Phase One Mission Planning
The following are step-by-step workflow running a mission base off of Phase One iXM-100 parameters.
Mission Planning
1
Open QGroundControl and navigate to the Plan tab indicated by the waypoint symbol A to B on your computer or Herelink Controller
2
Select your desired plan type. For our sample, we used a Survey Plan.
3
Start by positioning your Takeoff point to the desired location on the map and click “Done” to bring up the Altitude selection.
4
Type in desired altitude the vehicle will fly at when running the mission.
For our sample, we used 15.24M
5
On the right side of the screen find the Mission Start tab and select to show the Vehicle Info dropdown.
6
Under the Vehicle Info dropdown, the Hover Speed value is used as an estimate in QGC for the Total Mission Time and Photo Interval time.
Our sample is set to 4 m/s (see below).
7
On the right side of the screen under Takeoff, you will see the Survey tab.
Select it to define your mission boundaries.
8
Using the Polygon Tools, create your boundaries on the map.
9
Selecting Basic will bring up a square border box and populate the Survey mission waypoints.
Click and drag each corner of the boundaries to outline your mission area.
10
Using the + icons, you can add new points to the boundary or by clicking and holding a white boundary point, you can delete a point by selecting “Remove Vertex”.
When you are done the Survey tab will populate more settings
Adjust your mission settings using the below options as a guide:
Overlap will set how much the photos overlap when triggered during the mission. Enter the Front and Side Overlap for your mission, our sample uses 80% Front Lap and 75% Side Lap.
Reviewing our sample settings, we have QGC outputting a 0.7 second Photo Interval.
Adjusting Mission Speed Parameters
Adding a waypoint to your mission will allow you to adjust the mission Flight Speed. Each waypoint is numbered in sequence.
1
Select the Takeoff Tab and add a waypoint between Takeoff and Survey by selecting the Waypoint option on the left side of the screen and tapping the map to place a new point between Launch and the first survey waypoint. We will see a #2 added for our new Waypoint.
2
Check the Flight Speed box and enter your desired speed
3
Checking Flight Speed adds a new action point to the mission plan so we see a #2 for our newly created waypoint and a #4 for our Survey Mission starting point.
4
The #3 action is the change in Flight Speed. For our sample, we used 4.0 m/s.
After a waypoint with the Flight Speed checkbox, the remainder of the mission will proceed at the selected 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.
Changing WP_NAV_SPEED Parameter:
1
select the Vehicle Settings icon, scroll down on the left and select the “Parameters” tab
2
Scroll down again to the “WP” parameters. 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)
Starting a Mission
1
Using the QGC Mission Plan screen, below the Fly option select File.
2
There you can create a mission, save a mission for later use, open an existing mission or upload the mission plan to the vehicle. This can be done on a computer using QGC software or using the Herelink controller.
3
When you are comfortable with your mission outline, upload your mission to the vehicle.
4
With a Mission uploaded, the vehicle will now show a slider to start or continue the mission.
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