User Manual

USER GUIDE
114
12.4.6.5 Set Home Command
The Set Home command causes the GPS home latitude and longitude to be set to the specified location, so long
as the specified location is within approximately 500 feet/152 meters of the actual location where the GPS gets
its first good fix.
At the field, if the Set Home command executes successfully, the message “Using Waypoint 1 as Home” will
appear briefly in the OSD notification area. If the specified home location is too far from the actual GPS location
of the aircraft when a fix is first acquired, the home location will be set to the current GPS location.
Note 1: The altitude is zeroed when the Set Home command is executed.
Note 2: The Set Home command must be the first command in the sequence.
Note 3: The Set Home command is executed upon first GPS fix, and is not executed again at the beginning of
waypoint navigation. The home position is not set each time the waypoint mission is started.
Parameters:
 Lat: The Lat field specifies the target latitude for the command, in DDD.DDDDD format. A positive value
represents North, and negative represents South.
 Lon: The Lon field specifies the target longitude for the command, in DDD.DDDDD format. A positive value
represents East, and negative represents West.
12.4.6.6 ROI Command
The Region of Interest (ROI) command causes the multirotor to yaw toward the specified region (either a
specific location, or the next waypoint). The ROI command remains in effect until another ROI command is
executed.
When the MicroVector executes an ROI command, the message “Region of Interest set” will appear briefly
in the OSD notification area.
Parameters:
 An ROI command of type Next Waypoint causes the model to yaw toward the next waypoint. The model
will continue to yaw toward the next waypoint as waypoints are navigated, until another ROI command is
executed.
 An ROI command of type Location causes the multirotor to yaw toward the specified position, throughout
waypoint navigation, until another ROI command is executed. The Lat and Lon parameters specify the
location position.
 An ROI command of type None cancels the last ROI command. Until another ROI command is executed, the
Yaw field of all position type waypoint commands will be honored while navigating.
12.4.6.7 Takeoff Command
The Takeoff command causes the model to leave the ground and navigate to the specified position. This
command allows waypoint navigation to start at ground level, even if “Permit Low Altitude Waypoints” is
left unchecked.
If you plan to start waypoint navigation near the ground, add the Takeoff command before any other
navigation commands in the session, since the Takeoff command should cause the multirotor to climb
vertically before horizontal navigation occurs.
If you initiate waypoint mode with the multirotor on the ground and do not have a Takeoff command
as the first navigational command, the multirotor may start lateral movement before gaining
sufficient altitude! This may cause your multirotor to "skip" or bounce on the ground and possibly flip over!