icing" - page 27 34 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 Alert’s Name Description Color Ground VTOL Flight Actions Yellow - 30.5 Consider Landing Low Flight Flight Battery Battery Warning! voltage voltage Red - 29.5 Consider landing Low immediately Motor cut imminent Yellow - - 30 Consider Landing Low Flight Flight Battery Battery Warning! percentage percentage Red Consider landing - - 10 Low immediately Motor cut imminent Refer to- Refer to Red "VTOL battery - 38.2 - High malfunction" - page 11 If in takeoff - VTOL consider QLand Battery VTOL voltage Battery Yellow - 31 - If in flight – in voltage Low landing, consider (9S1P) transition at low altitude Warning! Red - 30 - VTOL Motor cut Low imminent Refer to- Refer to Red "VTOL battery - 42.4 - High malfunction" - page 11 If in takeoff - VTOL consider QLand Battery VTOL voltage Battery Yellow - 34.4 - If in flight – in voltage Low landing, consider (10S1P) transition at low altitude Warning! Red - 33.3 - VTOL Motor cut Low imminent 35 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05 Alert’s Name Description Color Ground VTOL Flight Actions Internal VTOL Do not use this VTOL Red Battery - 70 - battery in future battery High Health flights resistance Refer to "GPS AP GPS AP GPS Red Failure" – Page loss 19 Refer to UAV link "Communication UAV link Red lost Interferences" – Page 14 Refer to "Video Payload link Payload link Red Channel Failure" lost – Page 17 Refer to Communica "Communication Comm tion loss Red Interferences" – alert Page 14 UAV flight is Area in forbidden Red area Servo 1 On ground: current 1.Ask the technician to check Servo 2 the servo current During Flight: Aileron/Rud a. If detected more der Servo 3 than once: Refer Overcurrent Red current to "Erratic – Surface is Behavior"- Page stuck 22 Servo 4 b. Otherwise - current monitor the aircraft's behavior 36 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Table 2 - AP Alerts Alert’s Name Description Color Actions GPS Hardware Malfunction Red Gyro in one of the sensors: Red GPS, Gyro, Accel Red 1. Return to Land Accelerometer, Compass Compass, Barometer Red Baro Red Terrain Bad or no terrain data Red Bad AHRS Before flight: Takeoff is not allowed During flight: 1. If alert disappears in less than 5 AHRS Red minutes: Continue flight 2. If not: Return to Land AP Log Failure – No AP Log Red Inform technician data recording *Bad horizontal/ Before flight: vertical velocity Takeoff is not allowed estimation During flight: *Bad altitude 1. If alert disappears in less than 5 EKF Sensors estimation Red minutes: *Bad horizontal Continue flight position (relative/absolute) 2. If not: estimation Return to Land 37 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05  Table 3- GCS Alerts Alert’s Description Color Value Actions Name Low Disk Indicates that disk Yellow Less than 30 On ground/after Space space on mission Low GB landing: drive is low, stops Less than 5 GB - Free up space video recording Red on disk below 5 GB of free Low space Low PC PC Battery runs low Yellow 30% Battery Low Charge PC Red 20% Low GDT The GCS battery is Red 14V Unreliable Value – Battery not in proper voltage. High check GCS battery Voltage Danger – the GCS Yellow 11V battery may will no Low External power longer provide power Red 10V source - Connect to the GCS Low Network Low RSSI/Loss Refer to availability of “Communication Red communications Interferences” – Page 14 38 Bluebird Aero Systems Ltd Proprietary Information / Competition Sensitive TL-71-CL0003-05