User Manual

USER GUIDE
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1. The circle radius/direction specified in the “Radius” waypoint command field is always used, if one has
been specified. Clockwise is positive.
2. The “RTH/Loiter Circled Radius” setting on the Safety/Nav Setup tab is used, if no loiter radius has
been specified in the waypoint and a climb, descent, or delay action is required. If no loiter radius is
specified and the model would reach the specified altitude before reaching the specified location and no
Delay command follows the current one, the aircraft will fly straight through the target location before
loading the next command.
12.4.4.3 Fixed Wing Speed and Altitude Control during Waypoint Navigation
For fixed wing, when flying to a waypoint, the MicroVector will attempt to reach the altitude specified in
the waypoint while in transit, but will be limited by the “Desired Climbrate” and “Desired Sinkrate” settings
on the “Safety/Nav Setup” tab in the software. Note that these settings also control the speeds used during
RTH.
If the plane reaches the specified latitude and longitude before reaching the specified altitude, the
MicroVector will loiter (circle) the plane while ascending or descending, as needed. See the section above
for information on the circle radius used.
Fixed wing speed control during waypoint navigation is presently not implemented, but is planned for
later. The MicroVector uses the “Cruise” throttle setting you specified during the Receiver Analysis Wizard,
and will also attempt to honor the “Minimum Ground Speed” setting on the “Safety/Nav Setup” tab in the
software.
12.4.4.4 Multirotor Speed and Altitude Control during Waypoint Navigation
For multirotors, the MicroVector will attempt to honor the horizontal and vertical speeds specified in the
“Auto navigation ground speed”, “Desired Climbrate”, and “Desired Descend/Sinkrate” settings on the
“Safety/Nav Setup” tab in the software. Note that these settings also control the speeds used during RTH.
However, the MicroVector will limit the horizontal or vertical speed, as necessary, so that it arrives at the
specified altitude when it reaches the specified latitude and longitude. For example, when flying between
two waypoints, if the climbrate is set too low for the multirotor to reach the specified altitude when
traveling at the specified ground speed, it will fly at a slower ground speed.
12.4.4.5 Waypoint Arrival Detection
The MicroVector will consider a waypoint arrival to have occurred whenever the model is either 33 feet/10
meters from the waypoint, or within 2 seconds of estimated arrival at the waypoint.
Note that wind opposing the direction of travel could cause aircraft to never reach its waypoint if your speed
settings are too low. In this case, the MicroVector will continue to attempt to reach the waypoint, unless the
user takes action, or an issue occurs.
12.4.4.6 Behavior at Final Waypoint
When the model reaches the final waypoint in the session, the MicroVector will loiter at that location, until the
user takes action.
The message “Loitering at last waypoint” will appear briefly in the OSD notification area.
12.4.4.7 Low Battery Autoland
The Low Battery Autoland feature is not active during waypoint navigation, except when the multirotor is
loitering on the final waypoint. In this situation, the MicroVector will attempt to land the multirotor.