How fast can you fly, at what height, before the pavement data stops being usable.
STILL IN DEVELOPMENT — figures provisionalAt the current altitude. The binding row is the one that decides your mission.
| Constraint | Max speed | Headroom | Status |
|---|
Ground sample distance. GSD = p_eff · H / f. This planner does not use the
nominal 1.22 µm photodiode pitch, because two effects mean the camera cannot deliver detail at that grid:
1 — Diffraction. The lens is a fixed f/1.9. The Airy disc is
2.44·λ·N = 2.55 µm, slightly more than two pixel pitches. The diffraction-limited
aperture for a 1.22 µm pixel is f/1.82, so this camera is already past its diffraction limit wide open and
cannot stop down. 2 — Quad-Bayer. 8192×6144 stills, an exactly half-linear 4000×3000 mode
and RAW-at-half-linear on the sibling 4T are the signature of a 2×2 same-colour CFA; remosaiced output sits
below nominal Nyquist. The two are cascaded in quadrature:
p_eff = √((q·p)² + (1.03·λ·N)²), giving ≈1.57× coarser GSD than the spec sheet implies.
Exposure. Fixed aperture, so shutter and ISO are the only controls:
t = N² / 2^(EV₁₀₀ + log₂(ISO/100)), floored at the camera's 1/10000 s.
Motion blur. blur = v_ground · t, then divided by GSD for pixels. A gust
margin of 1.15× is applied to commanded speed.
Photo cadence. v ≤ footprint_along · (1 − front overlap) / interval.
Specs: Autel component spec pages for the EVO Max 4N wide camera and aircraft, plus the EVO Max series user manual. Blur criteria: Hammer Missions and Hann (NTNU) for the 1-px rule, Lelégard et al. 2012 for 2 px, Sieberth et al. 2015 for the counter-argument, Pix4D for shutter practice. Crack-pixel rungs: Lee et al., Sensors 26(3):1031, 2026.