senseFly EBEE RTK Extended User Manual page 83

three times initiates the take-off procedure²² and changes to the Take-off
mode.
• After take-off the drone climbs with level wings²³, gaining altitude until it
reaches the take-off transition altitude, by default 20 m²⁴ above the take-off
location. At this point the drone heads for the Start waypoint and changes
to Circle Start Waypoint mode.
• Once it reaches the Start waypoint, the drone circles the waypoint several
times to estimate the strength of the wind. Once it calculates the estimated
wind the drone either:
– heads towards the first mission waypoint, if 'Start mission' is selected
in the 'After take-off' panel of the Setup Phase tab, and changes to
Perform Mission mode.
– continues circling the Start waypoint until a command is received
from the Control Bar (typically a 'START MISSION' command that is
sent once a flight plan is finalized).
• While in Perform Mission mode the drone flies between all enabled mission
waypoints, taking images of the ground below. Once it reaches the final
mission waypoint the drone either:
– heads towards the Home waypoint, if 'Land' or 'Go to Home way-
point' is selected in the 'After mission' panel of the Setup Phase tab,
and changes to Circle Home Waypoint mode.
– heads towards the Start waypoint, if 'Go to Start waypoint' is selected
in the 'After mission' panel of the Setup Phase tab, and changes to
Circle Start Waypoint mode.
– heads towards the first mission waypoint, if 'Restart mission' is se-
lected in the 'After mission' panel of the Setup Phase tab, and remains
in Perform Mission mode.
²² as described in section 'Take-off' on page 54
²³ or in a given direction when using the Directional take-off feature described in section 'Setup Phase
tab' on page 116
²⁴ see section 'Flight Parameters tab' on page 136 for details on changing this altitude
Understanding aerial mapping with the eBee RTK
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