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Aircraft
Aircraft Prole
The T20 uses a dedicated DJI industrial ight controller to provide multiple ight modes and operation
modes for various applications. The omnidirectional digital radar provides terrain following to guide
the aircraft to maintain a constant distance above crops in specic operation modes and is capable
to actively circumvent obstacles in all horizontal directions. Functions such as operation resumption,
system data protection, empty tank warning, low battery level warning, and RTH are also available.
Flight Modes
The aircraft will y in P-mode by default. Users can switch between ight modes by toggling the Flight
Mode switch on the remote controller when A-mode is enabled in the app.
P-mode (Positioning): The aircraft utilizes GNSS or the RTK module for positioning. When the GNSS
signal is strong, the aircraft uses GNSS for positioning. When the RTK module is enabled and the
differential data transmission is strong, it provides centimeter-level positioning. It will revert to A-mode
when the GNSS signal is weak or when the compass experiences interference.
A-mode (Attitude): GNSS is not used for positioning and the aircraft can only maintain altitude using the
barometer. The ight speed in A-mode depends on its surroundings such as the wind speed.
Attitude Mode Warning
In A-mode, the aircraft cannot position itself and is easily affected by its surroundings, which may result
in horizontal shifting. Use the remote controller to position the aircraft.
Maneuvering the aircraft in A-mode can be difcult. Avoid ying in conned spaces or in areas where
the GNSS signal is weak. Otherwise, the aircraft will enter A-mode, leading to potential ight risks. Land
the aircraft in a safe place as soon as possible.
Operation Modes
The T20 provides Route, A-B Route, Manual, and Manual Plus operation modes. Users can use DJI
Agras to switch between A-B Route, Manual, and Manual Plus.
Route Operation Mode
After the operation area and obstacles have been measured and settings have been configured,
DJI Agras uses a built-in intelligent operation planning system to produce a ight route based on the
user’s input. Users can invoke an operation after planning a eld. The aircraft will begin the operation
automatically and follow the planned ight route. Operation resumption, altitude stabilization, obstacle
avoidance, and auto obstacle circumvention of the radar module are available in Route operation mode.
Use the app to adjust the spray amount and ying speed. Route operation mode is recommended for
large spray area.
Field Planning
DJI Agras supports multiple planning methods for various applications.
Walk with RTK
There are two methods to plan the eld by walking with RTK: RTK Dongle and Handheld RTK. Walking
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