A medical probe kit and method of treating abnormal tissue within a patient is provided. The system includes notifying means, training means, channel matrix estimation means, beamforming information feedback means, transmission weight matrix setting means, and beamforming means. The bottom plate slidably engages the inner surface of the inner chamber. The high voltage side is supplied, via the third diode, with a low side drive voltage that is as an output voltage of a low side charge pump, and functions to output high side drive voltage to a high side pre-driver circuit via the second diode. This control law provides excellent handling qualities during approach and landing, with the benefit of not needing or using radio altimeter information in safety-critical applications.