## 4 System Testing and Performance
### System Deployment in the Real Scenario
In a more specific manner, and considering the information available both in Figure 10 and the GitHub repository of [37], the following knowledge about the mission could be inferred: 1. UAV trajectory: while there were several tests carried out with the UAV flying different paths, there are several concrete aspects that should be mentioned about the flight missions that were carried out: the first flight took place from coordinates 40.4307993 degrees latitude and \(-\)3.656102 degrees longitude, hereinafter represented as (40.4307993, \(-\)3.656102)-, to (40.4640321, \(-\)3.4387723). Another was carried out from (40.4307993, \(-\)3.656102) to (40.4629463, \(-\)3.4404305) and a third took place from (40.4298989, \(-\)3.6573602) to (40.4522076, \(-\)3.4264832). Two more flights (with their information available in [37]) were carried out with similar positioning, which, in the end, provided information comparable to the previous three. Rather than using fully autonomous flight near a populated area, the latter flights were carried out by having a qualified drone pilot executing all of the manoeuvres, so the UAV trajectory was influenced by the pilot-controlled movements and there were no uniform shapes during the flight that were executed. To avoid any kind of legal issue, permission was requested to perform those flights. 2. UAV distance, height and speed while flying: there are some other pieces of information that can be inferred with regards to the UAV flight performance. Considering the coordinates previously provided, during the first flight, the UAV moved from two points separated by 18.78 kilometres, whereas, in the second and third flights, the starting and finishing points were separated by 18.61 and 19.71 kilometres, respectively. Height is visible in the field marked as \"alt\" in Figure 10, and it fluctuates between 640.7 and 718.7 m. As mentioned before, the existing ground elevation must be considered. For example, for terrestrial coordinates (40.4307993, \(-\)3.656102), it can be claimed that, due to the topographical characteristics of the Earth at that specific point, the altitude is 674 m. Since the flight altitude was registered as 718.7 m, the UAV was 718.7 \(-\) 674 = 44.7 m above ground. The finishing point for the first flight was 588 m. As for the second flight, the starting point was 665 m high and the last had an altitude of 558.19 m. The starting point of the third flight was also 665 m high and the last was located at an altitude of 569 m.  
As far as the speed of the flight is concerned, it has already been shown how the parameter \"speed\" shows the speed of flight in metres per second every time a measurement was taken. Data collected from the MDAS showed that there were significant variations in speed during the flights taken; this is because speed is measured as a scalar magnitude (the speed module is given as a figure rather than the speed in every axis from a three-dimensional space) instead of a vectorial one. This also results in speed figures that might be significantly higher in absolute magnitudes than what would be obtained if speed was displayed in vectorial magnitudes, which results in drone speed being the least accurate parameter collected, even with some outlier values that are not physically possible. Nevertheless, the main purpose of the system presented was to provide a significantly faster way to collect data, rather than providing exact information on UAV flight. Figure 10 shows speed values ranging from staying still (0 m/s) to 4.1 m/s. As in previous cases, full information and details can be seen in [37]. 3. Energy consumption of the UAV: as described before, a MaxPRO 2650 battery has been used to power the drone; it provides 11.1 Volts and a current of 2650 mAh. Considering the features related to the rotors (the most energy consuming element of the drone) and the other systems used in the UAV, a calculator was used to be aware of how long a flight could be and what energy and electricity consumption figures could be expected [38].