emesent HOVERMAP-ZOE, User Manual

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Hovermap-Zoe user manual
Release date: 01 Nov 2021
Revision: 1.0 111
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4.6.1.8 Poor Waypoint failsafe
The Poor Waypoint failsafe is an advanced autonomy failsafe that is triggered when the system is
unable to reach a waypoint set by the user. This function will take into account the amount of slack set
for the waypoint.
When a waypoint is placed in the Waypoint UI, the location may not yet have been explored and
mapped by the system, and it may not appear in the real-time point stream. So the user may place a
waypoint in an impossible position, such as below the surface of the ground or inside a wall of a
building. Hovermap will attempt to reach the waypoint for around 20 seconds. This is an exploratory
mode where the system will look for a way that it might achieve the exact position of the waypoint. The
system has been designed with a number of constraints that will not allow the system wander to far
from the set waypoint. Once the system has exhausted all options, after around 20 seconds it will give
up on the waypoint as an impossible waypoint and clear it from the mission. The waypoint will
disappear from the Waypoint UI. Hovermap will then continue to the next waypoint. If no further
waypoints are set, Hovermap will hover in place until a new waypoint is added, or another failsafe is
triggered.
4.6.2 Zoe failsafes
4.6.2.1 Return to Launch failsafe
Occasionally, the signal between the controller and Zoe may be temporarily lost or jammed. This can
happen for a number of reasons, including controller failure, an empty battery, or electromagnetic
influences.
If the controller signal is lost for more than 3 seconds, and Hovermap doesn’t have control, the Zoe
Return to Launch failsafe procedure will be activated. A launch point must be recorded, and the
compass/GPS of the Zoe should be functioning normally for the Return to Launch failsafe to work
properly.
Zoe will land itself 15 seconds after reaching the home location:
Zoe will automatically descend and land if the return to launch failsafe is triggered within 2 m of
the launch point.
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Modes of operation
Autonomous Waypoint mode
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