In this section, it will be explained the M400 typical mission profile and the mission phases will be detailed.


Standby phase is a preliminary phase of the operation. The guidance is simply a Hold with no change. Normally, the automation which allows the system to pass to Standby phase requires the GPS signal.

Standby phase panel


Take-off phase is composed of two Guidances: VTol and Yaw. The first one is a vertical guidance and where following parameters are set:

  • Line attraction: 8.0 [m].
  • Set Speed: 1.0 [m/s].
  • Horizontal Hover Gain: 0.34.
  • Vertical Hover Gain: 0.1.
  • Safe Distance: -10 [m] and Relative (Positive down). With this value the platform will ascend.

VTol panel

Yaw guidance allows choosing the M400 orientation during takeoff:

  • Mode: set to Current.
  • Limit rate: limited rotation speed of 0.6 [rad/s].

Yaw panel


Hover phase is configured to allow the multicopter maintain the position in the air.

Hover phase panel

The Guidance is a VTol as the one in Take Off phase but, in this case:

  • Safe distance: set at 0 [m] and Relative.
  • Horizontal Hover Gain: 0.34.
  • Vertical Hover Gain: 0.1.

The Yaw guidance is the same of the Take Off phase.


In this phase, the Guidances are Cruise and Yaw.

The parameters to set are the Cruise Speeds (Cruise and Waypoint reach) and Acceleration limits.

  • Acceleration limit: 0.5.
  • Deceleration limit: 0.5.
  • Cruise Speed: 3.0 [m/s].
  • Waypoint reach: 0.5 [m/s].

Cruise panel

Yaw Guidance is set in order to make the multicopter controlling yaw angle following the heading angle.

Yaw Guidance panel


This phase has the same settings of the Take-off with some changes.

Landing phase panel

  • Line Attraction: kept at 8.
  • Set Speed-Cruise: 0.6 [m/s].
  • Horizontal Hover Gain: 0.34.
  • Vertical Hover Gain: 2.24.
  • Safe Distance: 100.0 [m] and Relative (Positive Down). In this case, we are supposing that at the instant when the Landing phase starts, the multicopter is flying at AGL<100m. It is possible select Extend – Down and the aircraft will descend till user desire.

Yaw Guidance is configured in order to let the quadcopter with the Current yaw angle and limiting the yaw rate at 0.6 [rad/s].

Yaw Guidance panel


VHold phase is used to perform a Stick controlled flight. The phase guidance is composed of Hold and Yaw guidances.

Hold guidance is used to keep the following values at a specific value:

  • Desired D0wn GV: at 0.0 [m/s].
  • Desired Lateral GV: at 0.0 [m/s].
  • Desired Front GV: at 0.0 [m/s].

In this way, if the stick control is not active, the multicopter will keep its position in the air without the need of phase changing.

Yaw Guidance is set on Current. In this phase, the Arcade allows controlling the platform depending on the set gains.

Manual phase panel