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©
2023 DJI All Rights Reserved.
53
AGRAS T40/T20 P
Unmanned Aircraft Flight Manual
Failsafe RTH
The aircraft will RTH or hover if the remote controller signal is lost. The action can be set in the
app. Failsafe RTH will only be available if RTH is set.
Failsafe RTH is automatically activated if the remote controller signal is lost for more than three seconds,
provided that the home point has been successfully recorded, the GNSS signal is strong
, and the
RTK module is able to measure the heading of the aircraft. The RTH continues if the remote controller
signal is recovered, and users can control the aircraft using the remote controller. Press the RTH button
once to cancel RTH and regain control of the aircraft.
RTH Illustration
If RTH is triggered during Route operations, the aircraft can plan a flight path for RTH to
circumvent the obstacles added when planning a eld.
RTH Safety Notices
3 m
H
The aircraft will not enter RTH if RTH is triggered when the aircraft is within a 3m radius of
the Home Point, but the remote controller will still sound an alert. Exit RTH to cancel the
alert.
The aircraft cannot return to the home point when the GNSS signal is weak (the GNSS
icon displays red) or is unavailable.
Obstacle Avoidance During RTH
In an optimal operating environment, obstacle avoidance during RTH is available. If there is an obstacle
within 20 m of the aircraft, the aircraft decelerates and then stops and hovers. The aircraft will exit the
RTH procedure and wait for further commands.
Landing Protection Function
Landing Protection activates during auto landing. The procedure is as follows:
1. After arriving at the home point, the aircraft descends to a position 3 m above the ground and hovers.
2. Control the pitch and roll sticks to adjust the aircraft position and make sure the ground is suitable for
landing.
1. Record Home Point (HP)
4. RTH initiated if signal lost > 3 s
5. RTH initiated (height 15 m (customizable))
3. Remote controller signal lost 2. Conrm Home Point
6. Lands after hovering for 5 s
Height over HP > 15 m
Elevate to 15 m
Height over HP ≤ 15 m
15 m
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