Expanding Square

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Expanding square tool creates an area for search based on the search radius, selected camera's profile and flight height (AGL). A rectangle spiral-like flight trajectory that covers the specified area around the location will be calculated, having no gaps of the camera’s footprint.
Search spacing derives from the selected camera's horizontal FOV and the flight height. (see parameters of the camera).

Note: Distance from location to the outer segment may exceed search radius to ensure that the search area is completely covered.



Mission editor



Altitude AGL - altitude above ground.
Flight speed - flight speed of the drone for a segment.
Turn type – the way how vehicle will pass segments. Turn type can be selected from the list of available turn types for particular vehicle profile.
Camera a payload assigned to a vehicle profile. If multiple cameras assigned to vehicle it is enabled to select which camera will be used.
AGL Tolerance (m) - allows to fly straight trajectories over slightly waved landscape, by specifying how precisely the UAV should follow required altitude above the ground. To maintain a specified height additional waypoints will be added if difference of height is larger than AGL tolerance. The smaller AGL tolerance value, the more amount of waypoints will be generated. If AGL tolerance is set to 0 (zero) UAV’s altitude will be constant throughout the route, but a lot of additional waypoints will be added.
Search radius the radius that should be covered. Distance from a search center to the outer segment that should be covered by the payload's footprint.
Direction angle to change the direction of the main scanning progress. By default, the algorithm calculates a route in a bounded polygon so that the main course of the scan is performed in the direction of "South-North".
Side overlap (%) the ratio of the overlap into neighboring frames (placed in neighboring rows). Value is set in the range from 1% to 90%.
Avoid obstacles – a flag to be set if buildings have to be taken into account when planning the path. Do not uncheck without specific need to do so.
Parameters for execution of actions:

  • Every point actions will be added for all waypoints;
  • At start the algorithm will add action only for the first waypoint;
  • No action at last point will remove action of the last waypoint.