DEBUG AND PERFORM SYSTEM/SUBSYSTEM FAILURE

ANALYSIS USING ROOT CAUSE ANALYSIS METHOD

An industrial training report submitted to the Manipal Academy of Higher

Education in partial fulfillment of the requirement for the award of the degree
of

BACHELOR OF ENGINEERING
In
Aeronautical Engineering

Submitted by
Sukanya Dubey
190933023

DEPARTMENT OF AERONAUTICAL AND AUTOMOBILE ENGINEERING

MANIPAL INSTITUTE OF TECHNOLOGY

(A Constituent College of Manipal Academy of Higher Education)
MANIPAL – 576104, KARNATAKA, INDIA

OCTOBER 2022
Acknowledgment
This work carries with it the kind support, inspiration, and guidance from various people at
various levels, to whom I am grateful and sincerely indebted.
I express deep gratitude to Mr Prasad Iyengar, General Manager - Systems Engineering for
allowing me to pursue my industrial training under their valuable guidance. He led me
inspiringly and motivated me throughout, along with his moral guidance at all times.
I also thank Mr. Gaotham, Mr. Raahil Nayak, Ms. Anuja Kandare, Mr. Dinesh, Mr. Rohan
for their valuable suggestions and encouragement during my project.
I am thankful to them for providing constant support and necessary information regarding the
training.

I would also like to thank all those who directly or indirectly helped me during my industrial
training.
TABLE OF CONTENTS

Sr.No Description
1 Certificate
2 Acknowledgment
3 Abstract
4 Introduction
5 Summary
6 References
ABSTRACT
About Asteria Aerospace:
Asteria Aerospace creates and develops drone-based solutions that use aerial data to
revolutionise business operations. Asteria has been producing the best-in-class, highly
effective, dependable, and tough drones for the past ten years. Asteria also creates software
tools for visualisation and analysis to transform drone-generated aerial data into useful
insight. Defense and homeland security organisations, civil government organisations, and
private-sector businesses frequently employ our products and solutions in industries like
security, energy & utilities, agriculture, GIS, construction, and mining.

Major Drones of Asteria Aerospace:

1. A200
The Asteria A200 is a micro-sized multirotor drone with a 40-minute flying time that is
ideal for agricultural and GIS survey applications. It has a PPK survey-grade GPS that is
optional, is small and portable, and is DGCA-certified.

Figure 1: A200

2. A410
The A410 by Asteria is a compact multirotor created for security and surveillance
purposes. A three-axis gimbal stabilised payload is included for both daytime and
nighttime surveillance operations.
 Figure 2: A410

The A410 has third-party lab certification for its operating temperature range, operational
humidity, ingress protection against dust and precipitation, and low noise profile. It can
operate at elevations of up to 4,000 metres above mean sea level.

3. AT-15

Figure 3: AT15

A VTOL UAS with best-in-class payload, endurance, and range characteristics for
surveillance and security operations
INTRODUCTION
A drone is a piece of equipment that makes use of specialized software and hardware to carry
out its missions. It can be remote piloted or can even use a software to manipulate its path
trajectory. Drones find various uses in today’s industry. One of the most common uses of
drones is in the photography sector. It is used to capture breathtaking views which are
otherwise inaccessible to the human kind. It can also be used to surveying large areas which
would be extremely labour intensive for a group of people.

Drones were first created for the aerospace and military industries, but because to the
increased levels of efficiency and safety they provide, they have entered the public. These
robotic UAVs fly independently and with varying degrees of autonomy.

The amount of autonomy for a drone can vary from remotely piloted to advanced autonomy,
meaning that it depends on a network of sensors and LiDAR detectors to determine its
movement.

Different drones can fly at different altitudes and distances. Mid-range UAVs have a 400-
mile operating range and may be used for meteorological research, scientific investigations,
and intelligence collection. The "endurance" UAVs, which have a maximum range of 400
miles and the capacity to fly up to 3,000 feet in the air, are the longest-range drones.

How do drones work?

 Figure 4:Ground Control System

Pilots must consider the different characteristics that make a drone suitable for a certain

function, from sending orders to making sure it is manageable in weight. Among the various
factors at play, a drone's ground control station (GCS), payload, and data linkages are some
of the most important ones to take into account.
The primary control system that enables a UAV to fly and a UAS to function is a ground
control station. These stations can range in size from a desk-sized device with several views
to a mobile device or even an app. The GCS is able to plan missions, regulate flight, tether
the data connection system, control payload sensors, and provide status readouts. It may be
handled manually or remotely through satellites.

A communication protocol for unmanned systems (such drones and robots) is called the
Micro Air Vehicle Link (or MAVLink for short). It outlines the full range of communications
protocols used between autonomous systems and base stations. This protocol has strong
functionality for monitoring and managing the missions of autonomous systems as well as for
integrating them onto the Internet. It is utilised in the most popular autopilot systems,
primarily ArduPilot and PX4.
Figure 5: MAVLINK

It is essential to comprehend flight modes in order to operate an autonomous system using

Ardupilot and the MAVLink protocol.

Figure 6: Flowchart describing GCS and DroneKit

There are many flight modes that Ardupilot has specified.

In the STABLIZE mode, the user, location, altitude, and heading have complete control over
the unmanned system. Every command sent to the RC controller by the user will cause the
unmanned system to react, and it is up to the user to correct for any drift the unmanned
system

causes. When the autopilot is unable to manage the vehicle in any other autonomous mode, it
is advised that users immediately switch to the STABILIZE mode to control the unmanned
system manually.

ALTITUDE HOLD: A more pleasant mode for managing an unmanned system is

ALTITUDE HOLD, or ALT HOLD. In this mode, the operator need not worry about keeping
the unmanned system at a constant altitude because the autopilot will take care of doing so
automatically using a PID controller. The user will be responsible for manually directing and
positioning the unmanned device.
The autopilot automatically regulates the unmanned system's altitude in the ALT HOLD
mode. The heading and location, on the other hand, are left up to the user and are not within
its control. This mode, which measures altitude using the barometer instead of a GPS, is more
suitable for beginners than the STABILIZE option. The PID controller of the ALT HOLD
mode can be adjusted in the APM mission planner. The vertical acceleration is adjusted
proportionately to the estimated discrepancy between the intended height and the actual
altitude in order to maintain the altitude. . A very high gain will make the control more
aggressive and less steady, but a very low gain will make the control very sluggish and
nonresponsive, therefore the proportional gain must be carefully selected.
LOITER: The LOITER mode, which keeps the unmanned system's current location,
direction, and altitude until the user stops giving the RC controller commands, is an even
more user-friendly method for controlling the unmanned system. The unmanned system will
regulate its position, direction, and altitude after the operator removes his fingers from the RC
sticks in this mode, which is comparable to the STABILIZE mode. Optical flow or a GPS 3D
fix are required for the LOITER mode to function.
It should be noted that arming the vehicle in LOITER mode is only feasible if (1) the GPS
has 3D Lock and (2) the HDOP is lower than 2.0. As a result, this mode needs a GPS 3D fix
to operate. It is crucial to have (1) GPS Lock, (2) minimal magnetic compass interference,
and (3) low vibration for good LOITER operation.
From the Mission Planner ground station or other suitable ground stations, the PID controller
gains may be adjusted.
LAND: The LAND mode compels the unmanned vehicle to touch down.
• RTL: The RTL mode, also known as Return to Launch, compels the unmanned system to
return to the takeoff location.
For example, it is possible to set the autopilot such that if the battery drops below a specific
level, the unmanned system must automatically LAND or return to the starting place. LAND
and RTL mode are used in cases of breach of navigation safety and geofencing. It is known
as GEOFENCE

Figure 7: GCS

GUIDE: The fundamental GUIDED mode, that only really works with GPS configuration,
The drone device could be sent on an intelligent driving mission when its GPS performs a 3D
solution and is switched on. to a specified GPS point through the ground station. The name
GUIDED mode comes from the fact that the user leads the unmanned equipment to navigate
autonomously toward a specific destination node of your choosing.

When GPS is used, the GUIDED mode allows the operator to lead the drone system to a
specific waypoint indicated by GPS coordinates. Only if the GPS has a 3D fix can the
unmanned system be armed in GUIDED mode.
A ground station typically delivers a navigation path to the unmanned system in GUIDED
mode in order for it to navigate to it. It is critical to have a tracking device linked to both the
embedded device and the central node in order to facilitate long-distance communication..
Figure 8: Flowchart of PID

PID stands for proportional integral derivative, is a type of device used in industrial settings
to regulate several process variables, including pressure, flow, temperature, and speed. This
controller regulates all of the process variables using a control loop feedback mechanism.
This kind of control is utilised to steer a system toward an objective position when it would
otherwise be level.
A feedback control system is a crucial component of a closed-loop system such as a PID
controller. This system operates by continuously comparing the feedback variable to a fixed
setpoint using a comparator, and making adjustments to the system's output in response to
any deviations from the setpoint. The process continues until the feedback variable
approaches the setpoint and stabilizes.

In contrast to an ON/OFF controller, a feedback control system offers a much more precise
and stable control strategy. ON-OFF controllers operate by simply turning on or off based on
whether the process variable is above or below a setpoint. However, this leads to an
inherently unstable control strategy that results in significant swings around the setpoint. On
the other hand, a feedback control system can continuously adjust the output to maintain
stability and achieve the desired control objective.

In limited control applications where only two control states are required, such as fully on or
fully off, the simple and low-cost ON-OFF controller may still be used. However, the
inherent instability of this type of control has led to a shift towards the use of PID controllers
in a wide range of applications, which offer a more sophisticated and reliable control strategy.
PID loop is a process in which we aim to reduce the error and ultimately reach a position
where the output is exactly what the user desired or with very minimal error.

Figure 9: Steady State error

Controller P

The output of a P-controller, also known as a proportional controller, is directly in proportion

to the gained value by carrying out the process and the reference setpoint. This value which is
obtained by the difference in the two curves is then used to gain the output(multiplying the
error to the constant).

The I-controller, or integral controller, is designed to handle steady-state errors that may
persist even when using a P-controller. These errors result from a mismatch between the
reference poin that we have inputted and the variable gained by the process, and the I-
controller integrates the error over time to eliminate it. It does this by summing up the
accumulated error until it reaches zero, which ensures that the last control action performed
remains in effect even after the error has been corrected.
In contrast to the P-controller, which only reacts to the current error value, the I-controller
takes into account the accumulated error over time and can provide a more precise control
mechanism for removing steady-state errors in a process control system.

Regenerate response

Figure 10: Regenerate Response

In the figure given above, the error reduces as the time passes due to the gain of the I
controller. This type of configuration is made use of in cases where a high response time is
not desired. However there is a drawback of having high I gain values. It may lead to integral
value growing even after the zero error state is achieved. In order to sidestep this, we restrict
the integral to a certain maximum range.

D-Controller

While the I controller tackes the overshooting component of the PID controller, It fails to
predict how the system will react to the future scenarios. The D component does exactly this.
It tires to predict what properties the system will exhibit in the future. The output given by the
D-Controller is calculated by the constant of derivative times the rate of change of error with
respect to time.
The D component is important because it not only makes the output more reliable but it also
increases the system responsiveness multifold. The response time of the system can be
increased drastically by increasing the derivative gain.
Response from a PID controller

Figure 11: Diagram of PID controller

After countless twitches and tweaks, it has been concluded that by adding the outputs of
these three controls, namely- Proportional, Integrative and Derivative, we will reach a
harmonius value that helps us respond to the given problem in the most optimimum way
possible. A variety of PID algorithms exist in the market, and many of them are
manufactured at the industrial level. There are three broad categories including On and Off
controllers, standard and proportional controllers.

Proportional Control

The proportional controller is mainly used to eliminate the constant to-and-fro cycling that
arises by an ON and OFF switch. As soon as the heater hits the temperature that is near the
per-determined point, it automatically decreases the current and hence the power being
supplied to the heater. This will inevitably lead to the control of the temperature at the user
inputted value.
The specific use of this type of controller is to not let the temperature exceed beyond a
predetermined level. As soon as the temperature hits the user-inputted value, the heater stops
heating and maintains the temperature it has reached.
Traditional PID Controller

The PID controller used in this specific scenario will make use of all three gains, i.e.
proportional, integral and derivative, to scan the system for errors and make changes
accordingly.

Figure 12: Localisation and Mapping

Integral and derivative terms are add-ons to the proportional term and are represented in time
based units. These controllers are also referred to by their corresponding reciprocals, RATE
& RESET. If not, the terms of PID must be individually customised to a particular system by
trial and error.

Tuning Techniques
Before a PID controller can be used to minimize the error in various industrial applications, it
has to be set up to meet the demands of the ouput curve. The default setting received directly
from the manufacturer of the PID controller are ill-equipped to function in a highly precise
system setting.The PID controllers can be tuned in various ways available which are
described below.

Contemporary industries are ingrained with PID controllers at every step. From large scale
operations of CNC machines to small operations such as the winch etc, PID controllers are
used everywhere. However, in order to optimize the output received by the PID controllers, it
is necessary to be aware of the parameters that are needed to alter the output of the controller.
Figure 13:Reaction Curve

This is where tuning of the PID controller comes into the picture. Tuning indicates that we
are trying to achieved the desired output by changing certain parameters of the controller
which in turn alters the output. This can be done by identifying the appropriate values of gain
for the P, I, and D terms. This can be done by a variety o tried and tested methods such as
Process reaction curve, Zeigler-Nicholas, and the most common trial and error method.
Tuning the PID controller is a process which is traditionally reliant on a trial and error
process. We can either tweak the controller while the system is still in operation or we can
take the results, evaluate it as per our needs and run the test over again. While it may seem
that one process has an advantage over the other, they both have their merits and demerits.
The fundamental procedure is to change the term Kp until and unless the control shows a
constant amplitude oscillation. These are done while the other terms of Ki and Kd are set to
zero. Alternatively, the Ki term could be modified until the systems stops exhibiting
oscillatory behaviour and then change the D values. This method is more commonly known
as the Process Reaction Curve Technique.
Applying a step input to the system produces a response that we need to analyze. Initially,the
response curve is generated manually by inputting some control output. Moving forward, the
technical terms such as slope, dead time, and rising time of the curve need to be calculated.
These values can then be utilized for calculating the gain values for the terms of P, I and D.
Figure 14: Calculation of Ultimate Period

One of the very popular methods of tuning PID controllers is the Zeigler-Nichols method. It
traditionally involves techniques which consist of two closed loop methods.
1. Damped oscillation method
2. Continuous cycling approach
It has been observed that there are some similarities between these methods. For instance
both of them involve setting Kp constant (generally related to the proportional gain) to a
reference constant value. Ki and Kd are usually rquated to zero. After these values have been
set in the system, the gain is gradually altered till the system starts moving at a constant
amplitude. As soon as this amplitude is reached, it is named as the ultimate gain og the
system. It is usually denoted by Ku or Pc. Now making use of these obtained values, Zeigler
method table can be prepared and a variety of combinations for the PID controller can be
used such as P, PI or PID.

PID Controller Organization

The PID controller consists of 3 basic terms: proportional, integral, and derivative. These
three controls work in a separate manner, but even though their methodology of working is
different, they work in tandem to produce an output that can be utilized by any system to
control various processes.

Figure 15: Formula of various terms

They are capable of analysing variables such as pressure, flow, velocity, vibration and many
others. They can either be used separately, or cascaded together to produce a much stronger,
and accurate response.

Any PID controller consists of atleast three basic control systems: Proportional, integral and
the derivative ter. After these blocks have processed the input, they convert it to an output
which can be read and used by another processing block. In the industrial applications, PID
controllers find their use across a vast multitude of area, however, they are also used uniquely
in conjunction with actuators and control valves. They are used to control and optimize
processes that can occur in an industrial setting.
Figure 16:Reference vs Actual Curve

The working of a PID controller is described in this paragraph. Initially the controller
receives an output signal from the plant, which is then analysed against a standard signal(set
as a reference). When this output signal is received the various components of the PID system
evaluates and sends out an error signal that represents the shift from the reference signal to
the actual signal received. Now this error value is further put to use to produce a error
reducing response, which can help bring the actual obtained signal go closer to the reference
value.

Not all control applications require the use of all three control modes. Proportional-derivative
(PD) control is commonly used in configurations such as proportional-integral (PI) and is
considered practical for many control scenarios.

Applications

The uses of PID controllers are vast and far-reaching, with one of the most common
applications being temperature control. This involves using a temperature sensor as an input
and potentially coupling it with a fan or heater as an output. However, it's important to note
that a PID controller is just one component of a temperature control system, and care must be
taken to consider and analyze the entire system when choosing the best controller for a
particular use case.

Another common use of PID controllers is in regulating temperature, where they serve as a
key component in a temperature control system. To achieve accurate temperature regulation,
the PID controller is often paired with a temperature sensor that provides the controller with
the necessary input data. The controller may also be connected to other elements, such as a
fan or heater, to adjust the temperature as needed. When selecting a PID controller for
temperature control, it is crucial to carefully examine the entire system to determine the best
option for the given application.
Furnace Temperature Control
Furnaces are commonly utilized in various industries to heat large quantities of raw materials
and maintain a high temperature. These materials being heated usually have a considerable
mass, which requires a significant amount of resistance to keep the temperature from
changing too rapidly even when an intense amount of heat is applied. This inherent property
of the materials results in a very stable photovoltaic signal, providing a consistent and
accurate period for fault correction without significantly affecting the furnace combustion
efficiency (FCE) or the levels of carbon monoxide (CO) produced.

Furnaces play a crucial role in various industrial processes where high-temperature heating is
required for large quantities of raw materials. Given the massive size and weight of these
materials, substantial resistance is necessary to prevent rapid changes in temperature despite
the application of intense heat. This stability leads to a steady photovoltaic signal, allowing
for precise and effective fault correction without unduly impacting the furnace's combustion
efficiency or carbon monoxide emissions.
Figure 17: Structure of self-tuning PID controller

Charge Control MPPT

Variations in temperature and light intensity can greatly affect the V-I curve of photovoltaic
cells, leading to changes in their voltage and power output. To ensure optimal performance,
it's crucial to monitor the peak power output of a photovoltaic system. The Maximum Power
Point Tracking (MPPT) method involves providing the PID controller with set voltage and
current points, allowing the system to maintain these values despite changes in weather
conditions. This approach helps to ensure consistent energy output and stability.

On the other hand, monitoring the performance of photovoltaic cells is vital to achieving
maximum energy output and system stability. The V-I curve of photovoltaic cells is heavily
impacted by fluctuations in temperature and light intensity, leading to changes in voltage and
power output. To overcome this, the MPPT technique is employed by setting voltage and
current points for the PID controller. This allows the system to maintain constant voltage and
current output, even in the face of changing weather conditions. This results in consistent and
stable energy production
It is crucial to monitor the output of a photovoltaic system to ensure that it remains efficient.
This is achieved by using an MPPT (Maximum Power Point Tracking) algorithm that is
integrated with a PID (Proportional Integral Derivative) controller. The MPPT algorithm sets
the voltage and current points for the PID controller, which in turn regulates the system to
maintain these values even as the temperature and irradiance levels change due to weather
conditions. As a result, the photovoltaic system is able to deliver consistent power output
even under varying environmental conditions.
The Power Electronics Converter

The operation of an inverter can be complex, especially when linked to a system. This is
because the output is not fixed and varies based on the load. A large current is drawn when
the load is increased, causing the voltage and current parameters to fluctuate.
In order to regulate these fluctuations, the PID controller sends PWM signals to the inverter's
IGBTs to turn them on. This process involves generating a response signal based on the
change in load, which allows the controller to detect and correct any errors. The response
signal is derived from the failure signal and is used to fine-tune the system for optimal
performance.

Figure 18: PID controller harware

Interfacing PID Controller

The PID controller, implemented using the Arduino microcontroller, has a wide range of
applications, from controlling the temperature of a laboratory to regulating the speed of a
motor. The basic structure of the controller is built using an Arduino UNO board and other
electrical components, with software written in either C or C++. This setup allows the
controller to effectively manage the temperature in the lab with a high degree of accuracy.
The PID settings for a given system can vary greatly, with each setting influencing the
controller's performance. For example, a system with high proportional gain values will
respond more quickly to changes in temperature, while a system with low proportional gain
values will be slower to react. Understanding the function of each PID parameter is crucial to
the effective use of the controller, and a comparison of various controller types can provide
valuable insight into this.

In addition to its ability to regulate temperature, the PID controller implemented with the
Arduino microcontroller also offers a simple and efficient way to control and monitor other
physical parameters in the lab. With its user-friendly interface and precise calculation
capabilities, it provides a straightforward solution for maintaining consistent and accurate
conditions in a variety of settings.

Background of a ground control station

A software programme called the Ground Control Station (GCS) is utilised to connect to the
vehicle. The software enables the user to modify the vehicle's settings and get real-time
information while the vehicle is in flight.

Figure 19: Homepage of Mission Planner

Although every piece of software is different, they all often give the user a virtual cockpit and
a live map that shows where the car is. The GCS also offers the user choices for pre-planned
autonomous flights and supports two-way communication to manage the vehicle while it is in
flight for the vehicles created for this project. Refer to the GCS comparison for further
background data.

Why Use a Mission Planner?

Despite the fact that there are many versions of ground control stations, Mission Planner is
used in the project documentation because of the open breadth of functionality, source
licencing, and simplicity of integration Mission Planner offers the ability to operate the
vehicle while it is in flight and permits control of a specified flight plan. During flight,
vehicle information is provided through a simulated live cockpit and real-time Google Maps
integration. Refer to Mission Planner Home for a thorough overview of the programme and
its documentation. While the team is considering moving the project to Q-Ground Control,
Mission Planner is still a helpful tool.

The QGround Control

A contemporary GCS interface with features akin to Mission Planner is offered by QGround
Control. Although it was initially created for the PX-4, the programme now works with the
ArduCopter (the software used for this project).

Figure 20: Waypoints in Mission Planner

QGround Control offers a mobile app in addition to the simple user interface. utilised with a
tablet or phone. The team is considering switching to QGround Control as the UAV-RT
system develops in order to take advantage of its cutting-edge style and simple user interface.
Consult the official documentation for further details on QGrond Control and the download
link.

Flight Modes vs. Flight Plans in Mission Planner

Figure 21: Flight Plan

The distinction between flight modes and flight plans is useful for controlling the vehicle and
programming autonomous flights for the vehicle. to develop flight plans that take tag
localization into account mission planner use

Flight Plans, Flight Modes determines how the helicopter will fly and how much operator
control there will be. Suitable for use in auto flying mode there are over 20 built-in flying
modes chosen in advance of flight and loaded into the helicopter Can be in flight switched
created using the live map and the GCS user interface.
Flight modes are many built-in operating modes that control how the vehicle will fly. For
instance, the flying mode stabilise will let you alter the drone's position and altitude, but once
the operator stops giving orders for the direction of the drone, the flight controller on board
will return the drone to a level/stable position. Other flying modes, such as circular, force the
vehicle to carry out a certain activity.

Figure 22:Description of different options available

When in circular flying mode, the vehicle will circle the present position with a set radius
(pointing the front of the vehicle towards the centre of the circle). Due to the fact that if the
radius is set to zero, this flying mode is extremely helpful For the vehicle to fly
independently, pre-planned missions are created using flight plans. Flight plans that instruct
the drone to fly to different places may be prepared using the Mission Planner interface. The
user is able to control the vehicle's flying modes and altitude within these flight plans. Refer
to Using Mission Planner for details on how to create tag localization flight plans. Use
Arducopter's manual for comprehensive instructions developing autonomous missions.

Flight Plan for a Lawn Mower

The flight plan for the lawnmower makes use of an omnidirectional antenna and the null that
results from passing directly over a beacon. Finding a localised minimum in the radio signal
that indicates the target animal is right beneath the drone is the aim of a lawnmower flying
pattern. The auto-grid function in Mission Planner, which is designed for cameras but may be
used for this purpose, is used in the flying pattern. The following instructions will help you
create this flight mode on your own.

Figure 23:Description of Red Zones

PROCEDURE FOR MAKING A LAWN MOWER FLIGHT PLAN

First, choose the Flight Plan tab from the Mission Planner interface's top-left menu.

Step 2: Locate the site where you want to construct. your flight schedule on a map (Note:
When there is no internet connection, parts of Google Maps can be pre-fetched and viewed in
the field. For more information, see here.)

Step 3: After locating the region you want on your screen, use the right-click menu to choose
"Draw Polygon" > "Add Polygon Point." With the help of this tool, you may position points
across the appropriate area to automatically create a polygon (note: to clear your polygon,
select "Draw Polygon" > "Clear Polygon").

Step 4: Next, set the height from "Absolute" to "Relative" and alter your default altitude to
the appropriate number (10m is advised).
Step 5: When the polygon is complete, right-click the shape and choose "Auto WP" >
"Survey (Grid)".
Step 6: The menu offers options for several cameras right away, but we may disregard them.
this is for our needs. Instead, input the preferred flying altitude and then choose the advanced
options checkbox at the pop-up window's bottom.

Figure 24:Waypoint option

Step 7: Choose "Grid Options" from the new tabs and input the appropriate line spacing (10m
is recommended.) Select "Accept" next.

Step 8: Verify that the Mission Planner interface is accessible from your coper.
Step 9: Click "Write WPs" to load the mission plan to the helicopter on the right side of the
screen. (Note: "Save WP File" is another option you have for usage in the field. Simply
choose "Read WPs" to recollect the file later rather than going through steps 1 through 9.)

The copter is now ready to start the autonomous flying in step 10.

11th Step: Using the Flight Data Tab and choose Actions. You may now arm the helicopter
by pressing the "arm/disarm" button (make sure the copter is in stabilise or loiter mode before
arming.)

Step 12: To start the task, choose "Mission Start" from the first drop-down menu and press
"Do Action."

Step 13: The helicopter will finish the Lawn-Mower Flight Plan by disarming and landing
back at the launch site.
You can change the "DO SET CAM TRIGG DIST" way points (which are automatically set
to trigger a camera if one was attached) to "CONDITION YAW" and specify the desired yaw
you like the copter to keep during the flight, if you wish to control the direction of the copter
during the flight.
SUMMARY

The training I had was for 1.5 months. I thoroughly enjoyed my time at Asteria Aerospace
Ltd and learnt a lot of industry stadndards and the practices being used in a major drone
corporation. It was very humbling to see what all systems I still had to explore in this
booming industry. I am confident that with this Industrial training, I have taken the first step
towards breaking the glass ceiling in the drone hub.
It is not a hidden fact that India is taking major steps to accelerate the growth of the drone
sector in the defence and tansport sector of India To be a part of that change is truly a
privelge and matter of pride for me.
REFERENCES
1. Using Mission Planner | UAV-RT. https://uavrt.nau.edu/index.php/docs/control/using-
mission-planner/.
2. “Mission Planner Overview¶.” Mission Planner Overview - Mission Planner
Documentation, https://ardupilot.org/planner/docs/mission-planner-overview.html.
3. Agarwal, Tarun. “PID Controller : Working, Types, Advantages & Its Applications.”
ElProCus, 22 Nov. 2021, https://www.elprocus.com/the-working-of-a-pid-controller/.
4. “Code Overview (Copter)¶.” Code Overview (Copter) - Dev Documentation,
https://ardupilot.org/dev/docs/apmcopter-code-overview.html.