DJI Autonomous mode checklist

Inspect the LiDAR sensor.

Clean and serviceable

Mount Hovermap to the drone and ensure that the LiDAR sensor can rotate freely.

Secured, clear

Ensure the Hovermap is allowed sufficient time to acclimatize to the ambient temperature of the flight environment before take-off. (No visible fogging on lens. DO NOT WIPE — allow it to dry off naturally)

If the intended flight path is expected to encounter high humidity environments, non-alcohol based anti-fog spray may be used directly on the LiDAR lens.

Checked

Connect the power cable, and serial cable.

Test the cable connection by gently tugging on the power and serial cables (single cable for Hovermap ST/ST-X) to ensure they are positively retained on the Hovermap. If the cables fail to keep connected during this test, it is recommended to get in touch with Emesent support.

Connected

For HVM100, ensure both Wi-Fi antennas are connected and positioned 90 degrees apart. It is recommended to orient one antenna vertically and the other horizontally for optimal results.

The Hovermap ST and ST-X have internal antennas.

Offset

If using the tablet, connect it to the controller using the supplied USB-A to USB-C cable.

If using the DJI RC Plus controller, make sure that the correct version of Commander is installed.

Connected

Correct version Commander installed on tablet or RC Plus controller

Conduct the standard DJI pre-flight checks, as required by DJI including:

• Controller, tablet, and drone batteries are fully charged.

• Propellers are undamaged and mounted correctly.

• Airframe is airworthy — no deformations or cracks.

Checked

Check that the take-off space is of adequate size and is clear of obstacles:

• M210: 2.2 m horizontal, 2 m vertical

• M300: 3.0 m horizontal, 2 m vertical

• M350: 3.0 m horizontal, 2 m vertical

• M600: 3.6 m horizontal, 2 m vertical

These figures are the minimum. Pilot capabilities must be considered.

Checked, clear

Position the drone so that it is level and facing away from the operator.

In position

Power on the controller and tablet — wait for the tablet to boot up.

When prompted, double-tap the Commander icon on the tablet, or touch once and select only once (USB permissions).

If using the tablet, ensure that it is connected to the controller using the supplied USB-A to USB-C cable. This ensures that DJI flight data is shown in Emesent Commander.

Display on

Controller on

Emesent Commander app opened

Power on the drone.

Green battery lights

A drone compass and IMU calibration should be conducted at least once every three months or after transport.

In addition, compass calibration can be done directly through Emesent Commander’s Mission Workflow. On the Connectivity page, you will see a notification if compass calibration is required.

Follow DJI’s procedure

Follow the on-screen instructions on the Emesent Commander app

Turn on Hovermap by pressing the power button once on the back of the unit.

While booting/initializing, the status LED will flash red, light blue and orange, then will slowly pulse dark blue.

Do not move the Hovermap until the slow-pulsing blue state is reached. If the status LED is not blue after 60 seconds, cycle power to the Hovermap.

Flashing red, flashing light blue, flashing orange

When auto-initialization and checks are complete, a slow pulsing dark blue will indicate that the system is ready.

Slow pulsing blue

Launch the Emesent Commander app.

App landing page

Connect to the Hovermap’s Wi-Fi.

Network name: hvm100_xxxx, ST_xxxx, ST_5xxx

Password: hovermap

Connected

Select the Assisted or Autonomous Mission tile in Emesent Commander.

Follow the Mission workflow to configure the system and set up your scan mission.

Mission tile selected

In the Connectivity page, go to Collision avoidance (shield):

• Check the limits are appropriate and set a buffer if required.

Flying less than 50 cm from rotor-tip to wall may result in an aerodynamically-induced crash.

Confirmed

In the Scan setup page, click Start Scan and keep the payload still for the first 10 seconds.

LiDAR spinning smoothly, slow pulsing green

Allow the system to perform its pre-mission checks — this may take up to 60 seconds or more. Once passed, the Continue button becomes available. Tap to move into the next screen where you will conduct your operation from.

Green tick and Pre-scan checks passed indicator

Set the controller to Hovermap mode if not already done.

• M300: P-Mode

• M350: N-mode

Set

Start (armed) motors.

Do not take off.

Running smoothly

Check that the telemetry values at the bottom of the Emesent Commander app are close to zero. If not, do not start the motors. Restart the drone and Hovermap.

Checked and zero values noted

Hovermap and the drone are now ready for flight.

Clear for take-off

Push up on throttle to desired take-off height. Clear the lower Shield limit.

Alternatively, tap the Take Off button in Emesent Commander.

Smooth take-off, stable hover, Shield button on the top left shows Shield On

Shield will auto-enable. This can be confirmed by a Shield On button on the top left of screen.

Descend toward the ground to test and confirm that the Shield boundary is active. It should prevent the drone from landing.

Shield set, tested

Test all flight controls.

First flight of the day you should check all controls are full free and correct.

Do this by moving each control separately a small amount. Watch for the aircraft to respond appropriately to this control.

Full free and correct

Begin scanning flight.

Emesent Commander no longer requires the operator to set the navigation method. It will set the appropriate method for the given environment.

Begin mission

Add waypoints via the Task Manager then send these tasks to Hovermap.

Tasks sent to Hovermap

With a waypoint set, click Send to start the autonomous mission.

Activate

Mission Status indicator in Emesent Commander changes from Running — Pilot Assist to Running — Autonomous mode.

Mission Status indicator on the top right showing the system is running on Autonomous mode.

Maintain visual line of sight to the drone at all times when operating in Pilot Assist.

Always remain vigilant and ready to take over control of the drone by switching to DJI (M210: S or A, M600: P or A, M300/M350: A or T) in the following circumstances:

• Warning sound (other than Low Battery or Connection Lost)

• If the drone exhibits unsafe behaviour (for example, drifting toward a wall)

• If stable in flight, look to Emesent Commander to determine if an obstacle is within the Shield or if the Shield has been set correctly.

• If a smart failsafe is triggered during flight, assess the failsafe and allow it to complete the recovery action.

Stay vigilant and ready to respond while flying

During the flight, monitor the drone battery level in Emesent Commander and on the drone status LED.

Monitor

Best results are achieved by closing the loop for each scan. Try to ensure loop closure as far as practicable.

Loop closed

At the completion of the flight, recover the aircraft to a safe landing position or the home position.

Fly the robot to the landing position or auto return to home (tap the Return to Home mission button). The drone may pause for a short period (approximately 10 seconds) before return to home begins.

Piloting skill

Tap the Land button then tap Confirm when prompted.

It is strongly recommended to use this method of landing as it also automatically disarms the drone once it has landed.

Landing environment considered. Status Bar shows Running — Landing.

Landing can also be performed in Hovermap mode or DJI mode:

Hovermap mode: Recommended in a GPS-denied environment. Disable the Shield and immediately throttle down (with no other stick input) to land the drone. Then, continue to hold the throttle down until the drone disarms.

DJI mode: Switch to S or A (M210), P or A (M600), A or T (M300/350), land the drone, then hold the throttle (only) down until the motors are off.

In a GPS-denied environment all switch positions except Hovermap will result in DJI ATTI mode.

The Hovermap does not support disarming the drone in this way. If absolutely necessary, landing the drone using the remote control should only be done by experienced pilots. It is important to remember that, with the drone still armed and Shield disabled, any stick inputs will be obeyed. Therefore, the only necessary action is to hold the throttle down until the drone disarms.

Landing environment considered

When finished scanning and the motors are off, press Stop Scan in Emesent Commander to end the scan.

After the LiDAR sensor has stopped rotating, insert a USB flash drive into Hovermap to download the scan data.

The status LED will change to a wiping blue bar while the data is transferring to the USB drive.

All data captured since the last transfer will be copied to the USB drive.

Wiping blue bar

When the transfer is complete, the status LED will switch to a slow pulsing blue. Remove the USB drive.

Slow pulsing blue

To shut down Hovermap, turn off the drone or disconnect the Hovermap power cable once the status LED shows a slow pulsing blue.