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RPIC Station AE Manual
3. Normal Procedures
Cruise Subsections
Delivery

Delivery

Andi Lamprecht Andi Lamprecht ·· 8 min read· Draft

Descent

Upon arrival at the delivery location, the aircraft descends to the programmed mission’s delivery altitude. Deliveries of up to 125 feet AGL are supported by the aircraft. Once the aircraft has reached the delivery altitude, the Aircraft Mission Status transitions to “Delivering” within the Uncrew GCS. This indicates that the aircraft is ready for descent and delivery. The following actions should be performed by the RPIC at this time.

  1. HubOps MCA: If applicable, select “OUTBOUND LEG COMPLETED”.

  2. Video Feed Check: Inspect the ASMIRA Web Client on the RPIC Control Station. Confirm that within the video display window that no obstacles are present, such as persons, cars, animals, trees, pools, or buildings. No such obstacle should be within 16 feet, or approximately 1 car length, around the exact delivery location.

CAUTION: If an obstacle impedes the descent path, command Return to Home via Uncrew to override the descent.
WARNING: Maintain a 16-foot (radius) delivery area standoff to prevent package damage or injury from obstacles.
  1. Voltage Check: Inspect the voltage and energy storage device remaining capacity percentage on the Mission Console screen. The remaining capacity percentage should exceed 50% and the current voltage should be equal to or exceed 43.2V. If either of these conditions are not satisfied, the abort the delivery and command Return to home.

Sufficient energy storage ensures enough power for delivery, inbound flight, and landing under normal conditions.

WARNING: Performing the delivery with insufficient energy can cause a Low Energy Emergency, potentially damaging the drone or resulting in significant harm to people, property, or critical infrastructure.
  1. Altitude Check: Inspect the Rangefinder (LiDAR) altitude against the programmed delivery altitude on the Mission Console Telemetry Bar. If the delivery altitude is below 80 feet, above 125 feet, or if there's a discrepancy, the RPIC shall adjust the altitude at the start of the Delivery normal procedure.
WARNING: Maintain flight plan altitude during delivery to prevent delivery failure, package detachment, injury, or property damage.

Delivery

a. Altitude Change: If it is necessary to increase or decrease the altitude to match the delivery altitude set for the flight, perform the following steps:

a.  In AMC GCS, select the Altitude function on the Fly view screen.

b.  Inspect and make note of the current Rangefinder (LiDAR) altitude (AGL).

c.  Adjust the altitude slider on the right side of the Fly View screen to the desired altitude.
CAUTION: The altitude set via the AMC GCS altitude slider is relative to the takeoff elevation, not AGL. Neglecting the aircraft's current altitude before using the slider can impair situational awareness, potentially leading to longer time on station or reduced mission effectiveness.

  1. Lateral Navigation: Once at the delivery point, the “Fly To” becomes available within the Start Delivery popup. If lateral movement is necessary, select the “Adjust” button and select a point on the map for the desired delivery area. Once the point is selected and executed, the aircraft will attempt to change heading towards the point and move laterally over the desired area.

  2. Verify Position and Announce On Station: Confirm the aircraft's position aligns with the delivery flight plan, unless position adjustments were made. Announce "Aircraft on station" to the flight crew.

Confirmation that the aircraft is in the correct location can be done by inspecting the location of the aircraft on the satellite map within the Mission Console screen.

  1. Warnings/Cautions Checks: Inspect AMC GCS with the RPIC Tablet for MAVLink Messages to confirm no warnings or cautions are displayed.

  2. ASMIRA Check: Confirm again on the video feed displayed within the ASMIRA web client that the delivery is still free from obstacles or obstructions. The delivery light should automatically be on and illuminating the delivery area. If there are no obstructions or obstacles, announce “clear for delivery” on voice communicators to crew members.

CAUTION: If delivery area unclear, command Return to Home via Uncrew to override the descent.
  1. Start Delivery: Select the “Start Delivery” button within the popup window on the Mission Console display. Announce “Start delivery” on the voice communication device after selecting the “Start Delivery” button. The winch subsystem immediately begins to lower the package towards the ground.
CAUTION: If the LiDAR rangefinder sensor is not actively reading prior to starting the delivery, proceed directly to the Climb checklist. The deliver command will not send without an active LiDAR reading.
CAUTION: Do not attempt lateral navigation while the winch is not in the locked state.

  1. Monitor Delivery: Continuously inspect the video feed unless directly observing the aircraft and delivery, prioritizing visual monitoring in that case. Closely monitor the delivery area for intruders and confirm package release.

  2. Winch Status Locked: Monitor the Winch status within the Mission Console screen to identify when the winch status indicates “Locked”.

When the winch status is indicated as Locked, this signals that the delivery operation is completed and that the winch subsystem (and therefore the aircraft system as a whole) is ready for proceeding with the planned mission. Lateral flight is permitted once the winch is in the locked state.

  1. Delivery Complete: Select Delivered on the popup window within the Mission Console screen to confirm that the package was delivered. Once marked as Delivered, the delivery light automatically turns off. At this time, the RPIC is to announce “Delivery complete” to crew members via voice communications.

  2. HubOps MCA: If applicable, select “PACKAGE HAS BEEN DELIVERED”. If the package was unable to be delivered, select “FAILED”.

  3. Aircraft Mission Status: Confirm that the Aircraft Mission Status is Flying by checking the left side of the Mission Console screen. The Aircraft Mission Status color designation indicator will be green for this state.

In-Flight Simulated Delivery

The RPIC Control Station In-Flight Simulated Delivery normal procedure simulates all flight phases of a delivery mission except for the actual delivery command selection. This is used for training or maintaining currency. After descent and maneuvering (if needed), this procedure is performed when skipping the actual delivery.

a. Altitude Change: If it is necessary to increase or decrease the altitude to match the delivery altitude set for the flight, the following steps are to be performed:

a.  In AMC GCS, select the Altitude function on the Fly view screen.

b.  Inspect and make note of the current Rangefinder (LiDAR) altitude (AGL).

c.  Adjust the altitude slider on the right side of the Fly View screen to the desired altitude.
CAUTION: The altitude set via the AMC GCS altitude slider is relative to the takeoff elevation, not AGL. Neglecting the aircraft's current altitude before using the slider can impair situational awareness, potentially leading to longer time on station or reduced mission effectiveness.

  1. Lateral Navigation: Once at the delivery point, the “Fly To” will become available within the Start Delivery popup. If lateral movement is necessary, select the “Adjust” button and select a point on the map for the desired delivery area. Once the point is selected and executed, the aircraft will attempt to change heading towards the point and will move laterally over the desired area.

  2. Verify Position and Announce On Station: Confirm the aircraft's position aligns with the delivery flight plan, unless position adjustments were made. Announce "Aircraft on station" to the flight crew.

Confirmation that the aircraft is in the correct location can be done by inspecting the location of the aircraft on the satellite map within the Mission Console screen.

  1. Warnings/Cautions Checks: Inspect AMC GCS with the RPIC Tablet for MAVLink Messages to confirm no warnings or cautions are displayed.

  2. ASMIRA Check: Confirm again on the video feed displayed within the ASMIRA web client that the delivery is still free from obstacles or obstructions. The delivery light should automatically be on and illuminating the delivery area. If there are no obstructions or obstacles, announce “clear for delivery” on voice communicators to crew members.

  3. Mission Abort: On the Uncrew GCS Mission Console screen, select the “Abort” button in the “Start Delivery” popup window. The package will not have been delivered, but to mimic actual Delivery normal procedure steps this step is required. At this time, the RPIC is to announce “In-Flight Simulated Delivery complete” to crew members on voice communications.

CAUTION: Do not select the “Start Delivery” button. Doing so will command the winch to release the grasper with no external load attached.

  1. Winch Status Locked: When the winch status is indicated as Locked, this signals that the delivery operation is completed and that the winch subsystem (and therefore the aircraft system as a whole) is ready for proceeding with the planned mission. Lateral flight is permitted once the winch is in the locked state.

  2. Simulated Delivery Complete: Select the “Return to Home” button on the top of the Mission Console screen to confirm that the package was delivered (simulated). At this time, the RPIC is to announce “Delivery complete” to the flight crew.

  3. HubOps MCA: If applicable, select “PACKAGE HAS BEEN DELIVERED”. If the package was unable to be delivered, select “FAILED”.

  4. Aircraft Mission Status: Confirm that the Aircraft Mission Status is Contingency by checking the left side of the Mission Console screen. The Aircraft Mission Status color designation indicator will be yellow for this state.

Climb

The aircraft will automatically begin to climb in order to execute the uploaded flight plan once the delivery (or in-flight simulated delivery) is performed. During this time, the RPIC should monitor altitude data to confirm that the aircraft ascends to the defined desired altitude. Furthermore, the Aircraft Mission Status is to be confirmed as Flying (or Contingency if executing the in-flight simulated delivery). The aircraft will transition to the cruise flight phase for the inbound flight leg when lateral navigation begins after ascending. The RPIC should perform the RPIC Control Station normal procedure during the inbound flight leg.

  1. Cruise Altitude: Confirm that the aircraft ascends and then transitions to the cruise flight phase at the defined desired altitude.
CAUTION: If the aircraft does not begin ascent, use AMC Click to Fly.
  1. Aircraft Mission Status: Monitor the Aircraft Mission Status on the Mission Console screen to confirm it is “Flying” or “Contingency”(refer to Figure 1-103 for details). The color indicator associated with this Aircraft Mission Status is green(Flying) or yellow(Contingency).
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