Missions

This document provides an overview for defining autonomous missions either directly from the Reflex's web interface or from the Ground Control Station (GCS). A mission consists of an optional autonomous takeoff, followed by an autonomous trajectory between user-defined waypoints, and finally an optional autonomous landing. The trajectory flown between the defined waypoints will be generated with respect to the Trajectory Settings.

A mission can be easily configured through either the Reflex's Web Interface or the Ground Control Station (GCS).

Missions From Web Interface:

Mission elements can be configured from the web interface by navigating to the following settings:

Web Interface: Settings > Trajectory

Takeoff & Landing

Here, the user may enable autonomous takeoff at the beginning of the mission by selecting the Takeoff checkbox and entering the desired takeoff altitude relative to the home position. Similarly, an autonomous landing at the completion of the mission may be enabled by selecting the Landing checkbox. The Reflex will use the landing speed from the land maneuver settings.

Waypoints

Setting waypoints can also be done from the same settings section. The Reflex flight controller will plan jerk-limited trajectories between each of the defined waypoints as per the configuration set in the Trajectory Settings. Under the Waypoints header in the mission settings, select Add to append a waypoint to the mission. Once added, the user may include optional waypoint definitions for its Horizontal Position, Height, Yaw, and Hold Time.

When defining a waypoint's horizontal position, an option is provided to define the coordinate in either a Global or Local ENU frame of reference. If Global is selected, then the user may define the waypoint location relative to the Geographic Coordinate System in terms of latitude and longitude. Otherwise, if Local ENU is selected, then the waypoint location is defined as its distance from the origin in metres East and North.

As previously mentioned, the yaw angle of the drone at the waypoint can also be configured. It is set in terms of degrees from the East axis (i.e. East: 0°, North: 90°, West: 180°, South: 270°).

If a hold time is included for a waypoint, then the drone will be commanded to fly to the waypoint, come to a stop, and hold its position for the specified time until continuing to the subsequent waypoint.

Missions From GCS:

Alternatively, missions may also be configured directly from the GCS. To do so, using the navigation bar at the top of the application, select Missions. This will open up a side-panel in which the user may create a new mission or load an existing one.

Takeoff & Landing

Once a mission has been created, the side-panel will show both the takeoff and land mission items as disabled. Select either checkbox to enable either item. Selecting the drop-down arrow next to the takeoff checkbox will allow the user to enter the desired takeoff altitude, similar to in the web interface.

Waypoints

Waypoints may be configured in the GCS using one of two methods. The easiest way to add a waypoint is to simply right-click the location on the map which the drone is to fly to. This will bring up the option to add a waypoint. Once the waypoint is added, it will appear in the mission side-panel. Selecting the corresponding drop-down arrow will display the waypoint configuration menu where its position, altitude, heading, and hold time can all be adjusted. Alternatively, a waypoint may be added by selecting Add step > Waypoint from the bottom of the side-panel. This will add a default waypoint to the mission.

A return to launch item may also be added by selecting Add step > Return from the bottom of the side-panel. This will instruct the drone to return back to its home location.