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Flight Session Report — Agricultural Spraying

Hexacopter HEXA/X · ArduCopter V4.4.4 · CubeOrangePlus

✓ SAFE FLIGHT — NO ANOMALIES

Doc. No.: FSR/27022026/001

Rev. 0

Date: 27-02-2026

Released: 27-02-2026

1. Flight Identification

Date & Time

27 Feb 2026 · 09:09 AM

Session started 09:09:55

Location

Tamil Nadu, India

13.0963°N, 80.1632°E

Mission Type

Agricultural Spraying

Low-altitude spray run

Aircraft

Hexacopter HEXA/X

6 motors · PWM 1-9, 12-14

Autopilot

ArduCopter V4.4.4

CubeOrangePlus FC

Result

Safe Landing

No crash · No failsafe

2. Key Parameters (from log)

Flight Mode

LOITER

GPS position hold

Max Altitude (AGL)

3.63 m

Avg 2.24 m

GPS Fix

3D Lock

17 satellites · HDOP 0.6

Total Distance

311.8 m

36.4 m from home

Max Groundspeed

3.97 m/s

Avg 1.38 m/s · 14.3 km/h max

Total Airborne

~4.7 min

3 arm events recorded

3. Findings & Observations

Pre-Flight Events

09:09:55INFO ArduCopter V4.4.4 boot complete

09:10:11INFO AvoidProximity toggled — obstacle avoidance verified

09:10:17INFO Rangefinder toggled — ground sensor verified

09:16:21CRITICAL PreArm: Gyros inconsistent (resolved)

09:16:21CRITICAL PreArm: GPS still configuring (resolved)

09:16:21WARN Fence: invalid polygon (only 2 vertices)

09:16:44INFO EKF3 all IMUs locked to GPS — ready

Sprayer (RC6) Activity

09:18:50SPRAY Sprayer ON → Tank Empty (sensor triggered)

09:18:55SPRAY Spray cycle starts (multiple on/off passes)

09:19:22INFO Tank Full (sensor — liquid settled)

09:19:45WARN Tank Empty again — near-empty condition

09:19:46INFO EKF yaw alignment complete (all 3 IMUs)

09:23:36SPRAY Final spray cycle begins

09:24:15SPRAY Sprayer OFF — mission complete

RC Channel Configuration

Channel	Function	Min (µs)	Center (µs)	Max (µs)	Notes
CH1	Roll	1263	1495	1748	Max ±11° bank angle recorded
CH2	Pitch	1184	1495	1820	Max 17° pitch recorded
CH3	Throttle	1045	1470	1733	No runaway throttle detected
CH4	Yaw	1072	1489	1922	Normal heading control
CH5	Mode Switch	1045	—	1945	1945=LOITER (held throughout)
CH6	Sprayer Pump	1045	1495	1945	1045=OFF · 1495=MID · 1945=ON
RC10	Avoid Proximity	LOW	—	HIGH	Toggled during pre-flight check
RC11	Rangefinder	LOW	—	HIGH	Toggled during pre-flight check

4. Flight Replay

FLIGHT REPLAY — 27 FEB 2026 · HEXA/X · AGRICULTURAL SPRAY RUN

FLIGHT PATH TOP-DOWN VIEW · N↑

Altitude AGL

0.00m

Groundspeed

0.00m/s

Climb Rate

0.00m/s

00:00 / 14:29

LEFT STICK

↕ Throttle | ↔ Yaw

RC BUTTON STATES

MODELOITER

SPRAYEROFF

AVOIDOFF

ARMDISARMED

ATTITUDE

RIGHT STICK

↕ Pitch | ↔ Roll

ATTITUDE VALUES

ROLL 0.0°

PITCH 0.0°

YAW 0.0°

RC VALUES

CH1 ROLL 1495

CH2 PTCH 1495

CH3 THR 1495

CH4 YAW 1495

Altitude Profile (AGL, meters) — Full Flight

FLIGHT LOG — scroll to browse all events

5. Recommendations

Configure geofence with a valid polygon (minimum 3 vertices) before every flight to enable boundary protection.
Allow sufficient time after power-on for gyro convergence and GPS lock before attempting to arm.
Monitor liquid level sensor calibration — rapid Tank Empty/Full transitions indicate sensor oscillation at low-tank conditions.
Keep obstacle avoidance (AvoidProximity) enabled during all spray passes near field boundaries.

Conclusion: The flight session on 27 February 2026 was completed successfully with no crashes, failsafes, or loss of control events. The drone performed 3 arm cycles, flew a total GPS track of 311.8 m at a maximum altitude of 3.63 m AGL in LOITER mode throughout, and executed multiple agricultural spray passes with the RC6-controlled pump. Three pre-arm warnings (gyro inconsistency, GPS configuration, fence setup) were flagged by the autopilot and resolved before flight. No anomalies were recorded during any of the active flight phases. The mission is classified as a safe, nominal flight.