3.1.2.2) Existing Plan Files

PF1: Default Plan File

The default plan file is a simple trip up and down the main dirt road at our field at an altitude of 25m, with several intermediate waypoints. Both the UAVs and UGVs should be able to traverse this plan file at anytime during the year.

PF2: West Field Zig-Zag Plan Files

The West Field Plan Files have been designed to cover a large area of our flying field. We have five versions of this file, at five different altitudes: 30m, 50m, 70m, 90m, and 110m. Note that we do not have yet permission to fly over 120m (per FAA Part 107 rules), and unless specifically requested, by default the maximum UAV altitudes in AERPAW are limited to 100m.

The UGV will not be able to complete this plan file (as it crosses several UGV no-go zones)

PF3: Lake Wheeler 1,2,3

This is a zig-zag plan file that visits the first three towers (LW1, LW2, and LW3) around our main flying field. The altitude is constant at 30m. Speed is constant at 10m/s. Total flight time is close to 17 minutes. Good pattern for channel sounding, throughput measurements, and handover tests between portable node and the three fixed nodes.

PF4: Lake Wheeler 1 through 5

This long-distance plan file visits all five of our towers at Lake Wheeler. This will require at least two visual observers so please only use this plan file if you need to visit all five towers. The altitude during this flight is maintained constant at 60m above take-off location. Speed is also constant between waypoints at 10m/s. Total flight time is close to 16 minutes.

PF5: Around the North-West Field

This plan file has been designed by Aloizio Pereira da Silva for an experiment involving a rover going around the North-West field at the Lake Wheeler site.

PF6: Ericsson experiments sample plan file

This plan file (MidpinesLine_W_NW_SW_5mps_1278m_new.plan) is used for Ericsson sample experiments in Section 4.1.6.

30m altitude, 5 m/s speed, 1278 m distance, zigzag flight path

PF7: Ericsson experiments zigzag plan files

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