Test vocabulary

The terms the tests are written in: the states the system can be in, the things that can happen, and the shorthand for a few of them together. The docs word each one with its Say:, Set: and Shows:.

The simulator

States

State	Can be	To change it
the opponents	in hand · on the ground · launching · flying · down
the lap count	a number from 0 to 5
the cut count	a number from 0 to 2
the chaser	you · an opponent
the throttle	a number from 0 to 100 %	Set the throttle to … with Shift, or with the number keys.
the pitch stick	forward · centred · back	Hold the pitch stick ….
the roll stick	left · centred · right
the wings	level · banked
the flight controller	fitted · missing
the flight mode	MANUAL · ANGLE · ACRO	Press M on the keyboard until the flight mode is ….
the rates	low · high	Press L for … rates.
differential thrust	on · off	Press X to turn differential thrust ….
the view	line of sight · chase · FPV	Press C until the view is ….
auto-zoom	on · off	Press Z to turn auto-zoom ….
the help screen	shown · hidden
the sim	running · paused
the battery	a number from 0 to 100 %
the game	free flight · a race · tag
the game clock	off · waiting for takeoff · counting down · running · stopped

Actions

Action	What to do
the pilot starts a race	Press G.
the pilot starts a game of tag	Press T.
the pilot ends the game	Press G again to stop a race, or T again to stop a game of tag.
the countdown ends	Nothing: it happens by itself.
the pilot flies a lap	Fly round the outside of pylon 1, pylon 2 and pylon 3. Then fly across the start line.
the pilot cuts a pylon	Turn inside the next pylon.
the pilot tags an opponent	Fly at an opponent until your plane touches it.
the chaser tags the plane	Nothing: it happens by itself.
the pilot leaves the arena	Fly out past the edge of the arena.
the clock runs out	Nothing: it happens by itself.
the pilot throws the plane	Press Space to throw the plane.
the pilot resets the plane	Press R.
the pilot changes flight mode	Press M on the keyboard.
the pilot changes rates	Press L.
the pilot toggles differential thrust	Press X.
the pilot changes the view	Press C.
the pilot toggles auto-zoom	Press Z.
the pilot toggles the help	Press H.
the pilot closes the help	Press Esc.
the pilot toggles pause	Press P.
the pilot fits a fresh battery	Press V.

Shorthand

Phrase	Means
the pilot flies the race	Fly five laps of the course. Keep outside the pylons. (the pilot flies a lap, then the pilot flies a lap, then the pilot flies a lap, then the pilot flies a lap, then the pilot flies a lap)
the sim has just started	Start the sim with the T1-S Ranger. It opens at the pilot box with the plain T1-S, which has no flight controller. The plane is in your hand, the throttle is closed and the flight mode is MANUAL. (the flight controller is missing, the plane is in hand, the throttle is 0 %, the pitch stick is centred, the roll stick is centred, the wings are level, the flight mode is MANUAL, the rates are high, differential thrust is on, the view is line of sight, auto-zoom is on, the help screen is hidden, the sim is running, the battery is at least 99 %, the game is free flight and the game clock is off)
the pilot throws the plane with the throttle	Press 4 to set the throttle to 80 %. (the throttle is 80 %)
the pilot closes the throttle	Press 0 to close the throttle. (the throttle is 0 %)
the pilot throws the plane nose-down	Hold W to push the nose down, and at the same time press 5 for full throttle. (the throttle is 100 % and the pitch stick is forward)
the pilot lets go and closes the throttle	Release W. Then press 0 to close the throttle. (the throttle is 0 % and the pitch stick is centred)
the pilot rolls the plane to the left	Hold A to roll the plane to the left. (the roll stick is left)
the pilot releases the roll stick	Release A. (the roll stick is centred)

Ground control station

States

State	Can be	To change it
the link	connected · lost
the vehicle	disarmed · armed
the autopilot mode	MANUAL · FBWA · FBWB · CRUISE · AUTO · RTL · LOITER · CIRCLE · GUIDED · TAKEOFF · QSTABILIZE · QHOVER · QLOITER · QLAND · QRTL	Press … on the vehicle command screen.
the map tool	pan · PLAN · GOTO
the plan	a number from 0 to 650 items
the plan altitude	a number from 10 to 300 m	Set the plan altitude to … with ALT- and ALT+.
the last plan item	none · TAKEOFF · WAYPOINT · LOITER_UNLIM · LOITER_TURNS · LAND · RTL	Change the last item's command to ….
the takeoff	planned · not planned
the newest waypoint	at the plan altitude · at another altitude
the vehicle mission	empty · up to date · out of date
the home position	set · not set
the waypoints	unchecked · clear of the terrain · too low somewhere
the mission file	missing · up to date · out of date
the measured distance	hidden · shown
the vehicle's current item	a number from 0 to 650
the radio	calibrated · not calibrated
the throttle stick	low · middle · high	Move the throttle stick to the … position: all the way down is low, the middle is middle, and three quarters up is high.
the arm switch	off · on	Put the arm switch …: SE pressed in is on, and SE out is off (with a toggle fitted in place of the button, up is on and down is off).
the mode switch	QHOVER · QLOITER · FBWA · CRUISE · AUTO · QRTL	Press the button for … on the front of the radio: button 1 is QHOVER, 2 is QLOITER, 3 is FBWA, 4 is CRUISE, 5 is AUTO and 6 is QRTL.
the aileron stick	left · centred · right	Move the aileron stick …: all the way left, in the middle, or all the way right.
the VTOL's wings	level · banked
the last landing	soft · hard
the radio line	USB · serial
the airframe	conventional · VTOL
the flight	grounded · hovering · in transition · cruising
the height above home	a number from 0 to 300 m
the battery current	a number from 0 to 100 A
the battery voltage	a number from 0 to 30 V

Actions

Action	What to do
the operator toggles the planning tool	Press PLAN.
the operator toggles the fly-to tool	Press GOTO.
the operator clicks the map	Click the map.
the operator right-clicks the map	Right-click the map.
the operator raises the plan altitude	Press ALT+.
the operator lowers the plan altitude	Press ALT-.
the operator adds a takeoff	Press +TKOF.
the operator adds a return home	Press +RTL.
the operator clears the plan	Press CLEAR.
the operator uploads the plan	Press UPLOAD.
the operator downloads the vehicle's mission	Press DOWNLOAD.
the operator edits the vehicle's mission	Press EDIT.
the operator restarts the mission	Press WP1.
the operator arms the vehicle	Press ARM. Then press CONFIRM ARM in three seconds or less.
the operator disarms the vehicle	Press DISARM.
the operator switches to AUTO	Press AUTO.
the operator switches to AUTO anyway	Press AUTO. The button shows AUTO: NO MISSION? for four seconds. In that time, press it again.
the operator saves the plan to a file	Save the plan to a file.
the operator loads the plan from the file	Load the plan from the file.
the operator checks the heights against the terrain	Check the heights against the terrain.
the operator draws a survey grid	Draw a survey grid.
the operator measures between two points	Measure between two points.
the pilot throws the plane in the sim	Click the sim window. Then press Space to throw the plane.
the plane reaches a waypoint	Nothing: it happens by itself.
the plane reaches the last item	Nothing: it happens by itself.
the pilot calibrates the radio	Press F2 in the sim window, and follow the prompts on the screen. Do each step in order: put the sticks in the middle with the throttle all the way down, and press Enter. Push the aileron stick right, the elevator stick up and the rudder stick right, one at a time, and hold each one until the prompt changes. Push the throttle stick all the way up. Then the sim asks for buttons for its other functions, one at a time: press Enter to skip all of them, because the arm switch, the mode buttons and the camera knobs are channels, and [[Setting up the TX15]] shows how the sim reads them.
the pilot switches to forward flight	Push the throttle stick all the way up, pull the elevator stick back a little, and press button 3 on the front of the radio. The wing motors tilt forward and the plane speeds up.
the pilot switches back to a hover	Centre the elevator stick, put the throttle stick in the middle, and press button 2 on the front of the radio. The plane slows down and the wing motors tilt up.
the pilot switches to QHOVER	Press button 1 on the front of the radio. The plane stays in the air, and the wind can move it.
the pilot switches to cruise	Press button 4 on the front of the radio, with the throttle stick up. The wing motors tilt forward and the plane flies on its wing.
the pilot sends the plane home	Press button 6 on the front of the radio. The plane flies to home, and lands there.
the operator takes off vertically	Press VTOL TKOF. The plane climbs straight up to the plan altitude.
the operator switches to forward flight	Press CRUISE. The wing motors tilt forward and the plane speeds up.
the operator switches to hover	Press QLOITER. The plane slows down and the wing motors tilt up.
the operator lands vertically	Press QLAND. The plane comes down straight and stops its motors.

Shorthand

Phrase	Means
the plane is flying a three-waypoint mission	Do the steps of [[From plan to flight]], but plan only three waypoints, with no takeoff and no return. (the plan has 3 items, the last plan item is WAYPOINT, the vehicle mission is up to date, the vehicle is armed, the autopilot mode is AUTO, the plane is flying the mission and the vehicle's current item is 1)
the VTOL is hovering over the field	Put the arm switch on, press button 2 and push the throttle stick up. Wait until the plane is 15 m above the field. Keep the throttle stick up. (the vehicle is armed, the autopilot mode is QLOITER, the flight is hovering, the height above home is at least 15 m and the throttle stick is high)
the VTOL is cruising in FBWA	Lift off as above. Push the throttle stick all the way up, pull the elevator stick back a little, and press button 3. The wing motors tilt forward. Wait until the plane flies on its wing. (the vehicle is armed, the autopilot mode is FBWA, the flight is cruising, the height above home is at least 15 m and the throttle stick is high)
the TX15 is on the serial line	Start the station with `--flight-computer`. The simulated TX15 is on the serial line. Put the throttle stick all the way down, SE out and press button 1. (the radio line is serial, the throttle stick is low, the arm switch is off, the mode switch is QHOVER and the TX15 screen arming is disarmed)
the console is connected to a plane on the ground	Install Rust and Docker Desktop. Then run `cd domains/teleoperation/console && cargo run --release -- --station`. The first time, it builds ArduPlane [[SITL]], which takes approximately 15 minutes. After that, it starts in a few seconds. Three windows open: the console, the [[sensor feed]] and the sim. The console connects to the plane. The plane is on the ground and disarmed, in MANUAL, with home set and no plan. Wait until the ARM button shows ARM, not ARM: NOT READY. (the link is connected, the game clock is off, the vehicle is disarmed, the autopilot mode is MANUAL, the map tool is pan, the plan has 0 items, the plan altitude is 40 m, the last plan item is none, the takeoff is not planned, the vehicle mission is empty, the home position is set, the waypoints are unchecked, the mission file is missing, the measured distance is hidden, the plane is on the ground and the vehicle's current item is 0)
the operator plans two waypoints	Click the map at two points over the valley floor near home. (the operator clicks the map, then the operator clicks the map)
the operator plans three waypoints	Click the map at three points over the valley floor near home. (the operator clicks the map, then the operator clicks the map, then the operator clicks the map)
the TX15 is ready	Plug the TX15 in over USB, and choose USB Joystick (HID) when EdgeTX asks. Set the radio up once, as [[Setting up the TX15]] shows: load the model with the six buttons on channel 8, calibrate the sticks in the sim with F2, and copy the channels of the switches from controls.cfg.example. Then put the throttle stick all the way down, SE out and press button 1. (the radio line is USB, the throttle stick is low, the arm switch is off and the mode switch is QHOVER)
the console is connected to a VTOL on the ground	The station flies the T1-S VTOL, the default plane, with its two tilt-rotors and its rear rotor. The console shows the Q modes (QHOVER, QLOITER, QLAND and QRTL) with the other modes. Wait until the ARM button shows ARM, not ARM: NOT READY. (the link is connected, the game clock is off, the vehicle is disarmed, the autopilot mode is MANUAL, the map tool is pan, the plan has 0 items, the plan altitude is 40 m, the last plan item is none, the takeoff is not planned, the vehicle mission is empty, the home position is set, the waypoints are unchecked, the mission file is missing, the measured distance is hidden, the plane is on the ground, the vehicle's current item is 0 and the airframe is VTOL)
the VTOL is hovering	Arm the plane, and press VTOL TKOF. Wait until the plane has climbed to the plan altitude and stopped. (the vehicle is armed, the flight is hovering and the height above home is at least 15 m)

Flying with a flight controller

States

State	Can be	To change it
the autopilot	armed · disarmed

Actions

Action	What to do
the pilot arms the plane	Press B, the arm switch of ArduPilot.
the pilot opens the throttle to climb	Press 4. In the hover modes the middle of the throttle holds the height, and the throttle that you set above it is the climb.

Shorthand

Phrase	Means
the sim has just started with a flight controller	Start the sim with the T1-S VTOL. It opens at the pilot box with the T1-S VTOL, which has a flight controller. The plane is on the ground, the throttle is closed and the flight mode is MANUAL. (the flight controller is fitted, the throttle is 0 %, the pitch stick is centred, the roll stick is centred, the flight mode is MANUAL and the sim is running)

Other aircraft

States

State	Can be	To change it
the other plane	silent · sending Remote ID · sending MAVLink · sending both	Ask the other pilot to be ….
the distance to the other plane	a number from 0 to 8000 m	Ask the other pilot to fly … from your plane.
the map	a number from 0 to 40 other planes
the marker of the other plane	missing · live · stale
the source of the marker	none · Remote ID · MAVLink · Remote ID and MAVLink
the TX15 link	up · lost
your Remote ID	on · off
the crowd	a number from 0 to 40 planes	Ask … more pilots to share their positions on the MAVLink network.
the telemetry of your plane	a number from 0 to 20 position updates per second

Actions

Action	What to do
5 seconds pass	Wait 5 seconds.
10 seconds pass	Wait 10 seconds.
70 seconds pass	Wait one minute and 10 seconds.

Shorthand

Phrase	Means
the station is connected to the TX15	Switch on the TX15 and the plane. Start the station. The map shows your plane, and no other planes. (the TX15 link is up, your Remote ID is on, the other plane is silent, the distance to the other plane is 200 m, the crowd has 0 planes and the map has 0 other planes)

Watching a real plane

States

State	Can be	To change it
the telemetry	flowing · silent	Let the telemetry of the plane be ….
the reported distance north of home	a number from 0 to 2000 m	Fly the plane … north of home.
the reported height	a number from 0 to 500 m	Fly the plane at … above home.
the reported bank	a number from 0 to 90 degrees	Bank the plane … to the right.
the reported heading	north · east · south · west	Turn the plane to fly ….
the plane in the view	missing · shown
the distance north of the pilot box in the view	a number from 0 to 2000 m
the height above the pilot box in the view	a number from 0 to 500 m
the right wing in the view	low · level · high
the heading in the view	north · east · south · west

Actions

Action	What to do
1 second passes	Wait 1 second.

Shorthand

Phrase	Means
the view is listening	Start `sim001_view`. It listens for MAVLink on UDP port 14550. (the plane in the view is missing, the telemetry is silent, the reported distance north of home is 0 m, the reported height is 0 m, the reported bank is 0 degrees and the reported heading is north)

The flight computer

States

State	Can be	To change it
the TX15	connected · not connected	Connect the TX15 to the flight computer, or unplug it.
the TX15 roll stick	a number from -100 to 100 %	Move the roll stick of the TX15 to ….
the TX15 pitch stick	a number from -100 to 100 %	Move the pitch stick of the TX15 to ….
the TX15 throttle stick	a number from 0 to 100 %	Move the throttle stick of the TX15 to ….
the TX15 arm switch	off · on	Put the arm switch of the TX15 ….
the roll channel	a number from 800 to 2200 us
the pitch channel	a number from 800 to 2200 us
the throttle channel	a number from 800 to 2200 us
the arm channel	a number from 800 to 2200 us
the corrupted frames	a number from 0 to 100 %	Let this share of the frames on the serial line have a wrong checksum.
the TX15 screen battery	a number from 0 to 30 V	Let the battery of the plane be at ….
the TX15 screen bank	a number from -90 to 90 degrees	Bank the plane to ….
the TX15 screen airspeed	a number from 0 to 60 m/s	Let the plane fly at ….
the TX15 screen climb	a number from -10 to 10 m/s	Let the plane climb at ….
the TX15 screen satellites	a number from 0 to 30	Let the GPS of the plane have … satellites.
the TX15 screen message	none · PreArm: Throttle (RC3) is not neutral · Mode QHOVER · Failsafe: radio lost	Let ArduPilot say ….
the TX15 uplink quality	a number from 0 to 100 %
the ground station telemetry	silent · flowing	Let ArduPilot send, or not send, its MAVLink telemetry.
the ground station map distance	a number from 0 to 2000 m	Fly the plane this far north of home.
the ground station command	not sent · sent	Send a command to the plane from the ground station.
the autopilot command	not received · received
the ground station telemetry rate	a number from 0 to 10000 bytes per second

Shorthand

Phrase	Means
the TX15 is connected and the plane is at rest	Connect the TX15 to the flight computer with the sticks centred, the throttle stick all the way down and the arm switch off. Start the simulator with --flight-computer PORT. Wait until the screen of the TX15 shows MANUAL and DISARMED. (the TX15 is connected, the TX15 roll stick is 0 %, the TX15 pitch stick is 0 %, the TX15 throttle stick is 0 %, the TX15 arm switch is off, the corrupted frames are 0 %, the TX15 screen mode is MANUAL, the TX15 screen arming is disarmed, the TX15 screen battery is 12 V, the TX15 screen bank is 0 degrees, the TX15 screen airspeed is 0 m/s, the TX15 screen climb is 0 m/s, the TX15 screen satellites is 12, the TX15 screen message is none, the ground station telemetry is silent and the ground station map distance is 0 m)

Phrase

Means

the TX15 is connected and the plane is at rest

Connect the TX15 to the flight computer with the sticks centred, the throttle stick all the way down and the arm switch off. Start the simulator with --flight-computer PORT. Wait until the screen of the TX15 shows MANUAL and DISARMED. (the TX15 is connected, the TX15 roll stick is 0 %, the TX15 pitch stick is 0 %, the TX15 throttle stick is 0 %, the TX15 arm switch is off, the corrupted frames are 0 %, the TX15 screen mode is MANUAL, the TX15 screen arming is disarmed, the TX15 screen battery is 12 V, the TX15 screen bank is 0 degrees, the TX15 screen airspeed is 0 m/s, the TX15 screen climb is 0 m/s, the TX15 screen satellites is 12, the TX15 screen message is none, the ground station telemetry is silent and the ground station map distance is 0 m)

Flying by plan

States

State	Can be	To change it
the chaser Kestrel	far from the others · behind Merlin and ahead of Swift · near Merlin
the plane that Kestrel pursues	none · Merlin · Swift
the plan of Merlin	none · pursue · evade · go to · orbit · band · loiter
the plan of Swift	none · pursue · evade · go to · orbit · band · loiter
the band of Merlin	none · 20 to 30 m · 35 to 45 m · 50 to 58 m
the band of Swift	none · 20 to 30 m · 35 to 45 m · 50 to 58 m
the pursue plans for the planes not it	a number from 0 to 100000
the planes in AGENT mode	a number from 0 to 3
the refused commands	a number from 0 to 100000
the reports of the hand-overs	complete · incomplete
the flight mode of the plane	AGENT · FBWA	Switch the plane to …: type `mode …` in the console.
the reply to the plan	none · accepted · refused for the mode · refused as malformed
the time to live of the plan	a number from 0 to 1000 s
the start	a level pass over the arena centre · a level pass over home · a dive at the ground · a steep climb · a slow climb · a run at the fence
the other aircraft	far away · round the arena · after your plane · across your path
the track of the other aircraft	heard · not heard	Stop the ADSB_VEHICLE messages of the other aircraft: type `silent` in the console.
the separation limit	a number from 0 to 50 m	Set AGENT_SEP to ….
the fence radius	a number from 0 to 2000 m	Set AGENT_FENCE_R to ….
the reported plan	a number from 0 to 65535
the reported primitive	none · pursue · evade · go to · orbit · band · loiter
the reported fallback	none · plan expired · bad input · recovery
the reported interventions	a number from 0 to 1000000
the messages about a recovery	a number from 0 to 1000
the status reports in 10 seconds	a number from 0 to 100
the throttle of the plane	the executor's · the pilot's
the closest approach to the point	a number from 0 to 5000 m
the least distance from the point in the last minute	a number from 0 to 5000 m
the greatest distance from the point in the last minute	a number from 0 to 5000 m
the lowest height in the last minute	a number from 0 to 500 m
the highest height in the last minute	a number from 0 to 500 m
the interventions in the last minute	a number from 0 to 100000
the lowest height of the flight	a number from 0 to 500 m
the highest height of the flight	a number from 0 to 500 m
the farthest distance from the arena centre	a number from 0 to 5000 m
the closest distance to the other aircraft	a number from 0 to 5000 m
the distance to the other aircraft	a number from 0 to 5000 m
the greatest distance from the other aircraft in the last minute	a number from 0 to 5000 m
the airspeed of the plane	a number from 0 to 60 m/s
the closest distance between two planes	a number from 0 to 5000 m

Actions

Action	What to do
the ground control agent decides	Wait for the next decision of the ground control agent.
the planes play a game of tag	Scroll up to the report just above `console ready`.
the ground sends a go-to plan	Type `plan goto 80 10 40 0 600` in the console. This plan tells the plane to fly to the point 80 m north and 10 m east of home, at 40 m.
the ground sends a short go-to plan	Type `plan goto 80 10 40 0 5` in the console. This go-to plan is good for only 5 s.
the ground sends an orbit plan	Type `plan orbit 70 0 45 45 600` in the console. This plan tells the plane to circle the arena centre at 45 m from it, at 45 m.
the ground sends a band plan	Type `plan band 70 0 35 10 600` in the console. This plan tells the plane to stay between 35 m and 45 m over the arena.
the ground sends a loiter plan	Type `plan loiter 0 0 0 0 600` in the console. This plan tells the plane to circle where it is.
the ground sends a pursue plan	Type `plan pursue 0 0 0 0 600 2` in the console. The plane chases Merlin, the aircraft with the id 2.
the ground sends an evade plan	Type `plan evade 0 0 0 0 600 2` in the console. The plane breaks away from Merlin, id 2.
the ground sends a malformed plan	Type `plan 9 80 10 40 0 600` in the console. There is no primitive 9.
the ground sends the plan id again with an orbit	Type `again orbit 70 0 45 45 600` in the console. This sends an orbit plan with the id of the last plan.
the operator watches the status for 10 seconds	Type `watch 10` in the console. The console counts the AG_PLAN messages in the next 10 s of simulated time.
the plane loses its position estimate	Nothing: it happens by itself.
the plane gets its position estimate back	Nothing: it happens by itself.
the plane flies on for 1 second	Type `wait 1` in the console.
the plane flies on for 5 seconds	Type `wait 5` in the console.
the plane flies on for 10 seconds	Type `wait 10` in the console.
the plane flies on for 30 seconds	Type `wait 30` in the console.
the plane flies on for 2 minutes	Type `wait 120` in the console.
the plane flies on for 10 minutes	Type `wait 600` in the console.
three planes fly random plans for 20 minutes	Simulate three planes on random plans for 20 minutes.

Shorthand

Phrase	Means
the agent plane flies in AGENT with no plan	From the top folder of the repository, build the AGENT fork with `AP_DIR=.ardupilot-agent AGENT_EXEC=1 ardupilot/build_native.sh`. Start the runner with `SIM001_BIN=.ardupilot-agent/build/sitl/bin cargo run --release -p cognition_runner -- --agent --console --speedup 10`. Three planes take off and play a game of tag. After about 25 s, the console says `console ready`. Type `reset`. The first plane, Kestrel, flies in AGENT mode with no plan. After each command, the console shows a `status` line. After a plan, it shows an `ack` line first. (the flight mode of the plane is AGENT, the time to live of the plan is 0 s, the reply to the plan is none, the reported plan is 0 and the reported primitive is none)

Phrase

Means

the agent plane flies in AGENT with no plan

From the top folder of the repository, build the AGENT fork with `AP_DIR=.ardupilot-agent AGENT_EXEC=1 ardupilot/build_native.sh`. Start the runner with `SIM001_BIN=.ardupilot-agent/build/sitl/bin cargo run --release -p cognition_runner -- --agent --console --speedup 10`. Three planes take off and play a game of tag. After about 25 s, the console says `console ready`. Type `reset`. The first plane, Kestrel, flies in AGENT mode with no plan. After each command, the console shows a `status` line. After a plan, it shows an `ack` line first. (the flight mode of the plane is AGENT, the time to live of the plan is 0 s, the reply to the plan is none, the reported plan is 0 and the reported primitive is none)

States

State	Can be	To change it
the TX15 screen mode	MANUAL · FBWA · AUTO · RTL · QHOVER · QLOITER · CRUISE · QRTL	Let ArduPilot fly this mode.
the TX15 screen arming	armed · disarmed	Arm or disarm the plane.
the plane	in hand · being carried back · launching · flying · on the ground · crashed · flying the mission · flying home · loitering