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Mikrokopter VSM User Guide

1. 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 7 3 4 Serial port arbiter Optional 1 7 4 Name prefix use_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 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 Copyright 2015 Smart Projects Holdings Ltd 1 7 Common configuration file parameters 7 1 741 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 e Example vehicle ardrone detector 1 udp_local_add
2. mikrokopter 1 6 3 Serial port configuration Mandatory At least one serial port should be configured otherwise VSM will not try to connect to the vehicle e Name vehicle mikrokopter serial_port e Description Serial port configuration for more details see Serial port configuration Default MikroKopter serial port communication speed is 57600 baud Example vehicle mikrokopter serial_port 1 name coml vehicle mikrokopter serial_port 1 baud 57600 1 7 Common configuration file parameters VSM configuration file is a text file specified via 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 7 1 UgCS server configuration 1 7 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 Copyright O 2015 Smart Projects Holdings Ltd 1 7 Common configuration file
3. Ltd 8 CONTENTS 1 7 7 Proxy configuration Optional VSM is able to communicate with vehicle via proxy service which redirects dataflow received from vehicle through TCP connection to VSM and vice versa using specific protocol In other words proxy service appears as a router between vehicle and VSM At the moment there is one implementation of proxy in UgCS called XBee Connector which retranslates data from ZigBee network to respective VSM 1 7 7 1 IP address for proxy Optional Name prefix tcp con index proxy IP address Description IP address to connect proxy to Specify local or remote address Example vehicle ardupilot tcp 1 proxy 127 0 0 1 1 7 7 2 TCP port for proxy Optional Name prefix tcp con index port port number Description TCP port to be connected with proxy through Should be the same as in congiguration on proxy side e Example vehicle ardupilot tcp 1 port 5566 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 PROPER
4. Mikrokopter VSM User Guide UgCS 2 6 707 Copyright 2015 Smart Projects Holdings Ltd ii CONTENTS Contents 1 Connecting MikroKopter autopilot to UgCS 1 ta Firstime vehicle sormechOn lt lt sd na be bbe BR bd Pewee Lt 1 1 2 Mission execution SPOGINES lt lt coe don de a Oe eR ee RE a RR ee RR 2 12 1 Camera trigger selon 2646 64 due dd he A ee Ewa we 2 1 3 Command execution specifics 3 1 4 Telemetry information specifics ee 3 1 5 Faisal acions lt lt sc eca esea koke Soe be de BER dupe ee due dre dut d h 3 Le ape ada ae a Ble ain E Se Gide Be eee ot ae Beate 4 3 TET Weave MAIRE o a a ee eo ee ui A t we ee ERA 4 16 2 Common parameters oo 4 2 6 0 e docs ar de ee eS 4 16 3 Serial portconfiguralio c e Le Dig nana ee nom ne ne og de ne ae 4 1 7 Common configuration file parameters 4 17 1 WeCs serverconiiguration oc s aea eee eee LR none go din he de a 4 ize Logeme contiguraton 44 255 e208 tee base es ER a nas ie KR 5 1 2 3 end port configuration cosita pue Lab ee ee ee ee a 5 1 7 4 Network connection configuration 6 LAS MISSION MAP BAM 2 40 4 nes LUE he mu ne ah ae LE a Me 7 1 26 Automatic service discovery o 5425554205 one du py aa ue bd 7 T T Pry CONNGUIAION baal 2 Pw EEE ban be PNG eee BEDE av 8 2 Disclaimer 8 Cop
5. TY 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
6. al 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 Copyright 2015 Smart Projects Holdings Ltd CONTENTS 1 7 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 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 7 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 7 3 3 Excluded port name Optional Name prefix exclude exclude index regular expression Description Ports which should not be used
7. amera trigger action Can be used to trigger payload specific action during mission execution It triggers WP event in the Mikro Kopter See http www mikrokopter de ucwiki en WaypointEvent and http www mikrokopter de ucwiki en WpEvent for more detailed description of this MK feature As described there before you can use this feature you should set up pattern for the flight controller output OUT1 or SRV3 using KopterTool software You may want to use shutter cable or IR controller provided by the drone manufacturer When the take photo action is fired the waypoint is created with wp event channel field set to the value specified in the VSM configuration see WP event value section It is duration in deciseconds of one unit in output signal pattern Also waypoint duration is set to time which is enough to execute at least one cycle of the pattern Due to granularity difference in MK protocol the pattern may start the second cycle of execution before the waypoint is finished Copyright 2015 Smart Projects Holdings Ltd 1 3 Command execution specifics 3 Clickto change sequence Outl Bitmask Ce Out Timing in 10ms N Only active after motor start M combine with WP Event AutoTrigger every 0 meter Figure 2 Example of output configuration In KopterTool output configuration ensure you have set Combine with WP event option 1 3 Command execution specifics Command Supp
8. ed name for a udev device html If you use your own serial device naming on Linux do not forget to add the corresponding name to the VSM configuration vehicle mikrokopter serial_port 2 name dev mikrokopter_1 vehicle mikrokopter serial_port 2 baud 1 57600 Supported MikroKopter firmware versions 0 x 2 00 may be supported but not tested 1 2 Mission execution specifics Before executing a mission Mikrokopter must be set to Altitude hold mode and throttle must be in mid position Flight plan element action Support Notes Camera control Partial Only pitch control is supported Camera trigger Partial Only photo shot is supported Panorama Partial Panorama is always counted from North or last set heading Take off No Landing No Set camera by time No Set camera by distance No Take off and landing is not supported in scope of automatic mission execution You should take off or land the drone either manually or using auto start landing feature of the MikroKopter which can be activated by switch on RC See MikroKopter vendor documentation CareFree feature must be enabled in MikroKopter for all actions which automatically control copter heading like POI yaw set etc See http www mikrokopter de ucwiki en CareFree None of fail safe mode adjustments is supported in the U g CS mission parameters Use MikroKopter original software instead to set up fail safe parameters 1 2 1 C
9. l Tail number MikroKopter COM9 Platform MIKROKOPTER Uplink connected Vehicles a 2 r Profile MikroKopter Quadro XL Jownlink connected Take off point altitude m 1 56 t Profiles Downlink No DJI NAZ Uplink No MIKROKOPTER Payloads Configuration Figure 1 New MikroKopter 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 4 Repeat steps above for each your MikroKopter vehicle Please note that there is no technical possibility to distinguish between different MK drones if they are connected via the same port The only way to identify drones is looking at their serial port instances To be sure that you have permanent drones mapping please ensure that you connect each drone via a dedicated serial port Copyright 2015 Smart Projects Holdings Ltd 2 CONTENTS This firstly means that you cannot share the same radio modem or USB serial cable between different drones If you are using Windows OS it usually reserves unique serial port number for each USB serial device On Linux OS you will need to take additional measures manually provide udev rules for permanent device map ping based on its serial number if such exists Some USB devices do not have serial number specified you will not be able to use them to connect multiple MikroKopters Udev rules creation example http noctis de ramblings linux 49 howto fix
10. ort Notes ARM No DISARM No AUTOMODE No MANUALMODE No CLICK GO No HOLD No CONTINUE No RETURNHOME Yes Current mission is erased in the device lt should be uploaded again in order to run it Works only when the drone is in AUTO mode TAKEOFF No LAND No EMERGENCYLAND No CAMERA_TRIGGER No Use your RC to execute commands and switch between flight modes according to the manufacturer instructions 1 4 Telemetry information specifics Nothing specific 1 5 Fail safe actions Fail safe actions can be set only in KopterTool 1 6 Configuration file Default configuration file of the MikroKopter VSM suits most needs and it is generally not necessary to modify it Configuration file location e On Microsoft Windows C Program Files x86 UgCS bin vsm mikrokopter conf On GNU Linux etc opt ugcs vsm mikrokopter conf On Apple OS X Users user name Library Application Support UGCS configuration vsm mikrokopter conf Copyright O 2015 Smart Projects Holdings Ltd 4 CONTENTS 1 6 1 WP event value This parameter defines which value will be sent in wp event value field of the waypoint with take photo action See Camera trigger action section vehicle mikrokopter wp_event_ value 50 1 6 2 Common parameters All VSMs share a common set of configuration file parameters described in Common configuration file parameters MikroKopter VSM configuration file prefix is vehicle
11. parameters 5 1 7 1 2 Listening port Mandatory Name ucs local_listening_port port number e Description Local TCP port to listen for incoming connections from UgCS server Default is 5556 Example ucs local_listening_port 5556 1 7 2 Logging configuration 1 7 2 1 Level Optional Name log level error warning info debug e Description Logging level Default info Example log level debug 1 7 2 2 File path Optional Name log file path path to a file e Description Absolute or relative to the current directory path to a logging 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 e Example log file C Users John AppData Local UGCS logs vsm ardupilot vsm ardupilot log 1 7 2 3 Maximum single file size Optional e Name log single_max_size size e 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 Default 100 Mb Example log single_max_size 500 Mb 1 7 3 Serial port configuration Option
12. ress 0 0 0 0 1 7 4 2 Local UDP port Optional Name prefix detector con index udp_local_port port number e Description Local UDP port to listen for incoming packets on Example vehicle ardrone detector 1 udp_local_port 14550 1 7 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 7 4 4 Remote UDP port Optional Name prefix detector con index udp_port port number Description Remote UDP port to send outgoing packets to e Example vehicle ardrone detector 1 udp_port 14551 1 7 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 e Example vehicle ardupilot mission_dump_path C tmp ardupilot_dump 1 7 6 Automatic service discovery VSM can respond to automatic service discovery requests form UgCS server When this parameter is not configured service discovery is disabled Optional e Name service_discovery vsm_name Service name Description Human readable service name e Example service_discovery vsm_name Ardupilot VSM Copyright O 2015 Smart Projects Holdings
13. yright 2015 Smart Projects Holdings Ltd 1 Connecting MikroKopter autopilot to UgCS 1 1 Connecting MikroKopter autopilot to UgCS ES uges oS 1 1 First time vehicle connection See Disclaimer Please follow these steps to connect an MikroKopter vehicle to the U g CS 1 MikroKopter vehicle must be properly configured calibrated and tested using tools and instruction from the of ficial MikroKopter web site prior to using it with U g CS U g CS does not support initial configuration setup and calibration of MikroKopter vehicles 2 Turn on the vehicle and plug in the radio modem paired with the vehicle or direct USB cable from the Mikro Kopter board to the computer where VSM is running U g CS uses serial ports for communication with Mikro Kopter vehicles Serial interface based communication devices like WI232 radio modems and their analogs and direct USB serial connections are supported as long as OS driver for virtual serial port is installed and serial port is successfully created Please refer to your communication equipment manufacturer documenta tion about driver installation instructions 3 Open Vehicles window in U g CS Client and wait until new vehicle appears there automatically Both Uplink and Downlink connections should be available Press Gain control and Edit to select corresponding vehicle profile and change the default vehicle name to be convenient for you nee MikroKopter COM9 EA release contro 2 Al

Mikrokopter VSM User Guide

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