Flight Modes

Vision Aerial UASs come programmed standard with five different flight modes:

● Manual: Manual flight mode.

● Brake: Vehicle holds position, joysticks deactivated (Prevents unintentional user input).

● Auto: Engages pre-programmed autonomous mission (User adjustable).

● Land: Land vehicle at current location.

● RTL: Return-To-Launch site at pre-programmed altitude (User adjustable).

● Altitude Hold: When the aircraft is in Altitude Hold mode, it will use its barometer to hold altitude, but the x and y position of the aircraft will drift.

● Guided Mode: “Tap-to-fly” function based on user selected commands.

Manual Mode

The active flight mode, Manual Mode, is adjusted by tapping the upper right button on the Herelink Controller.

NOTE: In Manual Mode, the joystick movements are directly proportional to the ground speed of the UAS.

For example: If the roll joystick is moved left to half of its travel, the UAS will choose its roll angle to achieve 50% of the programmed max ground speed for that direction.

This can be useful for applications like aerial filming when keeping the ground speed constant is desirable.

NOTE: The throttle does not directly correlate to the RPM of the motors. The throttle correlates to the desired climb and descent rates.

Brake Mode

Brake Mode functions similarly to Manual Mode except the control sticks are completely deactivated. This mode is useful when the pilot wishes to reduce the risk of unintentional control input.

CAUTION: Never leave an airborne aircraft unattended.

This mode is activated by tapping the upper right button on the Herelink Controller.

Autonomous Flight (Auto)

Autonomous Mode is for use with pre-planned missions created in advance using mission planning software. A best practice is to design the missions so the pilot launches in Manual Mode and then, once airborne, enables Auto to execute the mission. This increases the pilot’s ability to adapt to unpredicted events during launch (such as non-participants, bird activity, sudden changes in the flight environment, etc).

How to use Auto Flight Mode:

1. Pre-plan the mission using mission planning software in the Herelink.
2. Power and connect the Herelink to the aircraft.
3. When the pattern or waypoints are complete, select “Upload” to send the mission to the vehicle.
4. Manually launch the aircraft and perform systems check.
5. Select the “Action” soft key on the touch screen, then select the “Slide to confirm” soft key under “Continue Mission” for the uploaded mission
6. Now the SwitchBlade-Elite will perform the mission according to the uploaded plan.

NOTE: To pause or stop an autonomous mission, activate Brake Mode by tapping the button on the top right edge of the Herelink Controller. Once a mission is paused, the UAS will hover in place. To resume a mission, “Slide to confirm” the “Continue Mission” button on the Herelink screen and the vehicle will continue as previously programmed.

Land Mode

When Land Mode is activated, the UAS will deploy its landing gear and begin a gentle descent over its current position. It is recommended to use a 6 meter diameter or larger landing environment, as the precision of the GPS can vary up to ±2.5m.

The Land Mode is initiated by pressing “Land” on the Herelink screen and slide to confirm.

Land Mode as a Failsafe Protocol

Land Mode will automatically be activated if the battery becomes critically low. In most situations, this failsafe will prevent the aircraft from uncontrolled descents from altitudes of <10m. It is not recommended to fly the UAS when it has less than 10% of its available battery capacity, to ensure an adequate margin of safety.

To learn more about failsafe modes, see Emergency Procedures.

NOTE: If the pilot wishes to retake control during the descent portion of Land Mode, they may do so by moving the left joystick to full up position (full throttle) or by enabling Brake/Manual Mode by tapping the button on the top right edge of the Herelink controller.

Return to Launch (RTL)

When RTL is activated (and the vehicle has GPS lock), the UAS will autonomously climb to 50 meters (user adjustable) or maintain altitude if above 50 meters. The vehicle will then return to the launch location on a direct path, hover for 5 seconds, deploy its landing gear, and begin a slow landing descent sequence. It is recommended to use a 6 meter diameter or larger launch/land environment, as the accuracy of the GPS can vary up to ±2.5m.

There are four ways RTL Mode can be activated:

1. Return to Launch Mode is initiated automatically when battery voltage
   drops below 30% (user definable) for 60 continuous seconds. The GCS will produce an audible “Low Voltage” warning followed by a “Return to Launch” audible warning.
2. Return to Launch can also be manually activated by selecting the “RTL” soft button on the main menu of the Herelink screen. The user will need to verify this action by the “Slid to confirm” soft key. The Herelink will also produce an audible “Return to Launch” cue.

3. Return to Launch can also be activated as a final stage in Mission
Planning.

4. Return to Launch can also be activated as a user selectable flight mode in the flight modes drop down list in Flight Deck on the GCS.

RTL can be overridden by changing to any other flight mode.

If the flight environment is significantly higher than the launch location, a 50 m climb altitude may not be adequate. If 50 m is not adequate for your flight environment, the setting can be changed in the parameters section of the Mission Planner software. Additionally, if the launch location itself is moving (such as on a moving vessel) it is best to avoid the use of Return to Launch Mode.

Return to Launch (RTL) Mode as a Failsafe Protocol

Return to Launch will be activated automatically if the SwitchBlade-Elite loses communication with the controller. To learn more about failsafe modes, see Emergency Procedures.

NOTE: If the pilot wishes to retake control during RTL Mode, by enabling Brake/Manual Mode by clicking the button on the top right edge of the Herelink controller.

NOTE: During the descent portion of the landing sequence the landing cycle can be aborted by applying 50% or more throttle.

Altitude Hold

Altitude Hold is triggered when there is loss of GPS position.

Loss of GPS Position

The loss of GPS will create an audible “EKF Failure” tone. In the event of loss of GPS, the user will retain controllability of the vehicle. However, RTL Mode and the ability of the vehicle to maintain station will be compromised. When the aircraft is in Altitude Hold mode, it will use its barometer to hold altitude, but the x and y position of the aircraft will drift.

Guided Mode

Guided mode is a “tap-to-fly” function based on user selected commands. The pilot can tap a position on the base map, and the drone will autonomously fly to that location. The aircraft will remain at its current altitude.