CLIMBING – PLANE

This phase is used to make the airplane reach the cruise altitude after the Quad to Plane transition.

Climbing phase panel

This fase consists of Climbing Guidance:

  • Line attraction: value related to how strongly the aircraft tries to reach a path (climb path in this case). This value is commonly between 20 and 40 for airplanes. In this case is set at 30 [m].
  • Set speed – Cruise: speed that will have the airplane during the climb, 20[m/s] .

In this phase, the aircraft reaches the mission altitude by performing a spiral route. In order to determine the correct path, these parameters must be set:

  • Runway: here is selected the runway which previously has been edited in its configuration menu.
  • Flight Path Angle: angle at which the aircraft will climb, 0.1.
  • Horizontal Distance: is the distance from the point where the aircraft enters in the phase which contains the climbing guidance, to the start of the circular climbing path, 200 [m].
  • Radius Head Turn R3: radius of the turn made to head the airplane towards the loiter direction, 200 [m].
  • Radius loiter R1 : radius of the loiter ascending made by the aircraft to reach an altitude suitable, 200 [m].

Climbing Route

 

WAYPOINTS – PLANE

The waypoint phase is the main one of this kind of mission. During this phase, the aircraft follows a route marked by a set of waypoints, which are defined by the user in the Mission menu.

Cruise phase panel

This fase consists of a Cruise Guidance. Parameters set here are the same as the ones from the climbing phase.

  • Line attraction: 30 [m] .
  • Set Speed-Cruise: 15 [m/s].

In this guidance, there is an option related to the gains used to recover the hover point in an multicopter, Hover Gain. In this case, the platform configured is an airplane, so this option will not be used.

Caution!! When using the Cruise phase, the aircraft will automatically follow the waypoint route. Be sure the route is the correct one.

APPROACH – PLANE

The Approach phase is configured in order to make the plane flying into the landing zone at the correct altitude and speed. When the platform enters into the polygon, the system will pass to Plane to Quad transition phase.

In this case, the guidance is a Landing and the following parameters are defined.

Approach phase panel

LANDING – PLANE

Landing phase is a safety phase. The platform is defined to have a VTol behavior and it is performed using electrical motors. In a Low Battery situation, the aircraft must land in a plane flight mode and it can be performed only if a Landing phase was previously defined.

Landing-Plane phase panel

The guidance to be configured is Landing:

  • Line Attraction: 20.
  • Set SpeedCruise: 14 [m/s].

Finally, the following parameters define the path during this phase.

  • Runway: here is selected the runway which previously has been edited in its configuration menu.
  • Flight Path Angle: angle at which the aircraft will descend, -0.1 [rad].
  • Horizontal Distance: is the distance from the point where the aircraft enters in the phase which contains the climbing guidance, to the start of the circular climbing path, 80 [m].
  • Radius Head Turn R3: radius of the turn made to head the airplane towards the runway direction, 150 [m].
  • Radius loiter R1 : radius of the loiter descending made by the aircraft to reach an altitude suitable to perform the landing manoeuvre, 150 [m].

The route of this phase is shown in the following figure, where each one of the parameters that define it are defined.

Landing Route