In autonomous flight of a fixed-wing UAV, it is important for the UAV to equip with a function to change a flight mode in preparation for a mission change or an emergency. Generally, the change is carried out by Flight Management System (FMS). However, the details of FMS including its algorithm is not well published. Therefore, to realize the function together with the clarification of FMS, we propose a new mission change algorithm which takes into account the flight status and the characteristics of the UAV. The validity of the algorithm was confirmed in flight experiments by using the in-house fixed-wing UAV.

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