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I. Hovering-Altitude-Gaz
When actively flying, your UAV will perform in “GAZ” mode, entailing a potential drift against walls, cei-
lings, floors, etc... but you can ask for a hovering (3D position hold) performed by the embedded sensors:
simply press your GCS «R» button.
When activated, the “Hovering” mode will hold the UAV’s 3D position in space. This position holding feature
relies on all embedded sensors, therefore the position holding has a few limitations:
• Minimum focus distance of the Vertical Camera is 50cm from the ground; no hovering can be achieved
below this height.
• Maximum accurate distance sensing is 25 meters; no hovering can be achieved above this height in day
light.
• Maximum focus distance of the Vertical Camera is affected by ambient light; if light is getting low, the
Vertical Camera will not be able to focus on objects. The embedded vertical IR lights will then power on
and generate light in total darkness to provide confortable IR illumination for the frontal camera but will
not be suffisant to guarantee a stable hovering.
• The Vertical Camera cannot isolate its own shadow. In low contrast environment, where the UAV’s shadow
is the most contrasting feature on the ground, the UAV might start to follow its own shadow and will not
be able to achieve position holding. In those cases, it is advised to fly a bit further from the ground to
diminish the contrast of the shadow.
• In very low contrast or reflecting environment (such as reflective flooring, snow, water, etc.) hovering will
also tend to be difficult, as the UAV will not be able to isolate any anchoring feature on the ground.
While hovering, changing the Throttle or Yaw (J1 for Mode 2 users) will keep the UAV position hold. This
allows the pilot to modify the orientation or altitude of the UAV while still hovering.
Please note: The UAV status on the screen might show “Flying” which indicates that the UAV is looking to
reach a position hold following a request from the pilot, but has not yet managed to do so. Once enabled,
“hovering” will show up on your GCS status bar.
II. Altitude
Once in Hovering Mode, you can switch to Altitude Mode by altering the Roll or Pitch of the UAV (J2 for Mode
2 users). Your UAV is now capable of holding its absolute altitude using barometric pressure and distance
sensing and will maintain the altitude as long as you don’t increase or decrease the throttle.
Since the UAV will maintain its altitude, the pilot can focus on the orientation of the UAV without any need
to adjust the vertical position (altitude). In addition, flying over an object will not cause the UAV to increase
its altitude. However, if that object is close to the UAV, a slight altitude increase may be experienced as a
result of the pressure generated by the nearby object.
CAUTION: HOVERING (= 3D POSITION HOLD) IS AUTOMATICALLY ACTIVATED AFTER TAKEOFF SO TRY NOT TO
TAKE OFF TOO CLOSE FROM WALLS OR UNDER LESS THAN 1M HIGH CEILINGS. HOVERING AND ALTITUDE
GAIN WILL BE ABORTED IF THE OPERATOR MOVES THE JOYSTICKS DURING THE TAKEOFF PROCESS. SKY-HE-
RO STRONGLY RECOMMENDS THAT YOU LET THE UAV PERFORM AT LEAST 1 STABLE HOVERING AFTER
EACH BATTERY CONNECTION AS THIS ALLOWS THE COMPUTER TO UNDERSTAND THE PHYSICS OF THE UAV
AND GUARANTEE OPTIMAL UAV PERFORMANCES WHILE FLYING. IT IS ALSO RECOMMENDED TO ACTIVATE
HOVERING OCCASSIONALLY DURING FLIGHT (EVEN FOR MORE EXPERIENCED USERS), ESPECIALLY AFTER
STRONG IMPACTS TO THE UAV, TO RESET THE GYROSCOPES ESTIMATED VALUES.
f. R – Enable hovering
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