Advanced functionalities
4.6 Linear landing
A typical Linear landing follows these steps:
1. The eBee flies towardsthe Home waypoint (defined by the user within eMo-
tion; default altitude is 75 m abovethe landing altitude). Thealtitude change
behaviour between the current location and the Home waypoint depends
on the ‘Altitude change’ parameter of the Home waypoint. By default, it is
defined as ‘Keep highest’, which means that the drone will fly at the high-
est altitude between its current altitude and the Home waypoint’s altitude,
climbing in a spiral first if needed.
2. Once the Home waypoint is reached the drone circles the waypoint and
descends to a fixed altitude of 75 m above the landing altitude.
3. Thedrone circlesto estimate the windspeed and direction. An approachdi-
rection isthen calculated asclose to the upwinddirection as possible within
the allowable approach sectors (defined by the user within eMotion).
4. The drone flies downwind against the approach direction. After flying for
a sufficient distance it turns around to align itself with the approach direc-
tion.
5. The drone glides down in the approach direction at a controlled speed and
descent angle of approximately 20
◦
, braking by spinning its propeller in
reverse if necessary.
6. When the drone detects a height of around 20 m to the ground it begins to
level out its descent.
7. When the drone detects a height of around 3 m to the ground it performs
a final brake to reduce its speed and lifts its nose.
8. The drone then glides for the final few metres in a deep stall until it lands.
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