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docs/en/flying/first_flight_guidelines.md
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# First Flight Guidelines
Learning to fly is a lot of fun!
Learning to fly is a lot of fun!
These guidelines are designed to ensure that your first flight experience is enjoyable, educational, and safe.
## Know the Law
@@ -10,10 +10,10 @@ Familiarise yourself with the flight regulations in your area.
## Select a Good Location
Selecting the right location for your first flight is critical.
Selecting the right location for your first flight is critical.
The main things to look for are:
- Make sure the space is open.
- Make sure the space is open.
There should be no high trees, hills or buildings nearby, because those will impair the GNSS reception.
- Make sure no people are within 100 m (300 feet).
- Make sure there is nothing that you shouldn't crash onto within 100 m - no houses, structures, cars, water, corn fields (hard to find drones in).
@@ -24,12 +24,12 @@ The main things to look for are:
## Bring a Pro
Bring someone with experience for your first flight.
Bring someone with experience for your first flight.
Get them to help you to run through the pre-flight checks and let them intervene if something goes wrong!
## Plan the Flight
Plan the flight before taking off.
Plan the flight before taking off.
Make sure you know the whole route and where/how the vehicle will land.
## Limit the Damage
docs/en/flying/missions.md
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Missions typically include items for controlling taking off, flying a sequence of waypoints, capturing images and/or video, deploying cargo, and landing.
QGroundControl allows you to plan missions using a fully manual approach, or you can use its more advanced features to plan ground area surveys, corridor surveys, or structure surveys.
This topic provides an overview of how to plan and fly missions.
This topic provides an overview of how to plan and fly missions.
## Planning Missions
docs/en/flying/package_delivery_mission.md
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1. Create a normal mission with a `Takeoff` mission item, and additional waypoints for your required flight path.
1. Add a waypoint on the map for where you'd like to release the package.
- To drop the package while flying set an appropriate altitude for the waypoint (and ensure the waypoint is at a safe location to drop the package).
- If you'd like to land the vehicle to make the delivery you will need to change the `Waypoint` to a `Land` mission item.
@@ -48,7 +47,6 @@ To create a package delivery mission (with a Gripper):
1. Configure the action for the gripper in the editor.
![Gripper action setting](../../assets/flying/qgc_mission_plan_gripper_action_setting.png)
- Set it to "Release" in order to release the package.
- The gripper ID does not need to be set for now.
docs/en/flying/plan_safety_points.md
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# Safety Points (Rally Points)
Safety points are alternative [Return Mode](../flight_modes/return.md) destinations/landing points.
When enabled, the vehicle will choose the *closest return destination* of: home location, mission landing pattern or a *safety point*.
When enabled, the vehicle will choose the _closest return destination_ of: home location, mission landing pattern or a _safety point_.
![Safety Points](../../assets/qgc/plan/rally_point/rally_points.jpg)
## Creating/Defining Safety Points
Safety points are created in *QGroundControl* (which calls them "Rally Points").
Safety points are created in _QGroundControl_ (which calls them "Rally Points").
At high level:
1. Open **QGroundControl > Plan View**
1. Select the **Rally** tab/button on the *Plan Editor* (right of screen).
1. Select the **Rally** tab/button on the _Plan Editor_ (right of screen).
1. Select the **Rally Point** button on the toolbar (left of screen).
1. Click anywhere on the map to add a rally/safety point.
- The *Plan Editor* displays and lets you edit the current rally point (shown as a green **R** on the map).
- The _Plan Editor_ displays and lets you edit the current rally point (shown as a green **R** on the map).
- You can select another rally point (shown as a more orange/yellow **R** on the map) to edit it instead.
1. Select the **Upload Required** button to upload the rally points (along with any [mission](../flying/missions.md) and [geofence](../flying/geofence.md)) to the vehicle.
:::tip
More complete documentation can be found in the *QGroundControl User Guide*: [Plan View - Rally Points](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_rally_points.html).
More complete documentation can be found in the _QGroundControl User Guide_: [Plan View - Rally Points](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_rally_points.html).
:::
## Using Safety Points
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Safety points are not enabled by default (there are a number of different [Return Mode Types](../flight_modes/return.md#return_types)).
To enable safety points:
1. [Use the QGroundControl Parameter Editor](../advanced_config/parameters.md) to set parameter: [RTL_TYPE=3](../advanced_config/parameter_reference.md#RTL_TYPE).
docs/en/flying/terrain_following_holding.md
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# Terrain Following/Holding
PX4 supports [Terrain Following](#terrain_following) and [Terrain Hold](#terrain_hold) in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on *multicopters* and *VTOL vehicles in MC mode* that have a [distance sensor](../sensor/rangefinders.md).
PX4 supports [Terrain Following](#terrain_following) and [Terrain Hold](#terrain_hold) in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on _multicopters_ and _VTOL vehicles in MC mode_ that have a [distance sensor](../sensor/rangefinders.md).
::: info
PX4 does not "natively" support terrain following in missions.
*QGroundControl* can be used to define missions that *approximately* follow terrain (this just sets waypoint altitudes based on height above terrain, where terrain height at waypoints is obtained from a map database).
_QGroundControl_ can be used to define missions that _approximately_ follow terrain (this just sets waypoint altitudes based on height above terrain, where terrain height at waypoints is obtained from a map database).
:::
<a id="terrain_following"></a>
## Terrain Following
*Terrain following* enables a vehicle to automatically maintain a relatively constant height above ground level when traveling at low altitudes.
_Terrain following_ enables a vehicle to automatically maintain a relatively constant height above ground level when traveling at low altitudes.
This is useful for avoiding obstacles and for maintaining constant height when flying over varied terrain (e.g. for aerial photography).
:::tip
This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on *multicopters* and *VTOL vehicles in MC mode* that have a [distance sensor](../sensor/rangefinders.md).
This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on _multicopters_ and _VTOL vehicles in MC mode_ that have a [distance sensor](../sensor/rangefinders.md).
:::
When *terrain following* is enabled, PX4 uses the output of the EKF estimator to provide the altitude estimate, and the estimated terrain altitude (calculated from distance sensor measurements using another estimator) to provide the altitude setpoint.
When _terrain following_ is enabled, PX4 uses the output of the EKF estimator to provide the altitude estimate, and the estimated terrain altitude (calculated from distance sensor measurements using another estimator) to provide the altitude setpoint.
As the distance to ground changes, the altitude setpoint adjusts to keep the height above ground constant.
At higher altitudes (when the estimator reports that the distance sensor data is invalid) the vehicle switches to *altitude following*, and will typically fly at a near-constant height above mean sea level (AMSL) using an absolute height sensor for altitude data.
At higher altitudes (when the estimator reports that the distance sensor data is invalid) the vehicle switches to _altitude following_, and will typically fly at a near-constant height above mean sea level (AMSL) using an absolute height sensor for altitude data.
::: info
More precisely, the vehicle will use the available selected sources of altitude data as defined in [Using PX4's Navigation Filter (EKF2) > Height](../advanced_config/tuning_the_ecl_ekf.md#height).
@@ -29,24 +29,23 @@ More precisely, the vehicle will use the available selected sources of altitude
Terrain following is enabled by setting [MPC_ALT_MODE](../advanced_config/parameter_reference.md#MPC_ALT_MODE) to `1`.
<a id="terrain_hold"></a>
## Terrain Hold
*Terrain hold* uses a distance sensor to help a vehicle to better maintain a constant height above ground in altitude control modes, when horizontally stationary at low altitude.
_Terrain hold_ uses a distance sensor to help a vehicle to better maintain a constant height above ground in altitude control modes, when horizontally stationary at low altitude.
This allows a vehicle to avoid altitude changes due to barometer drift or excessive barometer interference from rotor wash.
::: info
This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on *multicopters* and *VTOL vehicles in MC mode* that have a [distance sensor](../sensor/rangefinders.md).
This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on _multicopters_ and _VTOL vehicles in MC mode_ that have a [distance sensor](../sensor/rangefinders.md).
:::
When moving horizontally (`speed >` [MPC_HOLD_MAX_XY](../advanced_config/parameter_reference.md#MPC_HOLD_MAX_XY)), or above the altitude where the distance sensor is providing valid data, the vehicle will switch into *altitude following*.
When moving horizontally (`speed >` [MPC_HOLD_MAX_XY](../advanced_config/parameter_reference.md#MPC_HOLD_MAX_XY)), or above the altitude where the distance sensor is providing valid data, the vehicle will switch into _altitude following_.
Terrain holding is enabled by setting [MPC_ALT_MODE](../advanced_config/parameter_reference.md#MPC_ALT_MODE) to `2`.
::: info
*Terrain hold* is implemented similarly to [terrain following](#terrain_following).
_Terrain hold_ is implemented similarly to [terrain following](#terrain_following).
It uses the output of the EKF estimator to provide the altitude estimate, and the estimated terrain altitude (calculated from distance sensor measurements using a separate, single state terrain estimator) to provide the altitude setpoint.
If the distance to ground changes due to external forces, the altitude setpoint adjusts to keep the height above ground constant.
:::