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Multicopter End of Mission Action

The mission end action editor defines a location (position and altitude) where the vehicle will land. By default, the vehicle will perform a Return to Launch action at the end of the mission.

{% hint style="info" %} There is no land button in the Plan tools. To create a land item you need to first add a waypoint and then change the type from the title selector (as discussed in Other Mission Item Types). {% endhint %}

The land position may be changed by drag/drop on the map, and the altitude is changed in the associated editor.

| Setting | Description | | ------------ | -------------------------------------------------------------------------- | | Altitude | Altitude expected of landing area (defaults to launch point altitude). | | Heading | Check to set heading of vehicle when landing (by default does not change). |

VTOL Landing Pattern

A VTOL Landing Pattern creates a landing sequence where the vehicle:

Flies in fixed-wing mode to a loiter point
Descends (circles) to the landing altitude
Travels at a fixed altitude to a VTOL landing point
Transitions to multicopter mode and then lands.

{% hint style="info" %} Descending in fixed-wing loiter is more battery efficient than descending in multicopter mode. {% endhint %}

The landing pattern is created on the map when the Plan Tools > Return button is selected for a VTOL vehicle. The button creates a loiter point and a land point on the map. The loiter point must first be adjusted on the map using drag/drop (then press Done on the Landing Pattern editor to make other settings visible). The VTOL land point is initially placed at the launch location, but may also be moved.

Loiter Point Panel

Sets the loiter point properties:

| Setting | Description | | ---------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Altitude | Altitude of loiter point relative to the launch point (or to AMSL if the Altitudes relative to launch checkbox is deselected). The vehicle will only head towards the landing point after descending to this altitude, and when the heading matches the value defined in the landing point panel. | | Radius | Radius of vehicle loiter in fixed wing mode. | | Loiter clockwise | Check to cause the vehicle to loiter clockwise. Uncheck to loiter counter-clockwise. | | Set to vehicle heading | Set the heading from loiter to land to the current vehicle heading. This is useful for matching the landing pattern to physical field location/dimensions and to wind. |

Landing Point

Set the landing point properties:

| Setting | Description | | ---------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | | Heading | Heading from loiter point to landing point - defines the point on the loiter radius that the vehicle will start heading to the landing point. | | Altitude | Altitude of landing point relative to the launch point (or to AMSL if the Altitudes relative to launch checkbox is deselected) | | Landing Dist | Distance between landing and loiter points | | Set to vehicle location | Sets the landing point to the current vehicle location. This is useful for matching the landing pattern to actual field location. | | Altitudes relative to launch | Select checkbox to make all altitudes in dialog relative to the launch position. Deselect to make them relative to AMSL. |

Camera Panel

Sets whether photos/video capture are stopped during landing. Capture stops at the start of the landing sequence (before moving to the loiter step).

| Setting | Description | | ---------------------- | ----------------------------------------------------- | | Stop taking photos | Select checkbox to stop taking photos during landing. | | Stop taking videos | Select checkbox to stop taking videos during landing. |

Fixed Wing Landing Pattern

A Fixed Wing Landing Pattern creates a landing sequence where the vehicle first flies to a loiter point, then descends (circles) to the landing altitude, and finally follows a glide slope to land.

The landing pattern is created on the map when the Plan Tools > Return button is selected for a Fixed-Wing vehicle. The button creates a loiter point and a land point on the map. First adjust the land point on the map (there is a green marker in the Landing Area section of the glide-path indicator that can be used to move the land point) and then the loiter point.

The distance between the loiter point and land point is initially fixed to set a gentle glide slope. Press Done Adjusting on the Landing Pattern editor to make this, and other settings, editable.

Loiter Point Panel

Sets the loiter point properties.

| Setting | Description | | ---------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Altitude | Altitude of loiter point relative to the launch point (or to AMSL if the Altitudes relative to launch checkbox is deselected). The vehicle will only head towards the landing point after descending to this altitude, and when the heading matches the value defined in the landing point panel. | | Radius | Radius of vehicle loiter in fixed wing mode. | | Loiter clockwise | Check to cause the vehicle to loiter clockwise. Uncheck to loiter counter-clockwise. |

Landing Point Panel

Sets the landing point properties:

| Setting | Description | | ---------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | | Heading | Heading from loiter point to landing point - defines the point on the loiter radius that the vehicle will start heading to the landing point. | | Altitude | Altitude of landing point relative to the launch point (or to AMSL if the Altitudes relative to launch checkbox is deselected) | | Landing Dist | Distance between landing and loiter points. Affects Glide Slope. | | Glide Slope | Glide slope. Affects Landing Dist. | | Altitudes relative to launch | Select checkbox to make all altitudes in dialog relative to the launch position. Deselect to make them relative to AMSL. |

Camera Panel

Sets whether photos/video capture are stopped during landing. Capture stops at the start of the landing sequence (before moving to the loiter step).

Return To Launch Mission Item

A Return To Launch mission item creates a path back to the mission takeoff item. The item is created by selecting the button: Plan Tools > Return. The new item is added to the end of the mission; no new items can be added after it, though more can be created before it.

The Return To Launch Editor doesn't provide any specific settings other than the option to remove the item.