DJI Phantom VSM User Guide
Contents
1. On Microsoft Windows C Program Files x86 NUgCSivsm djiNvsm dji conf On GNU Linux etc opt ugcs vsm dji conf On Apple OS X Users user name Library Application Support UGCS configuration vsm dji conf 1 10 1 Common parameters All VSMs share a common set of configuration file parameters described in Common configuration file parameters DJI VSM configuration file prefix is vehicle dji 1 10 2 Serial port configuration Mandatory This is the serial port name which appears when 2 4G datalink USB cable is plugged in At least one serial port definition should be present otherwise VSM will not try to connect to the vehicle e Name vehicle dji serial_port e Description Serial port configuration for more details see Serial port configuration Default DJI port com munication speed is 115200 bps Example vehicle dji serial port l name coml vehicle dji serial port l baud lt 115200 Copyright O 2015 Smart Projects Holdings Ltd 1 11 Common configuration file parameters 7 1 10 3 Waypoint turn type Optional Used to override the turn type for all waypoints in uploaded mission Please see DJI GS manual for detailed explanation of turn types Name vehicle dji turn type override Pssible values stop bank adaptive bank Default stop Example vehicle dji turn_type_override adaptive_bank 1 11 Common configuration file parameters VSM configuration file is a text file specified via2. Smart Projects Holdings Ltd 1 8 General Purpose servo action setup 5 Turn type Support Notes Stop and Turn Yes Aircraft flies to the first fixed point accurately stays at the fixed point and then flies to the next fixed point Bank Turn Yes The route of aircraft is calculated with turning speed and turning angle The aircraft would fly from one point to another point without stopping Adaptive Bank Turn Yes It is almost the same performance with Bank Turn mode But the flight routine will be more accurately detailed with a planned flight routine in this mode You can find more information about turning mode and supporting autopilots on the site http wiki dji com 1 8 General Purpose servo action setup DJI A2 and Wookong autopilots support general purpose servo action It can be used to trigger camera For that you will need to e have a device to trigger camera via PWM signal For example http copter ardupilot com wiki common pixhawk auto camera trigger without chdk 22 IR trigger device connect it to general purpose servo output on autopilot A2 output F2 Wookong output F1 Consult DJI autopilot manual for more details on how to use GP servo outputs e configure the servo action in configuration file Add the vehicle dji trigger action parameter to vsm dji conf see Configuring trigger action parameters in vsm dji conf below create a mission with
3. command line argument config of the VSM application Example config etc opt ugcs vsm ardupilot conf Each configuration parameter is defined as a line in the configuration file with the following structure namel name2 nameX value where name1 name2 nameX are arbitrary names separated by dots to divide a variable into logical blocks and a value which can be a number value or a text string depending on the context See below the description about common VSM configuration parameters 1 11 1 UgCS server configuration 1 11 1 1 Listening address Mandatory Name ucs local listening address IP address Description Local TCP address to listen for incoming connections from UgCS server Specify 0 0 0 0 to listen from all local addresses Example ucs local_listening_address 0 0 0 0 1 11 1 2 Listening port Mandatory Name ucs local listening port port number Description Local TCP port to listen for incoming connections from UgCS server Default is 5556 e Example ucs local listening port 5556 1 11 2 Logging configuration 1 11 2 1 Level Optional e Name log level error warning info debug Copyright O 2015 Smart Projects Holdings Ltd 8 CONTENTS Description Logging level e Default info Example log level debug 1 11 2 2 File path Optional Name log file_path path to a file Description Absolute or relative to the current directory path to a logg
4. DJI Phantom VSM User Guide UgCS 2 3 491 GO usos ciji Copyright O 2015 Smart Projects Holdings Ltd ii CONTENTS Contents 1 DJI VSM User Guide 1 Ta Firstime vehicle sonne ROm lt sii aa does bbe 8b BP odb eRe di babe 1 12 Mission execution Speciicg s coe cro don done Re eR Oe RE a RR ee RR 2 18 Command execution specifics lt ec 444 eci rore Dh due de A eae ee 3 14 Command according i e s cis sa ke ee De wee ea ee eS 4 15 Telemety mniormation species lt lt lt sred akaone b ma e a a ee de 4 16 Faisal acions scocca eeoa Ba hd he o BEDS k due dre ot d ba 4 VE Waypoint lum Ypes lt e c a oe u pbg a Be eR A e Bo PE ee e RA a 4 1 8 General Purpose servo action setup 5 1 8 1 Configuring trigger action parameters in vsm dji conf 5 LS BOP SIENA e ae 6 TAG COMOROS ee 4 8 Lu a ee aw A A Re ee de k 6 TADA Common paraivieiers s 24 45 Ab Whee eee hea eed Ep ew 6 140 2 Serial port configuratloh lt 2 s a s ee nk eus 6 110 3 Waypoint turn ee 7 1 11 Common configuration file parameters 7 LATA VS server SONIGUTAMON a 2a de 4 ee RR A Re a 7 1 112 bogging Connguration io s coes e e ee PE Aa o be eee eee bd bedo boki 7 1413 Serial port contiguratiomi s lt s e ee La eee ee Res 8 1 11 4 Network connection configuration 9 115 Mission dump path M a ei pe 10 2 Disclaimer 10 Copyrigh
5. eral Purpose servo output see General Purpose servo action setup for details Wait Yes Only one wait action per waypoint is allowed Yaw Partial 1 Only when hovering over the waypoint Vehicle will always fly with nose pointing to next waypoint 2 Only 1 Yaw action per Waypoint is supported In case of multiple yaw actions the last one will be used 3 For Yaw action to succeed it must be used together with Wait action Land No Vehicle will hover over the last waypoint until operator takes over the control Panorama No Point Of Interest No Camera by time Yes Supported for A2 and Wookong autopilots when camera trigger is wired to General Purpose servo output see General Purpose servo action setup for details Camera by distance Yes Supported for A2 and Wookong autopilots when camera trigger is wired to General Purpose servo output see General Purpose servo action setup for details 1 3 Command execution specifics Command Support Notes ARM No DISARM No AUTOMODE Yes Take off and start the mission MANUALMODE No RETURNHOME Yes Vehicle will fly to preconfigured altitude default is 20m and return to launch position and land TAKEOFF No LAND No EMERGENCYLAND No Copyright 2015 Smart Projects Holdings Ltd 4 CONTENTS 1 4 Command according UGCS Client can show command buttons in different shades You can always pr
6. escription Enable yes or disable no serial port access arbitration between VSMs running on the same machine It is recommended to have it enabled to avoid situation when multiple VSMs try to open the same port simultaneously Default yes Example vehicle ardupilot serial_port use_serial_arbiter no Network connection configuration Optional VSM which communicates with vehicles via network should define at least one network connection otherwise VSM will not try to connect to vehicles prefix is unique for each VSM 1 11 4 1 Local IP address for UDP Optional Name prefix detector con index udp_local_address IP address Description Local IP address to listen for incoming UDP packets on Specify 0 0 0 0 if you want to listen on all local addresses Example vehicle ardrone detector 1 udp_local_address 0 0 0 0 Copyright 2015 Smart Projects Holdings Ltd 10 CONTENTS 1 11 4 2 Local UDP port Optional Name prefix detector con index udp_local_port port number Description Local UDP port to listen for incoming packets on Example vehicle ardrone detector 1 udp local port 14550 1 11 4 3 Remote IP address for UDP Optional Name prefix detector con index udp address IP address Description Remote IP address to send outgoing UDP packets to Example vehicle ardrone detector 1 udp_address 192 168 1 1 1 11 4 4 Remote UDP port Optional Name prefix d
7. ess all buttons disregarding of shade Highlighted buttons suggest recommended commands depending on vehicle current status Command according State Button highlighted Button shaded Armed AUTOMODE Camera trigger RETURNHOME Disarmed AUTOMODE Camera trigger RETURNHOME 1 5 Telemetry information specifics Vehicle state armed disarmed is controlled from RC transmitter Vehicle is armed automatically when Auto Mode command is issued Flight mode meaning Auto Vehicle is executing mission or is returning to launch position Manual Vehicle is holding position Note User can take over the control from any mode at any time by flipping the Mode Switch on RC transmitter from GPS to ATTI to GPS 1 6 Fail safe actions Fail safe actions can be set only in DJI Assistant software 1 7 Waypoint turn types There are 3 different routing planning modes for DJI autopilots fixed point turn mode Stop and Turn coordinated turn mode Bank Turn and adaptive coordinated turn mode Adaptive Bank Turn You can choose turn type for each Waypoint Circle Perimeter The default turn mode in the system is Stop and turn Stop and Tum Bank Tum Adaptive Bank Tum aQ v 4 s Bank Turn The aircraft will keep the speed when turning so it will deviate from its route Adaptive_Bank_Tum The aircraft will slow down so as to follow the route Figure 2 Turn type Copyright 2015
8. etector con index udp port port number Description Remote UDP port to send outgoing packets to Example vehicle ardrone detector 1 udp port 14551 1 11 5 Mission dump path Optional Name prefix mission_dump_path path to a file Description File to dump all generated missions to Timestamp is appended to the name Delete the entry to disable mission dumping All directories in the path to a file should be already created Example vehicle ardupilot mission_dump_path C tmp ardupilot_dump 2 Disclaimer DISCLAIMER OF WARRANTIES AND LIMITATIONS ON LIABILITY a SMART PROJECTS HOLDINGS LTD MAKE NO REPRESENTATIONS OR WARRANTIES REGARDING T HE ACCURACY OR COMPLETENESS OF ANY CONTENT OR FUNCTIONALITY OF THE PRODUCT AND ITS DOCUMENTATION b SMART PROJECTS HOLDINGS LTD DISCLAIM ALL WARRANTIES IN CONNECTION WITH THE PRODUCT AND WILL NOT BE LIABLE FOR ANY DAMAGE OR LOSS RESULTING FROM YOUR USE OF THE PRODUCT INCLUDING BUT NOT LIMITED TO INJURY OR DEATH OF USER OR ANY THIRD PERSONS OR DAMAGE TO PROPERTY c THE SOFTWARE IS SUPPLIED AS IS WITH NO WARRANTIES AND CAN BE USED ONLY AT USERS OWN RISK Copyright 2015 Smart Projects Holdings Ltd
9. ing file Logging is disabled if logging file is not defined File should be writable Backslash should be escaped with a backslash Example log file var opt ugcs log vsm ardupilot vsm ardupilot log Example log file C Users John AppData Local UGCS logs vsm ardupilot vsm ardupilot log 1 11 2 3 Maximum single file size Optional Name log single max size size Description Maximum size of a single log file When maximum size is exceeded existing file is renamed by adding a time stamp and logging is continued into the empty file size should be defined as a number postfixed by a case insensitive multiplier Gb G Gbyte Gbytes for Giga bytes Mb M Mbyte Mbytes for Mega bytes Kb K Kbyte Kbytes for Kilo bytes no postfix for bytes e Default 100 Mb Example log single_max_size 500 Mb 1 11 3 Serial port configuration Optional VSM which communicates with vehicles via serial ports should define at least one serial port otherwise VSM will not try to connect to the vehicles Port name and baud rate should be both defined prefix is unique for each VSM 1 11 3 1 Port name Optional Name prefix port index name regular expression Description Ports which should be used to connect to the vehicles by given VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Expression is case insens
10. ing vehicle profile and change the default vehicle name to be convenient for you Copyright O 2015 Smart Projects Holdings Ltd 2 CONTENTS DJI Phantom 2 COM3 EN Release contro Tail number DJI Phantom 2 COM3 Uplin Platform DJI NAZA M V2 Vehicles Foie Profile DJI Phantom 2 or any Naza M V2 multicopter ownlink co Take off pointaltitude m 136 51 ArduPilot Profiles Downlink No DJI NAZA M V2 ENO MIKROKOPTER Payloads Configuration Figure 1 New DJI vehicle Vehicle profile needs to be assigned to allow mission planning with this vehicle Image needs to be assigned to see vehicle location on the map 1 2 Mission execution specifics Fail safe settings in mission properties are ignored DJI has the following harcoded fail safe settings Condition Behavior Notes On GPS signal loss Land Happens when there are less than 6 satellites visible for more than 20 seconds On RC signal loss Return to launch position Default altitude is 20m See vehicle User Manual for more information On low battery Land See vehicle User Manual for more information Mission waypoint actions supported by DJI Copyright O 2015 Smart Projects Holdings Ltd 1 3 Command execution specifics Flight plan element action Support Notes Camera control No Camera trigger Yes Only Single shot camera mode is supported for A2 and Wookong autopilots when camera trigger is wired to Gen
11. itive on Windows port index is a arbitrary port indexing name e Example vehicle ardupilot serial_port 1 name dev ttyUSB 0 9 com 0 9 Example vehicle ardupilot serial_port 2 name com42 Copyright 2015 Smart Projects Holdings Ltd 1 11 Common configuration file parameters 9 1 11 3 2 Port baud rate Optional Name prefix port index baud baud index baud Description Baud rate for port opening baud index is an optional arbitrary name used when it is necessary to open the same serial port using multiple baud rates port index is an arbitrary port indexing name Example vehicle ardupilot serial_port 1 baud 1 9600 Example vehicle ardupilot serial_port 1 baud 2 57600 Example vehicle ardupilot serial_port 2 baud 38400 1 11 3 3 Excluded port name Optional Name prefix exclude exclude index regular expression Description Ports which should not be used for vehicle access by this VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Filter is case insensitive on Windows exclude index is a arbitrary indexing name used when more than one exclude names are defined Example vehicle ardupilot serial_port exclude 1 dev ttyS x Example vehicle ardupilot serial_port exclude com1 1 11 3 4 Serial port arbiter Optional 1 11 4 Name prefix use_serial_arbiter yes no D
12. t 2015 Smart Projects Holdings Ltd 1 DJI VSM User Guide 1 DJI VSM User Guide S UgCS ciji 1 1 First time vehicle connection See Disclaimer Supported multicopter autopilots Autopilot Supported A2 Yes Wookong M Yes Naza M V2 Yes Naza M Lite No Helicopter autopilots are not supported Supported RTF products Product Supported Phantom 2 Yes Phantom 2 Vision No Phantom 2 Vision No Phantom 1 No Phantom FC40 No Helicopter autopilots are not supported Please follow these steps to connect a Dul vehicle to the UgCS 1 To connect DJI vehicle to UgCS you need the 2 4G datalink http www dji com product 2 4g bluetooth datalink Direct USB cable to DJI vehi cle cannot be used to connect it to UgCS 2 For Windows setup you also need to download from DJI site and install driver for 2 4G datalink http download dji innovations com downloads driver DJI WIN Driver Installer exe This step is not reguired if you are running UgCS on Linux or Mac 3 Before connecting the vehicle to UgCS please ensure all autopilot settings fail safe control mode switch compass calibration are configured accordingly via DJI Assistant software Please consult user manual of your autopilot for details 4 Once the drone is connected it should appear in vehicles list Both Uplink and Downlink connections should be available Press Gain control and Edit to select correspond
13. waypoint actions Camera mode Single shot 1 8 1 Configuring trigger action parameters in vsm dji conf Parameter trigger action accepts seven comma separated integers Parameter number Range Description 1 1000 1000 Default servo position 2 1000 1000 1st servo position on action 3 0 9 seconds to hold 1st servo position 4 1000 1000 2nd servo position on action 5 0 9 seconds to hold 2nd servo position 6 1000 1000 3rd servo position on action 7 0 9 seconds to hold 3rd servo position If your trigger needs only 1 servo position change then last 4 parameters can be omitted Example The following line in vsm dji conf vehicle dji trigger action 100 200 1 Copyright O 2015 Smart Projects Holdings Ltd 6 CONTENTS Produces the behavior Autopilot will keep the GP servo at position 100 during the whole mission On each waypoint which has the Camera mode Single shot action the connected servo will move to position 200 wait 1 second move back to position 100 1 9 GoPro video link Vehicle can be configured to carry GoPro camera In that case live video stream can be obtained via UgCS video streamer component which must be running on the host which is connected to GoPro WiFi access point 1 10 Configuration file Default configuration file of the DJI VSM suits most needs and it is generally not necessary to modify it Configuration file location
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