4.5.4 Center of gravity limits ...........................................................................................................95
4.5.4.1 Reference datum ....................................................................................................................95
4.5.4.2 Determining the center of gravity.........................................................................................98
4.5.5 Flight and maneuver limitations ...........................................................................................99
4.5.6 Battery limitations ................................................................................................................100
4.5.7 Range limitations ..................................................................................................................100
4.5.7.1 Command and control link..................................................................................................100
4.5.7.2 Flight battery .........................................................................................................................101
4.5.8 Environmental limitations....................................................................................................101
4.6 Emergency procedures ........................................................................................................102
4.6.1 Hovermap failsafes...............................................................................................................102
4.6.1.1 Low Battery RTH failsafe ......................................................................................................103
4.6.1.2 Critical Battery Auto-landing failsafe ..................................................................................105
4.6.1.3 Remote Controller Communications Loss RTH failsafe ...................................................105
4.6.1.4 Wi-Fi Communications Loss RTH failsafe...........................................................................106
4.6.1.5 Heavy Dust Backtrack failsafe .............................................................................................107
4.6.1.6 SLAM Loss failsafe ................................................................................................................107
4.6.1.7 LiDAR Error failsafe...............................................................................................................109
4.6.1.8 Poor Waypoint failsafe .........................................................................................................111
4.6.2 Zoe failsafes...........................................................................................................................111
4.6.2.1 Return to Launch failsafe.....................................................................................................111
4.6.2.2 GCS communication failure.................................................................................................112
4.6.3 Emergency procedures ........................................................................................................113
4.6.3.1 Notifications ..........................................................................................................................113
4.6.3.2 Loss of propulsion ................................................................................................................121
4.6.3.3 Loss of GPS signal .................................................................................................................122
4.6.3.4 Not enforced flight maneuver.............................................................................................122
4.6.3.5 Obstacle collision ..................................................................................................................122
4.6.3.6 Approach the drone after an emergency ..........................................................................123
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