# Mission Planning {% hint style="info" %} NOTE: **QGC Documentation and Mission Planning** {% endhint %} {% hint style="info" %} NOTE: This applies to RGB camera payloads, dynamic options for lidar systems are not specified. {% endhint %} ## Mission Planning

STEP	ACTION	NOTES
1	Open QGroundControl and navigate to the Plan tab	Plan tab is indicated by the waypoint symbol on your computer or Herelink Controller, point A to point B
2	Select your desired plan (Point A to Point B icon)	You have the option of: Blank, Survey, Corridor Scan, and Structure Scan Corridor and Survey are the most commonly used mission types

STEP

ACTION

NOTES

Open QGroundControl and navigate to the Plan tab

Plan tab is indicated by the waypoint symbol on your computer or Herelink Controller, point A to point B

Select your desired plan (Point A to Point B icon)

You have the option of:

Blank, Survey, Corridor Scan, and Structure Scan Corridor and Survey are the most commonly used mission types

{% hint style="info" %} NOTE: In the following example we will be displaying a Survey plan. {% endhint %}


	When a new mission is created, you will see an option for Takeoff appear on your screen indicated by an orange circle T (Fig. 2)
3	Click and drag the Takeoff icon to your desired location on the QGC map display
4	Select 'Done Adjusting’ (Fig. 2 below) to move forward

Figure 2: QGC Mission Planner - Takeoff location set


	Once you have created your Takeoff location, you will see the Mission Creation screen with options to create your mission borders and waypoints.
5	On the right side of the screen, navigate to the Mission Start tab	To adjust Waypoint altitude for all mission waypoints
6	Set mission flight speed for calculation of total mission time (Fig. 3 below)	Changing altitude will prompt you to apply the new altitude to all items in the current mission

Figure 3: Mission Start - Setting flights speed and altitude

## Survey Mission In the [QGC Survey subsection](https://docs.qgroundcontrol.com/Stable_V4.3/en/qgc-user-guide/plan_view/pattern_survey.html) (external link) of the Mission tab you will see a selection menu displayed in the top of the Mission planning screen providing different survey mission layouts (*Fig. 4*)

Mission Layout	Description
Survey Basic	Will create a 4 point border box with a series of white lines and an arrow showing the direction and path the vehicle will fly on its automated mission.
Circular	Will create a CenterPoint with a white dot radius to adjust the circle width.
Trace	Will allow you to create border vertices individually When creating waypoints, pan on map using two fingers to scroll and one to select position of waypoint.

Mission Layout

Description

Survey Basic

Will create a 4 point border box with a series of white lines and an arrow showing the direction and path the vehicle will fly on its automated mission.

Circular

Will create a CenterPoint with a white dot radius to adjust the circle width.

Trace

Will allow you to create border vertices individually

When creating waypoints, pan on map using two fingers to scroll and one to select position of waypoint.


7	Click and drag the points to your desired mission borders and select ‘Done With Polygon’ (Fig. 5) to move forward	You can also upload a KML waypoint file to populate waypoints in QGC

Figure 5: 'Done With Polygon' once mission borders have been set

Polygon Aspects	Indicating
Green Box	Where the drone will survey
White Lines	Flight path
Green circle icon with a waypoint numbering and connecting to the takeoff icon with an orange line with an arrow	The first waypoint the vehicle will travel to
After the first waypoint White Line with an Arrow	Which direction the vehicle will travel
White Dots	Border Vertex

{% hint style="info" %} NOTE: **Add/ Remove Vertex** **Add a vertex** with the + icon between 2 existing points. **Remove a vertex** by selecting one of the existing vertices (Seen below in *Fig. 6*). {% endhint %}

Figure 6: Mission Planning Polygon Features

## Survey Tab The Survey tab, *on the right side of QGC planning screen*, will populate with **Grid**, **Camera** and **Preset** subsection options.

### Survey Tab Subsections {% tabs %} {% tab title="Grid" %} Allows the user to preview the survey area and simulate a mission before execution, providing the opportunity to make any necessary adjustments to the survey plan. (Manual Camera setting Grid Options) * Altitude * Trigger Distance * Spacing * Transects-Angle * Turnaround Distance * Rotate Entry Point (Custom/Other Camera setting Grid Options) * Overlap * Altitude * Ground Resolution * Transects-Angle * Turnaround Distance * Rotate Entry Point {% endtab %} {% tab title="Camera" %} Allows user to select and configure various camera settings depending on the payload integration and specs of the particular camera. * Manual Camera (No Specs) * Custom Camera * Other Camera {% endtab %} {% tab title="Presets" %} Ability to add and save preset parameters for future missions.

(Manual Camera No Specs) Survey tab Grid subsection

{% endtab %} {% endtabs %} ### Camera Settings {% hint style="warning" %} IMPORTANT! **If Using an Optical Camera Payload** Read through the following steps for setting up the camera options. {% endhint %} Under the **Camera subsection** there is a *selection dropdown* (*Fig. 8* seen below) with some preset camera options to choose from. *In order to properly run your mission, make sure your camera settings are input correctly.* {% hint style="info" %} NOTE: **Different Cameras Have Different Specs** That will cause inaccuracy of data if the settings are incorrect. Double check your specific camera options to ensure the mission data collection is as accurate as possible. {% endhint %}

Figure 8: Make sure to select the correct camera option

### Manual (No Camera Specs) **Survey tab > Camera > Manual (*****No Camera Specs*****)** {% tabs %} {% tab title="Grid" %} Selecting **Manual Camera allows you to enter in the survey grid tab**: Altitude, Photo Trigger Distance and Line Spacing manually in the Grid subsection (*Fig. 10*). | **Altitude** | Mission flight height | Survey units can be changed in application settings | | -------------------------- | --------------------------------------------------------- | --------------------------------------------------- | | **Photo Trigger Distance** | How far the drone will fly before the camera is triggered | Smaller values = More images captured | | **Line Spacing** | Distance between each flight path | Manually in the Grid subsection |

Figure 10: (Manual Camera No Specs) Survey tab Grid subsection

{% endtab %} {% tab title="Camera" %}

{% endtab %} {% endtabs %} ### Custom Camera **Survey tab > Camera > Custom Camera** {% tabs %} {% tab title="Grid" %} In the Grid subsection, *when Custom Camera is selected*, allows you to enter:


Photo Front Lap	Photo overlap in the flight direction
Side Lap	Set height manually (or QGC automated)
Altitude Checkbox	Set height manually
Ground Resolution Checkbox	Have QGC calculate the altitude to achieve a specific Ground Resolution

{% hint style="info" %} NOTE: Use the 35mm equivalent of your lens to calculate data correctly {% endhint %}

Figure 12: Custom Camera selected in the Survey Grid

{% endtab %} {% tab title="Camera" %} Selecting Custom Camera allows you to enter: * Landscape/ Portrait Mode * Camera Sensor * Image Sensor * Lens Focal Length

Figure 11: Custom Camera selection in the survey tab

{% endtab %} {% endtabs %} ### Known Camera **Survey tab > Camera > *****Known Other Camera***** (Choose from the pre-programmed list)** {% tabs %} {% tab title="Grid" %} The Grid tab options will remain the same as custom known camera Grid options (*Fig. 12 above)*

{% endtab %} {% tab title="Camera" %} Selecting one of the preset camera options from the dropdown will enter the Sensor and Image Width and Height and lens Focal Length automatically.

Figure 13: Survey tab, other camera section

{% endtab %} {% tab title="Presets" %} Under the Presets Subsection, you can: * Save your custom settings * Apply/Delete existing Preset options *depending on the selected camera type* (e.g. below Phase One iXM100 has been selected as the presets)

Figure 14: Survey Preset Tab for other camera selection

{% hint style="info" %} NOTE: As you enter different settings, the mission outline will change the vehicle flight path accordingly. {% endhint %} {% endtab %} {% endtabs %} ### Transects **Mission > Survey > Grid > Transect Subsection** In the Grid subsection of the survey tab (*scroll down*) > Transects subsection you will see options for:


Transect Angle	Adjust flight angle of the survey polygon
Turnaround Distance	Control distance beyond the polygon the vehicle will travel when turning around
Rotate Entry Point	Select different vertex waypoint to start the mission

The Options dropdown shows different mission parameters to hover when taking an image (*Fig.17 below*) {% hint style="info" %} NOTE: **Run 90 Degree Cross Pattern** (*Fig. 17*) Have the vehicle run a 90 degree cross pattern and **enable images in turnaround** {% endhint %}

Figure 17: Cross pattern transect settings

### Terrain Following **Mission > Survey > Grid > Terrain subsection**

STEP	ACTION	NOTES
1	Enable Terrain Following
2	Downloaded offline maps	Use QGC Basic Guide to download offline maps with elevation data
3	NOW you can use Terrain Following checkbox	Clicking the checkbox enables Terrain Following

Figure 18: Terrain Following once offline maps have been downloaded

### Mission Statistics **Mission > Survey > Grid > Mission Statistics subsection** \ Mission Statistics are displayed beneath the Terrain dropdown: * Total Survey Area * Estimated Photo Count * Photo Interval * Trigger Distance {% hint style="info" %} NOTE: **Photo Interval** It is **important to keep the photo interval above 1.0 seconds per photo** to give the camera enough time to write all metadata to the image during mission triggering events. If the camera cannot keep up with trigger events, it will fail causing it to stop taking photos during the mission. **If your mission photo interval falls below 1.0 seconds, you may need to adjust your flight speed or overlap to compensate** giving the camera enough time to keep up. {% endhint %}

## Adjusting Mission Speed Parameters Adjust Flight Speed, we need to add a waypoint for the vehicle to travel through to set its speed.

STEP	ACTION	NOTE
1	Select the Takeoff tab on the right side of the screen under Mission	To add a waypoint between Takeoff and Survey
2	Select the waypoint on the left side of the screen and tap a location on the map between your Takeoff and first mission waypoint.	Here you can: Set a New Altitude Tell the vehicle to Hold its position for a duration Adjust Flight Speed with the checkbox Delete an unwanted waypoint with the trashcan icon

STEP

ACTION

NOTE

Select the Takeoff tab on the right side of the screen under Mission

To add a waypoint between Takeoff and Survey

Select the waypoint on the left side of the screen and tap a location on the map between your Takeoff and first mission waypoint.

Here you can:

Set a New Altitude
Tell the vehicle to Hold its position for a duration
Adjust Flight Speed with the checkbox
Delete an unwanted waypoint with the trashcan icon

{% hint style="info" %} NOTE: There are many more options you can use a waypoint for, please consult IFT technicians to ensure vehicle stability using any of the options not outlined in the guide. {% endhint %}

Figure 20: Selecting waypoints in the take off tab


3	After adding a waypoint with the Flight Speed checkbox (Fig. 20 above), the remainder of the mission will proceed at the selected speed.

{% hint style="info" %} NOTE: **If you cancel and restart your mission from a selected waypoint** (battery swap mid-mission, etc.) the vehicle will default to the speed set in the WP\_NAV\_SPEED parameter unless it travels to a waypoint with a Flight Speed box checked. {% endhint %} ### Adjusting Default Speed To **change the default speed**, you will need to **change the WP\_NAV\_SPEED parameter**, which will remove the need to create a waypoint to change the speed.

STEP	ACTION (Fig. 21)
1	Using the Purple paper airplane icon, navigate to the main mission QGC screen
2	Select the Vehicle Settings icon
3	Scroll down on the left and select the “Parameters” tab
4	Scroll down again to the “WP” parameters
5	WP_NAV_SPEED can be changed by selecting the value to the right of the parameter name, and changing the value. The units are in centimeters/second, so you will need to convert the speed you need for your mission. (Ex: 600cm/sec = 6m/s = 13.42mph)

{% hint style="warning" %} IMPORTANT! **Parameters Tab** Be aware that all vehicle parameters are accessible within the “Parameters” tab, and some, if changed, can create vehicle instability. Please take caution when changing parameters, and avoid doing so as much as possible. {% endhint %}

Figure 21: Change the WP_NAV_SPEED parameter, with the vehicle powered ON

## Mission Storage and Uploading to the vehicle

STEP	ACTION	NOTES
1	Using the QGC Mission Plan screen below the Purple Paper Airplane Fly icon, select File.	Here you can: Save a mission to the controller. Open an existing saved mission Upload/Download a mission to the vehicle Clear a mission from the vehicle if there is a need for resetting Note: If mission does not clean, restart QGC and the Mission Plan will refresh
2	To upload your completed mission, use the Upload button under the File tab or in the top right corner of the screen	The default file type for missions is plan, you can also save as a KML using the 'Save Mission Waypoints as KML' option.

STEP

ACTION

NOTES

Using the QGC Mission Plan screen below the Purple Paper Airplane Fly icon, select File.

Here you can:

Save a mission to the controller.
Open an existing saved mission
Upload/Download a mission to the vehicle
Clear a mission from the vehicle if there is a need for resetting

Note: If mission does not clean, restart QGC and the Mission Plan will refresh

To upload your completed mission, use the Upload button under the File tab or in the top right corner of the screen

The default file type for missions is plan, you can also save as a KML using the 'Save Mission Waypoints as KML' option.

## Uploading Mission to Desktop Interface To transfer a mission created on the desktop interface to the vehicle, you will:

STEPS	ACTION
1	Connect the computer to the USB-C port on the back of the vehicle or using the Herelink wifi hotspot.
2	Upload the mission to the vehicle using the Upload icon
3	With a mission uploaded to the vehicle, you can now use the download option on the Herelink controller to download the mission from the vehicle to the controller.

## Starting a Mission With a **Mission uploaded**, the vehicle will now show a **slider to start or continue the mission**. {% hint style="info" %} NOTE: **For Safety Reasons** We recommend that you conduct a manual pilot takeoff to establish a stable hover, then sliding to continue your mission to ensure safe operation. Once a stable hover has been established, you can then slide to continue your mission. {% endhint %}

Figure 23: Starting a mission after uploaded or planned

### QGC Action Menu On the *left side* of the QGC screen, you will see the **Action Menu** with **Land**, **Return**, **Pause** or **Action** options that can be selected to trigger one of the autonomous actions.

{% tabs %} {% tab title="Land" %} Land will land the vehicle at its current position. {% endtab %} {% tab title="Return" %} Return will initiate a return and the vehicle will land itself at its takeoff location. (Same as pressing the Home button icon on the Herelink Controller) {% endtab %} {% tab title="Pause" %} Pause will initiate “Brake Mode” where the vehicle will hover at its current position until a new command is given. {% hint style="info" %} NOTE: In “Brake Mode” the vehicle will not respond to manual flight commands and must be switched back to “Loiter” or “Position” Flight Mode by pressing the A button on the Herelink Controller, or Selecting one of the Action menu options. {% endhint %} {% endtab %} {% tab title="Action" %} Action will bring up options to select to Continue Mission or Change Altitude. {% endtab %} {% endtabs %}

### Continue from a Specified Waypoint

STEP	ACTION
1	Click on the desired waypoint via the QGC map to bring up the slider to Adjust Current Waypoint
2	Slide to confirm (seen below)
3	Press the Action button to bring up the Continue Mission slider to resume from the selected waypoint

Figure 26: Continue form specified waypoint

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