User Manual

USER GUIDE
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L: (multirotor only) This button inserts a Yaw To Next Waypoint ROI command, which causes the multirotor to
always point to the next waypoint in the sequence. This can be overridden with another ROI command in
another command slot. The ROI behavior is changed at the time that the given ROI command gets executed.
M: This button deletes all commands.
N: Click this button to load a previously saved waypoint session from disk.
O: Clicking this button causes the map to be centered on the selected Waypoint Command.
P: Click this button to save the present waypoint session to disk.
Q: Click this checkbox if you want to only fly manual (graphical) waypoints. When this box is checked, the
distance range check for waypoints is disabled. Note that when this box is checked, non-manual waypoint
navigation is disabled in the MicroVector.
12.4.3 Using the Waypoint Map
12.4.3.1 Adding Commands via the Map
Clicking on the map adds a new command, of type Waypoint. The commands can then be moved by click and
drag.
Note: A maximum of 50 commands are allowed in a single MicroVector Waypoint session.
12.4.3.2 Commands shown on the Map
The Waypoint Map shows only those commands that have a latitude and longitude. Additionally, if the
command is a navigation type (Waypoint, Take Off, Land/Disarm, etc.) the command will be linked to other
navigation commands, via lines, in the order they appear in the table. Waypoints that are not navigated to (like
Set Home and ROI) are not linked.
12.4.4 Waypoint Command Navigation Behavior
This section describes specific behaviors of the MicroVector’s waypoint controller.
12.4.4.1 GPS Fix Requirements
During waypoint navigation, the GPS fix quality must be at least as good as specified in the “GPS Fix Quality”
settings on the Compass and Sensor Setup tab in the software.
If the fix quality falls below the specified requirements at any time, the following occurs:
 If there is still a fix, waypoint navigation will continue for up to 5 seconds, waiting for the fix to improve to
the specified quality. If it does not improve after 5 seconds, RTH Safety mode will be invoked, until the user
switches into a non-Waypoint Mode.
 If there is no GPS fix at all, waypoint navigation will pause (initiating 2DH flight mode) up to 2.5 seconds,
waiting for the fix to return, and improve to the specified quality. If it does not return after 2.5 seconds,
Land Safety Mode will be invoked. If the GPS subsequently reacquires a fix, RTH Safety Mode will be
invoked, until the user switches into a non-Waypoint Mode.
When GPS quality issues occur, the appropriate error message(s) will appear in the OSD notification area.
12.4.4.2 Loiter Circle Radius
For fixed wing operations involving loiter, the circle radius used is specified in one of two ways: