Advanced flight

Start LiDAR-based localization

Warning

This P450 series supports one-click positioning source switching in the ground control station.
Right-click the home page to switch positioning and automatically start the corresponding positioning driver.
When a new positioning source is selected, the previous positioning driver automatically shuts down.

1. Before switching to LiDAR-based localization, the positioning source is shown as invalid (red)
2. Right-click a blank area
3. Select Positioning Source Switching
4. Click MID360 (switch to LiDAR-based localization)

• After LiDAR-based localization is switched successfully, the prompt below appears

Check whether the data is normal

1. Check the UAV's current status information
   • It should match the UAV's current status
2. Check the UAV's current position data
   • It should match the UAV's current status

Remote controller operating procedure

Warning

1. Remote controller channel 6 should be in the uppermost position (position 1) by default. After the ground control station arms the aircraft and initiates takeoff, the aircraft enters COMMAND_CONTROL and accepts commands from the ground control station. There is no need to operate the remote controller at this stage; it may be set aside while you monitor the aircraft.
2. If manual takeover is required or the flight is abnormal, move channel 6 from the uppermost position (position 1) to the middle position (position 2), and operate it only after entering position-control manual mode. If manual control is unavailable, move channel 7 to the lowermost position (position 3) to perform an emergency motor stop.

Autonomous control in COMMAND_CONTROL (LiDAR-based localization)

Control interface introduction

• 1. Control interface panel
• 2. Current-point hover: Keep the UAV hovering at its current position (generally used after a movement mode)
• 3. Initial-point hover: The UAV flies back to its initial COMMAND_CONTROL position (the initial position is the UAV's initial takeoff position; the initial takeoff altitude can be set through a parameter)
• 4. Land: The UAV lands and enters LAND_CONTROL mode
• 5. Movement mode: Select among the different submodes under movement mode, then enter the control values that match the selected submode. (The default submode is XYZ_POS inertial-frame position control)
• 6. Control-value data entry: Enter the matching control-value data for the selected submode.
  • x: Eastward in the inertial ENU coordinate frame, or forward along the aircraft nose in the BODY coordinate frame, in meters
  • y: Northward in the inertial ENU coordinate frame, or leftward relative to the aircraft nose in the BODY coordinate frame, in meters
  • z: Upward in the inertial ENU coordinate frame, or upward in the BODY coordinate frame, in meters
  • yaw: Desired heading in the inertial ENU coordinate frame, in degrees. (The ground control station interface uses degrees, while the interface provided in the application-development source code uses radians)
• 7. Upload button: After the desired data has been entered, click the Upload button to send it to the aircraft

Movement-mode submodes

• 1. Inertial-frame position control (XYZ_POS)
• 2. Inertial-frame altitude-hold velocity control (XY_VEL_Z_POS)
• 3. Inertial-frame velocity control (XYZ_VEL)
• 4. Body-frame position control (XYZ_POS_BODY)
• 5. Body-frame velocity control (XYZ_VEL_BODY)
• 6. Body-frame altitude-hold velocity control (XY_VEL_Z_POS_BODY)
• 7. Trajectory control (TRAJECTORY)
• 8. Attitude control (XYZ_ATT)

Experimental flight

Arm and take off

Caution

Complete the following preparations by default before proceeding with the steps below:

• The ground control station is connected to the aircraft
• LiDAR-based localization has started and the data has been checked and found to be correct
• All remote controller switches are in the upper position (channel 6 is in the uppermost first position)

After the ground control station arms the aircraft and initiates takeoff, the aircraft enters COMMAND_CONTROL and accepts commands from the ground control station. Move channel 6 to the middle position (position 2) to enter position-control manual mode and take over manually.

1. After completing Arm and Take Off, the Channel 6, Channel 7, and Channel 8 switches should be in the uppermost position
2. When Control Status is COMMAND_CONTROL, the aircraft responds to onboard commands. There is no need to operate the remote controller at this time; it may be set aside while you monitor the aircraft

Warning

1. Remote controller channel 6 should be in the uppermost position (position 1) by default. After the ground control station arms the aircraft and initiates takeoff, the aircraft enters COMMAND_CONTROL and accepts commands from the ground control station. There is no need to operate the remote controller at this stage; it may be set aside while you monitor the aircraft.
2. If manual takeover is required or the flight is abnormal, move channel 6 from the uppermost position (position 1) to the middle position (position 2), and operate it only after entering position-control manual mode. If manual control is unavailable, move channel 7 to the lowermost position (position 3) to perform an emergency motor stop.

XYZ_POS

1. Select XYZ_POS
2. Enter 1 to move the UAV to the position 0.5 m in the positive X-axis direction in the ENU coordinate frame
3. Enter 0 to move the UAV to 0.5 on the Y-axis, which is the origin, in the ENU coordinate frame
4. Enter 1.5 to move the UAV to the position 1 m in the positive Z-axis direction in the ENU coordinate frame
5. Enter 0 to leave the UAV's yaw unchanged
6. Click Upload. The UAV immediately moves to the (1,0,1.5) position in the inertial frame. (0,0,0) is the position where the UAV starts localization after power-on.
7. The UAV's current position in the ENU coordinate frame
8. The UAV's current desired position in the ENU coordinate frame

The UAV flies toward the (1,0,1.5) position. Click Current-point Hover to make the UAV hover at its current position during flight

Click Initial-point Hover, and the aircraft will fly back to the initial hover point (1.5 m above the takeoff point)

XY_VEL_Z_POS

1. Select XY_VEL_Z_POS
2. Enter 0.3 to make the UAV continue moving at 0.3m/s in the positive X-axis direction in the ENU coordinate frame
3. Enter 0.3 to make the UAV continue moving at 0.3m/s in the positive Y-axis direction in the ENU coordinate frame
4. Enter 1.5 to move the UAV to the position 1.5 m in the positive Z-axis direction in the ENU coordinate frame
5. Enter 0 to leave the UAV's yaw unchanged

Warning

When controlling the UAV's velocity, the UAV will continue moving.
Click Current-point Hover to hover at the current position. If manual takeover is required, move channel 6 from the uppermost position (position 1) to the middle position (position 2), and operate it only after entering position-control manual mode. Pay attention to the site dimensions during velocity control; a velocity of approximately 0.3 m/s is recommended.

7. Click Upload
8. The UAV's current position and current desired position in the ENU coordinate frame

• The UAV starts responding to the uploaded velocity control. Click Current-point Hover to make the aircraft hover at its current position. Under this control, the aircraft will continue moving if no manual action is taken

XYZ_VEL

1. Select XYZ_VEL
2. Enter 0.3 to make the UAV continue moving at 0.3m/s in the positive X-axis direction in the ENU coordinate frame
3. Enter 0 to make the UAV continue moving at 0m/s in the positive Y-axis direction in the ENU coordinate frame
4. Enter 0 to make the UAV move at 0 m/s in the positive Z-axis direction in the ENU coordinate frame
5. Enter 0 to leave the UAV's direction unchanged

Warning

When controlling the UAV's velocity, the UAV will continue moving.
Click Current-point Hover to hover at the current position. If manual takeover is required, move channel 6 from the uppermost position (position 1) to the middle position (position 2), and operate it only after entering position-control manual mode.

7. Click Upload
8. The UAV's current desired position in the ENU coordinate frame
9. Current-point hover

• The UAV starts responding to the uploaded velocity control. Click Current-point Hover to make the UAV hover at its current position.

XYZ_POS_BODY

1. Select XYZ_POS_BODY
2. Enter 1 to move the UAV 1 m forward in the body frame
3. Enter 1 to move the UAV 1 m left in the body frame
4. Enter 0 to move the UAV 0 m upward in the body frame
5. Enter 0 to leave the UAV's direction unchanged.

Warning

1. Remote controller channel 6 should be in the uppermost position (position 1) by default. After the ground control station arms the aircraft and initiates takeoff, the aircraft enters COMMAND_CONTROL and accepts commands from the ground control station. There is no need to operate the remote controller at this stage; it may be set aside while you monitor the aircraft.
2. If manual takeover is required or the flight is abnormal, move channel 6 from the uppermost position (position 1) to the middle position (position 2), and operate it only after entering position-control manual mode. If manual control is unavailable, move channel 7 to the lowermost position (position 3) to perform an emergency motor stop.

6. Click Upload
7. Click "Current-point Hover," and the UAV will hover at its current position

• The UAV starts responding to the uploaded position control. Click Current-point Hover to make the UAV hover at its current position.

XYZ_VEL_BODY

1. Select XYZ_VEL_BODY
2. Enter 0.3 to make the UAV continue moving at 0.3m/s in the positive X-axis direction in the body coordinate frame
3. Enter 0.3 to make the UAV continue moving at 0.3m/s in the positive Y-axis direction in the body coordinate frame
4. Enter 0 to make the UAV continue moving at 0m/s in the positive Z-axis direction in the body coordinate frame
5. Enter 0 to leave the UAV's direction unchanged

Warning

When controlling the UAV's velocity, the UAV will continue moving.
Click Current-point Hover to hover at the current position. If manual takeover is required, move channel 6 from the uppermost position (position 1) to the middle position (position 2), and operate it only after entering position-control manual mode.

7. Click Upload
8. Current-point hover
9. The UAV's current desired velocity

• The UAV starts responding to the uploaded velocity control

XY_VEL_Z_POS_BODY

1. Select XY_VEL_Z_POS_BODY
2. Enter 0.3 to make the UAV continue moving at 0.3m/s in the positive X-axis direction in the body coordinate frame
3. Enter 0 to make the UAV continue moving at 0m/s in the positive Y-axis direction in the body coordinate frame
4. Enter 1.5 to make the UAV move another 1.5 m in the positive Z-axis direction in the body coordinate frame
5. Enter 0 to leave the UAV's direction unchanged

Warning

When controlling the UAV's velocity, the UAV will continue moving.
Click Current-point Hover to hover at the current position. If manual takeover is required, move channel 6 from the uppermost position (position 1) to the middle position (position 2), and operate it only after entering position-control manual mode.

6. Click Upload
7. Current-point hover
8. The UAV's current desired position and velocity

• The UAV starts responding to the uploaded velocity control

TRAJECTORY

Caution

For circular and figure-eight trajectory control, a higher velocity or a smaller radius makes the trajectory more difficult to track.

Start the trajectory-control feature

1. Click Function Scripts
2. Click Trajectory control

Confirm trajectory-control parameters

1. Click System Settings
2. Click Parameter Settings
3. Select Trajectory Control
4. Click Load
5. View the trajectory-control parameters

Modify trajectory-control parameters

Caution

For the trajectory-control feature, if the circle center or figure-eight center is not at the UAV's current position, the UAV will first fly to the circle center or figure-eight center and then execute trajectory control

1. For the center of a circle or figure eight, the parameters must be changed before trajectory control is uploaded to take effect when the trajectory-control parameters are uploaded (a change made this time takes effect on the next upload)
2. Radius- and velocity-related parameters take effect in real time after they are changed

• Double-click the corresponding value, enter a floating-point number, and then press Enter

• Eight/omega angular velocity: A higher value makes the trajectory more difficult to track. Unit: rad/s

  • Use the default parameter 0.3. The angular velocity does not need to be changed regardless of how the figure-eight radius changes

• Eight/radial radius: A smaller radius makes the trajectory more difficult to track. Unit: m

  • A larger radius results in a higher UAV velocity

Execute the trajectory-control feature

1. Click Arm and Take Off and complete the confirmation (see Arm and take off above for the steps)
2. After COMMAND_CONTROL mode is entered in the previous step, the UAV flies to the initial point and hovers
3. Click to switch the function mode
4. Select TRAJECTORY

5. Select Circle

6. Enter the total duration of circular trajectory control

7. Click "Upload" to start execution

• The UAV starts executing trajectory control, and its trajectory is displayed on the planar map (select the planar map under Map Monitoring on the main ground control station interface to view it)