Start Section

The Mission Start Editor is the first item in the editor view. Other mission items are added using the Plan Tools (Waypoints, ROI, Takeoff, Return, etc.), and deleted using the bin icon in their associated editor.

The main items are listed below:

Auterion Mission Control displays the settings that are required by most users. Rarely needed mission item editor settings are hidden by default (e.g. setting hold time at a waypoint). These may be displayed by switching AMC to Advanced Mode.

Mission Start Editor (Defaults)

The Mission Start Editor is the first item in the mission command list. It is used to specify settings that apply to the whole mission (e.g. launch position), and settings for the first item (e.g. the altitude). It can also be used to reset the altitude and flight speed for all mission items.

Most of the settings are common for all the vehicle types.

Set the initial altitude and the flight speed for the mission. The altitude can be changed in waypoints, and will persist to subsequent waypoints.

If the altitude is changed after a mission has been defined, the user is prompted to confirm whether the change should apply to all waypoints.

Setting	Description
Waypoint altitude	Default altitude for the first mission item added to a plan (subsequent items take an initial altitude from the previous item). This can also be used to change the altitude of all items in a plan to the same value; users will be prompted if the value is changed when there are items in a plan.
Flight speed	Set a flight speed for the mission.

MC Takeoff Mission Item

For Multicopters there is no need to place a takeoff item as the takeofflocation is automatically defined by taking the vehicle's position when powered on.

VTOL Takeoff Mission Item

The VTOL Takeoff item specifies the target location and altitude to which the vehicle will first ascend, and then transition to fixed-wing mode. There can only be one takeoff item in a mission.‌

The item position can be changed by drag/drop on the map, and the altitude is changed in the editor. The front of the vehicle will yaw towards the next waypoint on takeoff (by default).

Setting	Description
Altitude	Altitude for the takeoff. The value is initialized from the Mission Start Editor settings. The altitude is by default relative to the home position. The menu selector on the altitude field can be used to change the reference to AMSL (say).

Fixed Wing Takeoff Item

The Fixed Wing Takeoff item specifies both the launch location, and the target location and altitude to which the vehicle will first ascend. There can only be one takeoff item in a mission.‌

A launch item and takeoff item are created on the map when the Plan Tools > Takeoff button is selected for a Fixed-Wing vehicle. The launch item is created at the vehicle location if a vehicle is connected; otherwise this must be specified on the map before the mission can be saved. The launch and takeoff items can be moved by drag/drop on the map, and the takeoff altitude is changed in the editor.

Setting	Description
Altitude	Altitude for the takeoff. The value is initialized from the Mission Start Editor settings. The altitude is by default relative to the home position. The menu selector on the altitude field can be used to change the reference to AMSL (say).

Other Mission Item Types

The most important mission item types added using the Plan tool buttons (listed above).

Any mission item that is not listed can created by adding a waypoint and then changing its type using the selector in the item title.

The full list of mission items is provided below (other than those for patterns).

Category	Command	Description
Basic	Waypoint	Travel to a position in 3D space.
	Return To Launch	Send vehicle back to launch position.
	Land	Land vehicle at specified location.
	Takeoff	Takeoff from the ground and travel towards the specified position.
Loiter	Loiter	Travel to position and loiter indefinitely.
	Loiter (time)	Travel to position and loiter for a specified time.
	Loiter (altitude)	Travel to position and loiter until specified altitude reached.
VTOL	VTOL takeoff and transition	Takeoff in VTOL mode, transition to forward flight, and fly to the specified location.
	VTOL transition and land	Transition to VTOL mode and land.
	VTOL transition	Perform flight mode transition (to specified mode).
Advanced	Delay until	Delay until specified time.
	Jump to item	Mission will continue at specified item.
	Set servo	Set servo to specified PWM value.
	Configure mount	Configure the vehicle mount (e.g. gimbal).
	Control mount	Control the vehicle mount (e.g. gimbal).
Conditionals	Wait for Heading	Delay the mission until the specified heading is reached.
Flight control	Change speed	Change speed and/or throttle setpoints.
	Land start	Marker to indicate the start of a landing sequence.
Camera	Point of interest (POI)	Sets region of interest for the camera.
	POI to next waypoint	Sets the region of interest.
	Cancel ROI	Cancels the region of interest.
	Camera control	Control onboard camera.
	Camera trigger distance	Set camera trigger distance.
	Set camera modes	Set camera photo, video modes.
	Start image capture	Start taking one or more photos.
	Stop image capture	Stop taking photos.
	Start video capture	Start video capture.
	Stop video capture	Stop video capture.