Chapter 9: Flight Mission

Flight Mission

Flight Planning

According to the operation experience, the users need to figure the proper parameters that can maximize the outcome. The outcome can be affected by the terrain, weather, temperature, wind speed, humidity, types of plants, chemicals, etc. In some situations, users may need to run some tests before decide the parameters.





Spray amount


controlled by the flow rate of peristaltic pump (L/min), flight speed(m/s), flight height (m), Route interval(m)

Atomized droplet


Control by the rotating speed of spray tray, flow rate of peristaltic pump. Affected by weather temperature, humidity, wind speed, etc.

Flight height


measured by GNSS/RTK

Flight speed


m/s = displacement divided by time. Displacement is measured by GNSS/RTK. Time is measure by the clock in flight control

Route direction


The  heading  direction  is  defined  by  the  UAV head.  The  UAV  head  is  positioned  by  two GNSS/RTK antenna.

Route interval


Spray width

Boundary safety distance


The distance from field boundary

Obstacle safety distance


The distance from obstacle when UAV hovers

Operation area

# of routes

The flight route is divided by several sub-routes. User  can  select  the  specific  sub-routes  for operation.

Follow terrain


The Radar scans downward and measure the height between UAV and ground. Accordingly, the UAV can adjust its height.

Obstacle avoidance


The Radar scans obstacles.

Automatic route optimization for break point continues flight


UAV will automatically customize the flight route according to its location, remaining battery power and payload weight. The purpose is to shorten the flight duration with full payload which will significantly consume the battery.

Main Menu


Spray setting

Spraying amount

Atomized droplet

Route Setting



Entry & Quit Route (Flight Height, Flight Speed)

Operating Route (Fight Height, Flight Speed, Route Direction, Route interval, Boundary Safety Distance, Obstacle Safety Distance)

Advanced setting (Operation area, Follow terrain, Obstacle avoidance, Automatic route optimization for break point continues flight)


Improve flight mission efficiency

There are many ways to improve the flight efficiency,

Firstly, do not place your drone far away from the field.

it’s suggested to shorten the distance of entry and exit route. In this way, the drone can have more battery power in the field.

Secondly, when you have multiple fields, place your drone in the proper position that minimize the entry and exit route distance.


In this example, the drone is close to one field but far away from the others. Not recommended.

Thus, we should place the drone in the center of fields. Recommended.

Thirdly, please avoid signal blocking like trees, bush, mountains, hills, etc.

Place your drone on the position where there is no signal blocking.


Autonomous Flight Mission

Autonomous flight mission allows the UAV to complete the spray or spread task in fully automation. The UAV will use the AI navigation algorithms to compute the optimized routes according to the given field and parameters.


No Process Photo

Drag the UAV to the field


Check the signal strength, RTK status, battery status, the remaining liquid in the tank, the status of ACS2 remote controller.


Go to the spraying setting



set the parameters of spraying amount and atomized droplet


Change the route setting


Start operation




Safety Check. People can stay 10 meters away from the UAV


Wait for self-check finished


Uploading the route

Picture55.pngSafety Awareness:

make sure the ACS2 remote controller is holding in hand during the whole process of operation, in case of that you need to take over the control of the autonomous flight


UAV takes off


The UAV will be firstly heading to the safe point of entry route, then enter the field.


Operation in process


Mission completed. The UAV will turn off the spray immediately and ready to return the takeoff point.



UAV land


Continuous Operation on Multiple fields

Continuous operation on multiple fields allows the UAV to spray or spread on multiple fields in fully automation. The total area limitation for such operation is 13.3 hectares, maximum number of fields is 10.

No. Process Photo
1 Drag the UAV to the first field
2 Drag the UAV to the second field
and repeat with the third and
2 After selecting fields, tap “route
3 On Route Setting interface, you can set the flight height, speed, and other parameters separately for approaching routes (enter and exit) and operation routes.
4 On Approaching Route setting page, you can set the speed, height, tap the entering route, “+” symbols will appear in the middle of each connection routes between the fields to enable you to set guide points for safe flight between fields.
5 You may drag the guide points to move it or add more guide
points by tapping the “+” symbol.
6 On Advanced setting page, you may change the operational sequence among the fields
7 Hold the field tag on the list
below and drag to the place you need to change the sequence. You will see the routes change afterwards. Please set the most reasonable and energy saving sequence.
8 After setting flight routes,
return to the operation
interface by tapping the “<”
symbol on the top left corner, Here you can set the spraying
9 set the parameters of spraying
amount and atomized droplet。Note: The spraying parameters are uniform for all the fields selected, cannot be set separately.
10 Start operation by tapping the
“Start Operation” button. And
follow the instructions
illustrated by previous
“Autonomous Flight Mission”
step 6-14.
11 Safety Awareness:
If the drone returns midway
through the operation, it’s
return route might not bypass
the obstacles mapped. It is
advisable to enable Obstacle
Avoidance Radar, or make sure
there is no obstacle in the
whole flight area that displayed
on the app.



Be aware of that there are non-fly zones that UAV is not allowed to fly.

If users want to fly their UAV in non-fly zones, they can apply for exclusion from XAG technical team.


Areas that are not allowed to fly.