DJI VSM User Guide
Contents
1. 9 125 Mesondump paih re 10 1126 Atiomali service AISCOVSPY lt caica e mata tba dieu a dun 10 TIZ POV DONATA lt 44 LE Led dd RM ba RARES Eh Ses La 11 2 Disclaimer 11 Copyright 2015 Smart Projects Holdings Ltd 1 Connecting DJI autopilots to UgCS 1 Connecting DJI autopilots to UgCS GO uses ciji See Disclaimer 1 1 Supported autopilots This document relate to the following DJI autopilots and ready to fly vehicles A2 Wookong M Naza M V2 Phantom 2 For Phantom 2 Vision Phantom 3 and Inspire1 please see separate documents on http uges com site 1 2 First time vehicle connection Please follow these steps to connect a DJI vehicle to the UgCS 1 To connect DJI vehicle to UgCS you need the 2 4Hz datalink http www dji com product 2 4g bluetooth d or 900MHz datalink Direct USB cable to DJI vehicle cannot be used to connect it to UgCS For Windows setup you also need to download from DJI site and install driver for 2 4GHz datalink http download dji innovations com downloads driver DJI WIN Driver Installer exe For 900MHz datalink download and install this package http download dji innovations com downloads driver DJI Datalink Driver Installer 1 0 zip This step is not required if you are running UgCS on Linux or Mac Before connecting the vehicle to UgCS please ensure all autopilot settings fail safe control mode switch2. 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 Example log file C Users John AppData Local UGCS logs vsm ardupilot vsm ardupilot log 1 12 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 Default 100 Mb Example log single_max_size 500 Mb 1 12 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 Copyright 2015 Smart Projects Holdings Ltd 1 12 Common configuration file parameters 9 1 12 3 1 Port name Optional Name prefix port index name regular expression Description Ports which should be used to connect to the vehicles by g
3. 12 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 12 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 PROPERTY c THE SOFTWARE IS SUPPLIED AS IS WITH NO WARRANTIES AND CAN BE USED ONLY AT USERS OWN RISK Copyright O 2015 Smart Projects Holdings Ltd
4. vehicle dji trigger action parameter to vsm dji conf see Configuring trigger action parameters in vsm dji conf below create a mission with waypoint actions Camera mode Single shot 1 9 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 lt 100 200 1 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 10 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 11 Configuration file Default configuration file of the DJI VSM suits most n
5. 1 udp_address 192 168 1 1 1 12 4 4 Remote UDP port Optional Name prefix detector con index udp port port number Description Remote UDP port to send outgoing packets to Example vehicle ardrone detector 1 udp port 14551 1 12 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 12 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 Example service discovery vsm name Ardupilot VSM Copyright 2015 Smart Projects Holdings Ltd 2 Disclaimer 11 1 12 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
6. DJI VSM User Guide UgCS 2 6 707 GO uses ciji Copyright O 2015 Smart Projects Holdings Ltd ii CONTENTS Contents 1 Connecting DJI autopilots to UgCS 1 1 1 Supported AUTO coo msn daa JE BR Embed bote 1 12 Firsvimeveki iS COMMBCRON lt lt m A A de DR ARE A ERA 1 1 3 Mission execution SPECIES lt ce secs soi rore Tice da a ed Mad ge 2 1 4 Commandexecutionspecifics 3 LS Command MATA lt lt lt 0 eee ala doo E o Sek me Boe ed A a ee odidi a 4 1 6 Telemetry informationspecifics 4 Dat FASO LUE Jaume ewe Bw eR MERS ER Bn A ee ca eh Gs RS 4 18 NAPORU DOS a ee ee ee ee ee Pa eke ewe JE UJE ERA 5 1 9 General Purpose servo action setup L 5 1 9 1 Configuring trigger action parameters in vsm dji conf 6 LU GOP WSO MR she Liu Da HU as Em ea oe ee dw k 6 TAT COMORES re 6 111 1 Common parameters s o lt iosa u e ma un ee ee a Had dns JK a ca 7 111 2 Serial portcontiguration 2 24 26 4 06 be e er ee ee ee a 7 LA MAPA pe sab aon Goe ee a A BS ee Be ee ee a es 7 1 12 Common configuration file parameters 7 112 1 USOS server cemiguraligm c lt c e ecm cobarde ee bebe ee b b 7 1122 Legge COMMON ico io 2e LE En See bh PANG eee BEDE av 8 1 129 Sonal port ESOO RQUESON o eoe ecw ke a A ee A pe 8 1 12 4 Network connection configuration
7. ailsafe settings of autopilot Mission waypoint actions supported by DJI 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 General Purpose servo output see General Purpose servo action setup for details Copyright 2015 Smart Projects Holdings Ltd 1 4 Command execution specifics 3 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 Mission can be uploded while vehicle is armed in the air Warning Uploading mission in the air is not recommended
8. 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 Sometimes DJI autopilot can report mode as Manual but cannot be controlled via RC transmitter To take over the control please flip the Mode Switch on RC transmitter to gain manual control 1 7 Fail safe actions Fail safe actions can be set only in DJI Assistant software Copyright 2015 Smart Projects Holdings Ltd 1 8 Waypoint turn types 5 1 8 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 Turn Bank_Turn Adaptive Bank Tum Bank Turn The aircraft will keep the speed when turning so it will deviate from ts route Adaptive_Bank_Tum The aircraft will slow down so as to follow the route Figure 2 Turn type Turn type Support Notes Stop and Turn Yes Aircraft flies to the first fixed point accurately stays at the fix
9. as it is possible to lose track of altitudes and Return to Launch functionality can be affected 1 4 Command execution specifics Command Support Notes ARM No DISARM No AUTOMODE Yes Take off and start the mission MANUALMODE No CLICK GO No HOLD No CONTINUE No RETURNHOME Yes Vehicle will fly to preconfigured altitude default is 20m and return to launch position and land See warning below Copyright O 2015 Smart Projects Holdings Ltd 4 CONTENTS TAKEOFF No LAND No EMERGENCYLAND No CAMERA TRIGGER Yes Trigger camera shutter See General Purpose servo action setup for details Warning WKM and NAZA autopilots sometimes ignore the Return to home command after mission is uploaded while the vehicle is armed in the air Note If vehicle does not move after successful Auto mode command please verify that you have uploaded the route to the vehicle You can do that by checking log entries 1 5 Command availability UGCS Client can show command buttons in different shades You can always press all buttons disregarding of shade Highlighted buttons suggest recommended commands depending on vehicle current status Command availability State Button highlighted Button shaded Armed AUTOMODE CAMERA_TRIGGER RETURNHOME Disarmed AUTOMODE CAMERA_TRIGGER RETURNHOME 1 6 Telemetry information specifics Vehicle state
10. compass calibration are configured accordingly via DJI Assistant software Please consult user manual of your autopilot for details 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 corresponding vehicle profile and change the default vehicle name to be convenient for you Copyright O 2015 Smart Projects Holdings Ltd CONTENTS Vehicles Profiles MIKROKOPTER Payloads Configuration DJI Phantom 2 COM3 Platform DJI NAZA M V2 o ME Tail number DJI Phantom 2 COM3 Profile DJI Phantom 2 or any Naza M V2 multicopter Take off point altitude m 136 51 Downlink No Uplink No Figure 1 New Dul 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 3 Mission execution specifics Fail safe settings in mission properties are ignored DJI has the following default 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 autopilot User Manual for more information On low battery Land See autopilot User Manual for more information Please use DJI Assistant software to control the f
11. ed 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 9 General Purpose servo action setup DJI A2 and Wookong autopilots support general purpose servo action It can be used to trigger camera You will need a device which can trigger camera remotely Possible solutions Gimbal with with camera trigger connector built in which supports PWM signal For example Zenmuse Z15 Stand alone 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 Steps to configure camera trigger for use with UgCS mission flight connect gimbal or triggering device to general purpose servo output on autopilot A2 output F2 Wookong output F1 Copyright 2015 Smart Projects Holdings Ltd 6 CONTENTS Consult DJI autopilot manual for more details on how to use GP servo outputs e configure the servo action in configuration file Add the
12. eeds and it is generally not necessary to modify it Configuration file location On Microsoft Windows C Program Files x86 NUgcSWbinivsm 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 Copyright O 2015 Smart Projects Holdings Ltd 1 12 Common configuration file parameters 7 1 11 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 11 2 Serial port configuration Mandatory This is the serial port name which appears when 2 4GHz or 900MHz 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 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 11 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 e Name vehicle dji turn_type_override Pssible values stop bank adaptive bank Default stop Example vehicle dji turn type override adaptive bank 1 12 Common c
13. iven 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 e Example vehicle ardupilot serial_port 1 name dev ttyUSB 0 9 com 0 9 Example vehicle ardupilot serial_port 2 name com42 1 12 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 12 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 e Example vehicle ardupilot serial port exclude 1 dev ttyS x e Example vehicle ardupilot serial_port exclude com1 1 12 3 4 Se
14. onfiguration 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 12 1 UgCS server configuration 1 12 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 8 CONTENTS 1 12 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 12 2 Logging configuration 1 12 2 1 Level Optional e Name log level error warning info debug Description Logging level Default info Example log level debug 1 12 2 2 File path Optional Name log file_path path to a file
15. rial port arbiter Optional e Name prefix use serial arbiter yes no e 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 12 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 Copyright O 2015 Smart Projects Holdings Ltd 10 CONTENTS 1 12 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 12 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 12 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 e Example vehicle ardrone detector
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