QualityMax · Embedded & Robotics

Drone telemetry over time

Live autopilot firmware (PX4 & ArduPilot) in simulation, driven over MAVLink. Each curve is real recorded telemetry sampled at 4 Hz through the run; numbered markers are the phase transitions the scenario asserts on.

altitude (m) distance from home (m)

↪ hover (or tap) anywhere on a chart to read the exact telemetry at that moment.

Nominal mission

PASS · 5 / 5
016324965metres0s15s31s46s62s77s1234567
1ARM · 0s2Takeoff · 0s3At altitude · 12s4Fly waypoint 60 m · 12s5Waypoint reached · 25s6RTL · 25s7Landed · 74s

Geofence failsafe

PASS · 7 / 7
021426485metres0s23s46s69s92s115s12345678910
1ARM · 0s2Takeoff · 0s3At altitude · 13s4Control: command 80 m (no fence) · 13s5Free flight reached ~80 m · 30s6Back home · 48s7Fence armed: command 80 m -> blocked · 48s8Contained near home · 70s9Fence armed around drone (60 m out) -> breach · 84s10Auto-Return home · 115s

Mission profile

PASS · 7 / 7
0285582110metres0s11s22s32s43s54s12345678910
1ARM · 1s2Takeoff · 1s3At altitude · 10s4Run to ingress turn · 10s5ingress turn reached · 18s6Run to target · 18s7target reached · 27s8Terminal hold · 31s9GPS JAMMED at target · 31s10Failsafe: LAND · 53s

EW: GPS jamming

PASS · 6 / 6
012253850metres0s8s17s25s34s42s1234567
1ARM · 1s2Takeoff · 1s3At altitude · 9s4Fly to target 40 m (GPS on) · 10s5Target reached · 16s6GPS JAMMED · 16s7Failsafe: LAND · 41s

EW: flow hold

PASS · 5 / 5
0481115metres0s13s26s39s52s65s123456
1ARM · 21s2Takeoff · 21s3At altitude · 29s4Switch EKF -> optical flow · 33s5GPS JAMMED · 38s6EKF failsafe LAND after 9s · 60s
PX4 / ArduPilot SITL · MAVLink · MAVSDK 3.15 — no physical hardware. Nominal & geofence run on PX4; the two EW runs are real ArduPilot SITL (verified in E2B). The geofence run shows distance staying flat near zero even after a 120 m command; the EW runs show the altitude dropping into a GPS-loss LAND, and the optical-flow run holding altitude far longer before it lands.