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Basic AP Operating Modes

INTRODUCTION

1.   The UAV Navigation (UAVN) system features a number of different operating modes. Some of these modes are used regularly during flight operations, whilst others are special modes which are only used during Adaptation and autopilot setup.

MODES

2.   The following table shows the basic operating modes which are normally used during flights (see also separate KB article 'Summary of AP Operating Modes'):

Mode

Entry Conditions

Additional Notes

MANUAL

  • From any other mode
  • COM OK reported

Only when Autopilot Alarm On_Ground (GND) is on.

Similar to R/C control of aircraft. By default, the AP starts up in MANUAL mode, e.g. on ground during pre-flight checks etc.

See KB article Intro to JY02 Joystick for more information about switching to MANUAL mode.

For helicopter-type UAVs the autopilot continues to provide pitch, roll and yaw stabilization.

See also KB article 'Autopilot Alarms'.

MANUAL HOT
  • From any other mode
  • COM OK reported

Only when Autopilot Alarm On_Ground(GND) is off.

Exactly the same as MANUAL above, except that if there is a Short Uplink Lost (SUL) or joystick packages are not received, the AP will switch to SAFE mode (see below).

For helicopter-type UAVs the autopilot continues to provide pitch, roll and yaw stabilization.

See also KB article 'Autopilot Alarms'.

TAKE-OFF

  • UAV on ground
  • From MANUAL mode only
  • COM OK reported

Typically commanded from MANUAL mode at start of flight. 

Fixed-wing taxi operations must be done in MANUAL mode.

Alternatively, the operator may take off in MANUAL mode and then switch to AUTO once in the air.

Taking off without a FP loaded will cause the AP to switch to SAFE mode as soon as the take-off altitude is reached.

AUTO

  • UAV in the air
  • From any other mode
  • FP uploaded to AP (if no FP uploaded, the AP will automatically switch to SAFE)
  • COM OK reported

 

FLY-TO

  • UAV in the air
  • From any other mode
  • COM OK reported

 

HOLD

(fixed wing only)

  • UAV in the air
  • From any other mode
  • COM OK reported

 

HOVER

(heli only)

  • UAV in the air
  • From any other mode
  • COM OK reported

 

SAFE

  • May not be commanded directly by the operator

 

LAND

  • UAV in the air
  • From any other mode
  • COM OK reported
  • When UAV is in SAFE mode and reaches safety altitude, it automatically engages LAND

 

EMERGENCY

(heli only)

Should any of the following alarms apply the AP will switch automatically to EMERGENCY mode:

  • Magnetometer Failure
  • GPS Failure

 

The autopilot will maintain altitude and will command pitch & roll according to the joystick.

This mode cannot be commanded directly by the operator. 

(click to enlarge)

 

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