In this lesson we will introduce the feature that we are most interested in for research purposes: autonomous flight. Autonomous flight allows for complex preset missions to be set up, so that extra attention can be paid to monitoring the flight status and surroundings. We start off running simple missions that are fully autonomous, but will eventually work our way up to pattern flying and surveying.

I'm order to fly in auto mode GPS needs to be mounted, calibrated, and recognized by mission planner. Before engaging your quadcopter be sure to check the amount of satellites located in the preflight tab shown below
The amount of satellites will turn green indicating that you have sufficient satellites to fly. Some other basic understanding you must have is that, while auto mode doesn't require any user input it is important that you keep eyes on the drone at all times (Yes you are allowed to blink) and hands on the transmitter ready to take control at any moment.

When setting up an auto mission it is important to keep in mind that your drone will only do what you tell it to do. Consequently it is important that you implement a takeoff command, land command, and set the altitudes to the desired height. The next figure shows how to add a waypoint. When you right click you are presented with a list of options to add different steps for your mission.

Before this lesson we were instructed to play with the auto mode in the simulation mode. Simulation mode can be found here…

So for the best information on auto mode in mission planner visit these two links…
here: http://ardupilot.org/copter/docs/common-planning-a-mission-with-waypoints-and-events.html
here: http://ardupilot.org/copter/docs/common-planning-a-mission-with-waypoints-and-events.html

1. Basic waypoint misson planning and flights:

2. Create and load a 1-waypoint with RTL and land.

3. Create and load a 4-waypoint box pattern mission with RTL and land.

4. Create and load a 4-waypoint box pattern mission with different actions at each waypoint (delay before

proceeding to the next waypoint, change in altitude, circle the waypoint, etc.



There should be a basic understanding of how to create missions in mission planner. A more useful set of skills is to set a mission using the “draw polygon” and “survey (grid)” functions depicted in the figure below

• Step 1*
  

Start with adding a takeoff command at a safe height.

• Step 2*
  

Choose the “draw polygon” function and refer to the drop down menu labeled “Add polygon points”. At this step you draw out the perimeter that you wish to survey.

• Step 3*
  

Once the perimeter is drawn out proceed to the “auto waypoint” option and choose “survey (grid)”. There you will be prompted with this screen…
Play around with these settings until you get a general understanding of how to manipulate them for your desired mission.

• Step 4*
  

Double check your altitude for each point and be sure to have a takeoff and RTL command in your mission.

One important thing to consider is the “landing altitude” portion of the RTL command. This setting can be found in the Full Parameters List, RTL_Alt_Final. A setting of '0' will allow the craft to land and will shut down the motors, if the throttle stick is at the full down position. This might not always be the best option. Windy days, a rough landing area, etc. could cause the frame to tip over on landing. Consider setting the RTL_Alt_Final to descend to a given altitude (measured in cm), 500cm would be a good starting point. The craft will then descend to the set RTL_Alt_Final setting and automatically enter Loiter mode. At this point you can take control of the final landing descent from the radio controls.

For this lesson it is important to get down basic auto missions, and experiment with different functions in mission planner. One point that cannot be stressed enough is to not forget basic safety procedures while flying in auto mode. Always aim to have someone with eyes on the aircraft at all times. Experiment with the different functions and flight modes.