DeaconEye Flight Algorithm

Below is our standard flight procedure, which we use for all of our routine imaging flights.

Prior to takeoff, we connect the battery and do a full systems test. Wireless serial connection to the MK Tool is used to confirm settings on the copter and do a motor test. The motor test via the MK Tool is done not only to confirm the function of the motors but also to confirm functional 2-way communication between the copter and computer. The location and heading of the copter as projected in the MK Tool OSD is compared to its known position and heading to confirm for accuracy. After the systems test the waypoint flight plan us uploaded to the copter and then downloaded back to the computer. The download is carried out to ensure that all waypoints were captured by the NaviCtrl. At this point the pilot is cleared to start his takeoff procedures.

The pilot calibrates the gyroscopes and the camera stabilizer servos are confirmed to be functioning. After calibration, the pilot arms the motors. After motor arm, the copilot reads the battery level and confirms that the camera is triggering. Finally, the copilot confirms that Position Hold (PH) and Care Free (CF) are activated, and that Altitude Hold (AH) is deactivated. Once these checks are completed the pilot is cleared for takeoff.

The pilot increases the throttle in order to bring the copter into a hover at approximately 3-5 meters. When the copter is in a stable hover AH is activated, followed by Coming Home (CH) activation. When CH is activated the copter begins waypoint flight. During flight the pilot monitors the copter through direct visualization while the copilot monitors the copter through the MK Tool OSD. The copilot reads aloud the flight status (LiPO voltage, waypoint number, ground speed, and altitude) throughout the flight and monitors for any abnormalities in the values reported from the electronic speed controllers (ESCs) or any deviations from the flight plan.

When the copter reaches the end of its waypoint flight plan, the copilot initiates the CH command from the MK Tool OSD, causing the copter to return to the point where its motors were activated. The copter will fly to this position at the predetermined CH altitude. Once the copter reaches this point the pilot places the copter back into position hold and disables AH. With AH off, the pilot throttles the copter down for landing.

After landing, the flight time and final battery voltage is recorded.

Check back later for more detailed information on how we log the details of our flights.