DJI Phantom VSM User Guide
Contents
1. 1 6 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 7 Configuration file Default configuration file of the DJI VSM suits most needs and it is generally not necessary to modify it Configuration file location On Microsoft Windows C Program Files x86 UgCS vsm dji vsm 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 7 4 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 7 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 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 115200 1 8 Common configuration file parameters VSM configuration file is a text file specified via command line argument config of the VSM app2. Uplink connected Downlink connected Take off count Uplink connected Downlink connected Take off count 0 Parameter Value Height m Length m Max horizontal speed m s Max waypoints Wind resi Maximum takeoff weight kg Figure 1 New Dul vehicle Tail number Quadrotor 1 Emulator FC Version NC Version Type Tail number Quadrotor 2 Emulator FC Version NC Version Type Edit Telemetry Tail BM Edit vehicle FC Version NC Version Type UAV Parameter Value Width m Max vertical speed m s Max altitude m Maximum travel time s Reliable number Safe distance to obstacle m 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 Home 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 2014 Smart Projects Holdings Ltd 1 3 Command execution specifics 3 Flight plan element
3. action Support Notes Camera control No Camera trigger No Wait Yes Heading Partial 1 Only when hovering over the waypoint Vehicle will always fly with nose pointing to next waypoint 2 Only 1 Heading action per Waypoint is supported In case of multiple heading actions the last one will be used 3 For Heading 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 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 home position and land TAKEOFF No LAND No EMERGENCYLAND No 1 4 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 home 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 5 Fail safe actions Fail safe actions can be set only in DJI Assistant software Copyright O 2014 Smart Projects Holdings Ltd 4 CONTENTS
4. 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 e Example log file C Users John AppData Local UGCS logs vsm ardupilot vsm ardupilot log 1 8 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 Copyright O 2014 Smart Projects Holdings Ltd CONTENTS 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 Default 100 Mb Example log single max size 500 Mb 1 8 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 unigue for each VSM 1 8 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 filter
5. DJI Phantom VSM User Guide UgCS 1 5 40 SS usos ciji Copyright O 2014 Smart Projects Holdings Ltd ii CONTENTS Contents 1 DJI VSM User Guide 1 Ta Firstime vehicle gonne ROm lt lt si i roa dido a a ad dk ad dn babe 1 12 Mission execution Specifics lt lt coe cro aci a aaa RAR CE ee A 2 12 Command execution species 22 v eci roe Dh due de o dd ed E 3 1 4 Telemetry informationspecifics 3 LoS i oj ee 3 la OPPO VEO MK 5 28 chee beh bad R pub e a die dk dok bee es 4 ISMN le o a da ma ama AA e i m e ot e gne fa 4 171 Gommon parameters vi 4 a esa don a dos EO a k ee du 4 172 Serial port configuration 26 0688 eRe eS A ROE AO ko URE 4 1 8 Common configuration file parameters 4 1 8 1 UgOCSserverconfiguraton 5 ane ea A A EE i S 5 183 Serial port coniiguratiom lt 266 corsa aa A dos eus 6 1 8 4 Network connection configuration 7 LS Meson SUING BAIN s ed sdk E A A eo eee ee eS 8 2 Disclaimer 8 Copyright O 2014 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 produc
6. ing regular expression Expression is case insensitive on Windows port index is a arbitrary port indexing name Example vehicle ardupilot serial_port 1 name dev ttyUSB 0 9 com 0 9 Example vehicle ardupilot serial_port 2 name com42 1 8 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 8 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 Copyright O 2014 Smart Projects Holdings Ltd 1 8 Common configuration file parameters 7 1 8 3 4 Serial port arbiter Optional e Name prefix use
7. lication 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 Copyright O 2014 Smart Projects Holdings Ltd 1 8 Common configuration file parameters 5 1 8 1 UgCS server configuration 1 8 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 8 1 2 Listening port Mandatory e Name ucs local listening port port number Description Local TCP port to listen for incoming connections from UgCS server Default is 5556 Example ucs local_listening_port 5556 1 8 2 Logging configuration 1 8 2 1 Level Optional Name log level error warning info debug Description Logging level Default info Example log level debug 1 8 2 2 File path Optional Name log file_path path to a file Description Absolute or relative to the current directory path to a logging file Logging
8. scription Remote UDP port to send outgoing packets to Example vehicle ardrone detector 1 udp_port 14551 Copyright O 2014 Smart Projects Holdings Ltd 8 CONTENTS 1 8 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 2014 Smart Projects Holdings Ltd
9. serial arbiter yes no Description 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 1 8 4 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 8 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 1 8 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 8 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 8 4 4 Remote UDP port Optional Name prefix detector con index udp port port number De
10. ts Product Supported Phantom 2 Yes Phantom 2 Vision No Phantom 2 Vision No Phantom 1 Not tested Phantom FC40 Not tested 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 Edit and select corresponding vehicle profile an image and change the default vehicle name and tail number to be convenient for you Copyright O 2014 Smart Projects Holdings Ltd CONTENTS Missions Vehicles Payload Operators Configuration Quadrotor 1 Emulator k P m Ouadrotor 2 Emulator ONLY 2 19 Uplink connected Downlink connected Take off count
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