Autonomous Mission Planning
This section presents the basics of setting up an autonomous mission in IGC and then describes in detail how to create an example mission.
Once you are comfortable flying the aircraft, learning how to plan an autonomous mission greatly expands the applications of the aircraft. The information in this section is taken from the Inspired Ground Control website, and the website should be referenced if you have any questions. Inspired Ground Control documentation has detailed information about planning an autonomous mission at the following link: https://docs.qgroundcontrol.com/master/en/PlanView/PlanView.html
If the aircraft starts behaving unexpectedly, dangerously or abnormally during a mission, switch to Position Hold mode to regain control.
Planning a Mission in IGC
The figure below is a screen capture of the home screen of Inspired Ground Control. Here you will see on the left hand side a column with Fly, Takeoff and Return icons. To begin planning a mission, ensure your location is locked in and select the Fly icon.
After selecting the Fly icon, the mission planning screen will appear. Below is a reference image of all the tables that can be utilized in mission playing on the HereLink.
Example Mission
The following procedure describes how to plan a basic mission. There are different methods for planning a mission; the basic procedure described below illustrates some of the tools used for planning a mission.
NOTE:
In the following procedure, “select” means to tap (if using a touch screen), or mouse click (if using a mouse).
IGC does not need to be connected to the aircraft to plan a mission. However, IGC must be connected to the aircraft to upload the mission.
The following procedure is based on Inspired Ground Control version 4.1.6.
1
Open Inspired Ground Control on the ground station.
2
On the Toolbar (upper-left of display), switch to Plan mode.
3
The Plan screen opens (see next page).
4
On the left side of the screen, locate the Create Plan overlay. Select (mouse click or tap screen) Blank.
Note: Other Plan types are available. The Blank plan is chosen for illustration purposes for this example.
The Blank plan screen is displayed (see below).
Map navigation: You can drag the Map to bring a specific geographical area into view. You can also zoom in and out of the Map view by selecting the + and - icons in the lower-left corner of the screen.
5
On the Plan Tools panel on the left side of the screen, select the Takeoff button. The Takeoff icon appears.
Note: A Takeoff panel appears in the Mission Command List on the right side of the screen when the Takeoff icon is selected. The trashcan in the Takeoff panel allows you to delete a Takeoff point if you need to redo the takeoff point.
6
Drag the Takeoff icon and release it at the desired location on the map.
7
Place the first Waypoint:
In the Plan Tools, select Waypoint.
Place the cursor on the map for the desired Waypoint location, then select it.
Notice that the Waypoint panel appears on the right side of the screen when Waypoint was selected in the Plan Tools panel.
8
Use the steps described in the previous step to add more waypoints as desired.
Note: Waypoints may be deleted by selecting the trashcan icon at the top of the Waypoint panel.
9
After you’ve added the desired Waypoints, complete the mission plan by creating a Return to Launch point. In the Plan Tools panel, select the Return icon.
10
When you select Return, the default is Return to Launch (RTL), as shown in the Mission Command List. The last leg of the mission is shown on the map.
Note: For more Return and other options, click on the down arrow next to Return to Launch. This opens the Basic Mission Command Editor.
11
The Basic Mission Command Editor offers Return and other options.
Note: If you select the down arrow next to the Basic category (see the figure below), it opens a dropdown menu (right side of the figure), which offers more Mission Command Editors.
12
After you have finished planning a mission, you can see details of the mission in the Mission Command List, on the right side of the screen. To see details about individual events in the mission, select an event, such as a Waypoint, and details about that event appear below it.
NOTE:
The mission can be uploaded to the aircraft two ways: wirelessly; or via a physical connection. The following steps describe both ways.
Power on the aircraft.
If you are uploading the mission wirelessly, proceed to Step 14.
If you are uploading the mission via a physical connection, connect a USB cable between the device supporting IGC and the USB port on the aircraft. Then go to the next step.
13
Set up the camera, if necessary.
The camera section (see screenshot below) allows you to specify a camera action to take, control the gimbal (if applicable), and put your camera into photo or video mode.
The available camera actions are:
No change (continue current action)
Take photos (time)
Take photos (distance)
Stop taking photos
Start recording video
Stop recording video
14
When you have completed planning the mission, an 'Upload Required' icon in the upper-right corner of the screen flashes. Select it, and 'Done' appears at the top of the screen if the upload was successful.
15
Select the Fly icon at the top of the Tools panel, then select 'Takeoff'.
16
A Start Mission window appears at the bottom of the IGC screen.
NOTE: Before starting the mission MANUALLY take off.
Complete Pre-flight checklists.
Establish a stable hover.
To Confirm, slide the Slider from left to right to takeoff on the planned Autonomous Mission.
Safe Piloting in Auto-Modes
Always check your failsafes and RTL altitude in the IGC Safety Tab.
Be ready to take manual control of the vehicle by pressing the 'A' button (Loiter Mode) on the controller.
NOTE: In the event of an emergency, the 'A' button (Loiter Mode) must be pressed to regain pilot controls.
Be aware of your altitude and surroundings, double check your mission plan when you arrive at the mission location and set your altitudes accordingly.
Confirm your mission time and give yourself enough time to RTL and land without stressing the batteries.
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