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CS User Manual

1. License U g CS client Vehicles version 2 3 370 NOT ACTIVATED Profiles Activate Payloads Your copy of Ujg CS is not activated yet Activation is not mandatory but allows you to overcome maximum altitude 120m AGL and maximum range 500m limits for the mission planner Configuration Figure 52 License screen Shows you the version number of your UgCS software information about activation and has the option to activate your software to the Pro version For activation you must enter paste your activation code into the same field and click Activate button After successful activation the activation field will disappear and you will see that the software is Activated You can buy a license with an activation code online on www ugcs com or send a request to ugcs ugcs com 52 U g CS User manual v 2 3 HOugcs Troubleshooting In case of any issues with the software please report them to support ugcs com Please send us a detailed description of the problem and your version number which you can find in the configuration gt license menu Please try to provide screenshots and logs together with a description of the issue Logs can be found in the following locations Windows lt C Users Username AppData Local UGCS Logs gt directory This is an example of the path for Windows 7 You can find logs in a similar directory in other Windows versions Mac OS lt Library Logs UGCS gt or
2. Maximum altitude above ground m 120 00 Action on battery discharge f P amp 7 Via ry c Emergency return altitude above ground m W Wall MA Land Figure 10 The third step of the route creation wizard Home location is a point to which the vehicle should return in the case of a failsafe condition being triggered automatically or the operator giving the command to return home Failsafe execution conditions usually include emergency situations such as loss of RC or low battery charge level The home position can be set explicitly or the first waypoint of the route can be set as the home location Figure 10 a If it is set explicitly the coordinates can be specified in numerical form either decimal or degrees minutes seconds DMS formats can be used Note To switch to the decimal degrees format click on the button To switch back to the DMS format click on the er button An alternative and usually more convenient way to set the home position is to point it on the map Click the button with the crosshair icon Figure 10 b to use this option As soon as the map is loaded the location can be defined by dragging with left mouse button while holding the Shift key A pin will appear and change its height depending on the position of the mouse pointer Figure 11 After the location has been chosen clicking on the OK button takes you back to the wizard 14 U g CS User manual v 2 3 CSuges Home location Latitude a
3. The scanning area is partitioned into frames of calculated sizes with given overlaps The direction of passage is selected using Direction angle The route is based on the snake Flight height altitude of flight along the perimeter This altitude is not affected by the altitude type chosen for the route Number of laps number of times the drone flies along the perimeter Number of laps number of full turns the drone has to make around the circle Fly clockwise flag indicates whether the drone will fly clockwise checked or 25 U g CS User manual v 2 3 CS uges counter clockwise unchecked Number of approximating points number of basic waypoints generated If left blank this parameter will be automatically determined from the radius of the circle Follow terrain if enabled all generated waypoints have the same altitude from ground AGL altitudes are equal If disabled all the points will have equal AMSL altitudes Note The route segment can be selected by clicking on the corresponding pin or on the line connecting it to the next segment The selected segment is highlighted together with the connecting line Log Window At the bottom of the mission editor is a log window Figure 4 The log window displays messages about the status of operations calculation of the mission unloading and changing vehicle modes and the results of the commands In case of insufficient battery voltage low number of GPS
4. CS components are installed as Windows Services it is possible to open the Windows Services panel through the U g CS system tray icon U g CS User manual v 2 3 HOugcs hy a He ADSB receiver running Ho Vehicle emulator running g U g CS server running j HG Video service running Hi ArDrone VSM running He Ardupilot VSM running Hg DJI VSM running my ar z Microdrones VSM running j Mikrokopter VSM running d Mi x Language Quit sl 5014 10 14 Figure 2 U g CS Service manager menu The desktop icon launches the U g CS Client U g CS configuration is done automatically Mac OS You can start U g CS by clicking the U g CS client icon in Launchpad After successful installation the Launchpad has folder UGCS with two shortcuts U g CS Service manager and UIglCS client U g CS client will start GUI application and U g CS Service manager will all necessary processes UgCs ugcs client service manager Figure 3 Shortcuts in the UGCS folder in the Launchpad After starting the U g CS Service manager and U g CS client the rest is done using the same method as in Windows Please refer to the Windows section for more information Linux For Linux installation instructions please go to http apt ugcs com doc The U g CS Client is started using the terminal command ugcs client or from a desktop shortcut All server applications on Linux will start as a service a
5. DE EN ME ES EN MEER EO NG ME EE ER 26 WESE Eed Ede N EE ER EE OE ER EO KO OE NE OE N 26 Mees Adel ME ME RE RO EE EE OE HEEN 26 GICAL OM RC SUING es ede ee P ee eo oe SE ee EE ED ee 28 ElevatiomProiile ee eN De ce Wie de Ge N De eN ee PE GE eo eie Ee ae GE 29 PRC dle OE N ER EO RE OE AE EE ER EE ER EDE 29 Adding Removing and Rearranging Actions ees ees see ee ee ee ee ee ee Re ee ee ee ee ee ee RE ee 29 Type Ol ALONE n es RE RR ee oe Re Ee De er RE AE ee Ee ea GR eae 30 U g CS User manual v 2 3 HOugcs Adding a Vehicle to a Mission ese Ne Ee nei Ee ee EG ee ee Ee eh EE es 31 IE end LE ARE EE OE EO OE EE OE N EE EE N 32 Ley UO UCTS aMi SION Is eie ee cates ie ee Ve Ee De Ee oe ee sneha ae ee De EE 33 Me isuienient TOO ne n Ee Se DE ee Da ON Ge SE No eo ee EG 34 WIN Age ee N EN OE E OR CA 34 STACI OCS oe OE eN ee ek Ee ii ans gy eno RE ee ee ee ee Ga ee Ge ee 36 dee EE EE EE EO ER OE EE RT 37 ARE RE ET EE EE Ee 38 TS VON Ad EL RE OE N EE EE EE OE OE OE EE OE EN N OT ON 40 MA ie AA ME ER EO OE EE OE EER EN ens 43 Reeisternea NEWN DIOE su EE ee GE ee ee Ee ee De ee ER ODE ee Ee 43 vende Parime CSS rat cence eee AE RE OE EE EN OO EE 44 PRETO VINE ss CCS es E vost ane clea abe ete de ee Ee ee De ee OE RE TR 44 vence Proe D i eera DE de oe Ge ee ee Se ee Ge oe ee Ee n ee 45 Adde a New Vehicle 2 6 cee ed ede ee eee ne eee ee ene eee 45 Ene a Vende Prole ei Ee ie Ee N Oe ee ED Ee ee tear AE Ee ie 45 Adding a Payload toa Vehicle Profile ie de Ee e
6. Figure 13 b lets you exclude a specific route from the mission Be careful when removing routes as route removal cannot be undone Across the lake DJ Wookona M multico My FA Around the pond SDR ArduCopter Quad River view b DJI A2 multicopler New route Figure 13 List of routes Creating more routes is similar to the creation of the first one First open the list of existing routes and then choose the New route option Figure 13 c Show on map button e allows you to show hide calculated routes on the map Elevation profile button ES allows you to show hide the elevation profile window for calculated routes Route selection is done using the abovementioned list of routes 16 U g CS User manual v 2 3 Uges Editing Route Parameters Route parameters can be modified by clicking the Route options button next to the name of the route Figure 14 a River view d h a T DJIA2 multicopter d CER Figure 14 Current route bar In the Route options dialogue Figure 15 the Vehicle profile can be reassigned Figure 15 a and route parameter values can be changed Home location O ist waypoint Set explicitly Latitude Longitude EN Trajectory type Altitude above ground level m ME OE Action on loss of GPS a Wait Land Initial speed m s Action on loss of RC Maximum speed m s wait Land Pas Home C Continue Maximum altitude above ground m 1
7. WMS for the WMS providers Google map and Bing maps The URL field contains the template of addresses with which map images can be downloaded for the WMS and Tiles options You can add a Description which will display in the tooltip of the map provider when you select it You can also set a maximum cache size for every map provider This is the maximum space the cache will be allowed to take up on the hard drive After unchecking Cache never expires you will be able to set a period in hours after which the cache will be cleared After the cache is cleared it will reload from the internet Clear cache button delete cache file for current map provider from hard drive For the WMS providers the URL is parsed and the real URL is synthesized during requests The URL should contain at least the layers parameter For example http x osm omniscale net proxy service layers osm Other supported parameters are they override defaults if specified e crs Specify CRS to use Currently supported values o epsg 3857 Spherical Mercator default epsg 4326 Geodetic projection crs 84 Geodetic projection differs from epsg 4326 only by axes order e styles default is empty Other specified parameters are either ignored and not included in the request URLs or overriden by request specific generated values 50 U g CS User manual v 2 3 HOugcs An example for overriding CRS http data worldwind arc nasa
8. Wookong M Microdrones Mikrokopter ArDrone ArduPilot Pixhawk and other MAVLink compatible UAVs are supported with an option to add more by a custom development performed by SPH Engineering or by the clients themselves through an included SDK for third party developers The U g CS architecture consists of three separate layers Human Control Interface Client Universal Control Server Server Vehicle Specific Modules VSM The Client provides a graphical user interface for operations such as adjusting vehicle parameters mission planning monitoring telemetry and payload data and replaying missions from an archive The Client is designed to work on all main computer platforms Windows Mac OS X Linux Ubuntu and will soon be available for mobile platforms iOS and Android U g CS has been tested to be stable on Windows Mac OS X and Ubuntu 12 14 04 and 14 10 The Server is an intermediate layer It contains the database services for HCI and VSM GIS and routing facilities Each VSM contains an adapter for a specific vehicle It translates routes from our universal vehicle neutral protocol to vehicle specific protocols It knows how to detect the vehicle and how to obtain and transfer it s telemetry data to the Client and the Server U g CS User manual v 2 3 HOugcs Please Pay Attention 1 It is the responsibility of the user to operate the system safely in order to avoid harming other people animals legal p
9. customize the planned path of the drone These parameters are listed in the segment properties window Some of them have default values others require manual specification of values Please ensure you understand the meanings of these 23 U g CS User manual v 2 3 CS uses parameters and always review their values to avoid unexpected results Parameters without correct values are highlighted Parameters marked with an asterisk are mandatory the others are optional To edit the parameters of the existing route segment select it as described in the previous section Parameters can be specified before the actual segment of route is created It is enough to select a tool The following table describes parameters for each of the tools Tool All All except for Waypoint Take off Landing Area scan Parameters Flight speed flight speed of the drone for this segment of route Must not exceed the maximum speed specified in the properties of the route Must be a positive value Avoid obstacles flag to be set if buildings have to be taken into account when planning the path Do not uncheck without specific need to do so Avoid terrain flag to be set if the path has to satisfy a minimum height over terrain condition the corresponding value is one of vehicle parameters Do not unset this flag unless necessary Turn type the way how segments will be passed by vehicle There are different states of passing a waypoint
10. malformed path if the route calculation was not completed before the upload attempt Alternatively the connection to a vehicle was lost in the middle of the process or the vehicle did not accept the set of commands This state is an unrecoverable error that aborts route uploading In case of error it is recommended to check the connection to the vehicle and the calculated path before the next upload attempt When a route is planned for a vehicle profile which has differences from the profile for the current vehicle during route uploading a window is displayed with several options Cancel Copy and Set profile The Cancel button aborts the upload and returns to the route editor to continue work The Copy button copies the current route to the new instance with the default current vehicle profile which is now selected for the vehicle The Set profile button returns you to the route editor and you can select a new vehicle profile for the current vehicle When mission upload is completed the mission is ready for execution Measurement Tools Several tools are available to ease mission planning Distance measurement Area measurement gt Visibility range Figure 32 Measurement tools The Distance measurement tool allows you to draw a line and displays its length The Area measurement tool allows you to draw a polygon and shows the size of the area The Visibility range tool allows you to place a poi
11. manual v 2 3 CS uses Adding a Vehicle to a Mission To add a vehicle click on the button at the upper left corner of the map Figure 27 Menu Mission Player Mission of 2015 02 26 18 mi New route Figure 27 Add new vehicle to mission The Add vehicle button opens the list of registered vehicles For more information about connection and registering a new vehicle please refer to the Registering a New Vehicle section You can add multiple vehicles to a mission To remove an inactive or unnecessary vehicle from the Active vehicle list one must choose Remove from vehicle drop down list Figure 28 ArduCopter 101 Select profile Take off point altitude Release control N A a aa Vv 5 Ww avatar y Show telemetry ti AT Ta IE TN s v Show commands Wi Show log D dl a Remove Figure 28 Remove vehicle from mission After successfully adding a new vehicle and connecting it you can see some information about the vehicle status in this section Figure 29 When experiencing status changes they can be seen instantly by looking at this set of indicators Any of those icons will change from green good status to red attention needed sa ArduCopter 101 Figure 29 Vehicle indicating icons a Battery level b uplink status c downlink status and d GPS status 31 UIgl CS User manual v 2 3 CS uses In the drop down menu there are additional options and action
12. route exceeds the maximum number of waypoints that the vehicle can handle Please reduce the complexity of the route The route needs to be simplified to have less waypoints To make a route less complex the following technidues can be used Observe the calculated route to find out which route segments produce the densest sequences of waypoints Then substitute these segments with waypoints use the Waypoint tool for that Sometimes a large amount of waypoints is produced to avoid collisions In such cases try placing basic waypoints in a way that takes the UAV over less obstacles Simply removing a certain amount of route segments which are not crucial for the aim of the mission can fix this limitation of the UAV Of course there is always the option to consider the use of an UAV which supports the required amount of waypoints Estimated time of flight by route exceeds the maximum flight time specified for the vehicle Please reduce the length of the route The route is too long for the endurance of the selected vehicle Some segments can be removed to make route shorter Other options include an increase of the flight speed or installing a battery with a larger capacity maximum flight time parameter of the vehicle should be updated For more information about how to update vehicle profile parameters please see the Edit Vehicle Profile section Speed of the vehicle specified for the segment must be greater than zero The value of the speed par
13. satellites while still being enough to launch the Low number of GPSvehicle Number of satellites shown in yellow colour if at this level or satellites between this and normal level Number of satellites shown in red colour if below this level Normal telemetry level Telemetry level value shown in white colour Normal telemetry level if at or above this level Telemetry level value shown in yellow colour Yes if below this level and between normal and low level Low telemetry level Telemetry level value shown in yellow colour if Low telemetry level at this level or between this and normal level Telemetry level value Yes shown in red colour if below this level Max waypoints Maximum supported WPs by NC Yes Waypoint acceptance Waypoint acceptance radius message of which waypoints in theo radius route can be reached 46 UIglCS User manual v 2 3 Max altitude AMSL Fence radius Max travel time Safe height over terrain Safe distance to obstacle Max vertical speed Max horizontal speed Default climb rate Default descent rate Height Length Width Wind resistance Dry take off weight Maximum take off weight Suges Maximum altitude AMSL m Yes Radio link range radius m Yes Maximum flight time in seconds Yes Minimal allowed distance to terrain for the vehicle m Small vehicles ved can fly very close to terrain but larger ones should fly higher Minimal allowed distance to obstacles for the vehicle m Yes Maximum v
14. separate document Manuals video service This document located in the install directory Video configuration in client You can configure video service in client Menu gt Configuration gt Video By default it points to a local instance In the case of a multi node deployment network address and port of the Video service can be specified Video configuration in video service properties file You can configure video service settings in video configuration file It s located in the following path Windows lt C installation directory bin vstreamer conf gt By default this path is lt C Program Files x86 UgCS bin vstreamer conf gt Mac OS lt Library Application Support UGCS configuration vstreamet conf gt or lt Users username Library Application Support UGCS configuration vstreamet conf gt Linux lt etc opt ugcs gt directory About configuration file vstreamer conf refer to Manuals video service 51 U g CS User manual v 2 3 Uges Performance You can decrease the client performance for battery saving by enabling the Battery saving mode flag For maximum performance the Battery saving mode flag should be disabled Smooth map texture transitions flag allows you to turn on off replacing the current one map texture with the fading to new detailing level Multitexturing and time reference in shader is used Turn on this setting to increase RAM used by the Client
15. 0 g It might take some time to load the mission player and the recorded data Above the section with the recorded telemetry indication the icons are displayed Icons are schematic representations of commands that were sent to the machine at the time Note For emulator vehicle telemetry doesn t store by default On telemetry player you can see icons only without recorded data 40 U g CS User manual v 2 3 CS uges Icons correspond to the following commands Icon Description Upload Arm Disarm Auto mode Manual Mode a E Land F Figure 41 Telemetry player workspace First move the seek bar Figure 40 f to a time when telemetry has been recorded Figure 40 g To start the playback use the Play gD button Figure 40 d At any moment playback can be paused using the Pause Mm button To navigate through the timeline one can use mouse and just click and drag in the desired direction or use the buttons to the right of the timeline To zoom in or out one can use mouse wheel or the or buttons next to the timeline Fa EmuCopter 101 a e a D Clear selected telemetry Clear all telemetry Upload to Droneshare Remove Figure 42 Vehicle menu in the telemetry player Playback speed can be adjusted using the speed button on the top side of the screen Figure 40 b Button 1x provides a normal speed Speed can be increased by up to eight times button 8x To delete the r
16. 20 00 Action on battery discharge Emergency return altitude above ground m wait O Land C amp Home amp Continue Export to KML Figure 15 Route options dialogue A useful option is the change of Altitude mode Figure 15 b It converts all the altitudes regarding the digital elevation model of the area Locations of all the points are preserved 17 U g CS User manual v 2 3 CS uges You can make export your route to file Export to kml and xml is available Click Export to KML or Export to XML Figure 15 c in the Route options dialogue to start unloading Saving a Mission Missions are not saved in a single file All missions are stored in a single database so there is no need to specify a file when saving a mission f Mission of 2014 10 17 12 Mission of 2014 10 17 12 22 Figure 16 Mission saving The mission is automatically saved every 5 seconds if a change has occurred Figure 16 a or on mission upload Figure 16 b Missions are distinguished by their names which can be changed by clicking on the mission name Figure 16 By default the name of a new mission consists of the date and time of the mission s creation To rename the mission click the mission title and then supply the new name Near the right side a toolbar is located The buttons set there depend on the vehicle type and autopilot UGCS Client can show the command buttons in different shades You can always press all buttons disrega
17. 3 CS uses The End User agrees to defend indemnify and hold harmless the Licensor from any claims disputes suits proceedings losses liabilities damages costs and expenses including without limitation reasonable legal court and attorneys fees made against or incurred by the Licensor arising out of claims suits or proceedings based on allegations alleging that a the Use of the Software by the End User infringes upon any third party s intellectual property rights or otherwise violates any law statute ordinance or regulation The End User agrees to indemnify in full to the Licensor for any resulting consequential direct or indirect damages costs and expenses finally awarded to a third party 6 Limitation of Liability Notwithstanding anything stated herein to the contrary the Licensor s cumulative liability to you or any third party for any loss cost or damage resulting from any claims demands or actions arising out of or relating to this Agreement shall not exceed the license fees actually paid to the Licensor hereunder if any In no event shall the Licensor be liable for any indirect incidental consequential special or exemplary damages or lost profits even if the Licensor has been advised of the possibility of such damages 7 Governing Law This Agreement shall be governed by and construed in accordance with the English law and the United Kingdom Courts shall have the exclusive jurisdiction over all disputes relating t
18. AMSL m Figure 49 Vehicle profile 45 U g CS User manual v 2 3 HOugcs Adding a Payload to a Vehicle Profile You can add and remove a payload to from the vehicle profile by editing the vehicle profile Figure 49 c Vehicle Profile Parameters Below you can find the table of parameters that should be filled for the vehicle Parameter Description Mandatory Vehicle profile name User defined vehicle profile name Yes Platform Choose a vehicle platform from the available variables Yes Payloads Edit available payloads for the vehicle profile Yes Battery fully charged at voltage V shown as 100 Voltage value Charged battery voltage l Yes shown in white colour if between this voltage and normal voltage Normal battery voltage V Voltage value shown in white if at or i Yes above this voltage shown in yellow if below this voltage Normal battery voltage Low but sufficient voltage V Voltage value shown in yellow if at this Low battery voltage voltage or between low and normal voltage Voltage value shown in Yes red if below this voltage Discharged battery voltage Battery zero level V shown as 0 Shown in red Yes Battery weight Battery weight kg Yes Normal number of satellites to provide a good level of accuracy Normal number of GPSShown in white colour if at or above this level Number of satellites satellites shown in yellow colour if below this level and between normal and low level Low number of GPS
19. ArduPilot s Profile 3DR ArduCopter Quad Configuration Take off point altitude m Downlink Yes Uplink Yes Figure 45 Vehicle ArduCopter 101 Save Cancel 2s NET ArduCopter 101 a fr Profile 3DR ArduCopter Ouad Figure 46 Select vehicle profile 43 U g CS User manual v 2 3 Vehicle Parameters Ugcs Below you can find the table of parameters that should be filled for the vehicle Figure 45 Figure 46 Parameter Vehicle name Tail number Platform Profile Payloads Altitude mode m Downlink connected Uplink connected Removing a Vehicle Description Mandatory User defined vehicle name Yes Former ID field Tail number of the vehicle Not editable Vehicle platform You can edit this field in the vehicle profile list Choose an available vehicle profile or create a new vehicle profile Yes View selected payload for the vehicle Current take off point altitude For more information about this field please see the take off altitude section Downlink connection status Uplink connection status You can remove a vehicle from the list manually by pressing the corresponding buttons Gain control and Remove A Tail number ArduCopter 101 Uplink connected Downlink connected 3DR APM Profiles Payloads Configuration Platform 3DR APM Profile 3DR ArduCopter Quad Payloads Altitude mode m Downlink Uplink ArduPlane 102 Tail number ArduPlane 102 A P
20. Licensor to the End User Use or Using means and refers to any and all access installation running download copy transfer sharing uploading or any other type of benefit from or use of the Software and its functionality and any other utilization operation manipulation or interfacing of the Software 5
21. Player phantom import 2014 1 COM Create new layout Open Remove import telemetry Export telemetry Figure 44 Layout menu in the telemetry player The software automatically saves the current Player layout and selected vehicles so that next time the client is used it will return to its previous state To rename the current layout just click on its name Figure 44 a It is also possible to save many different layouts To do so click on the drop down menu next to the layout name Figure 44 b and create a new layout In the same drop down menu telemetry import and export options are located To import telemetry data just click Import telemetry to export click Export telemetry and locate the desired file Telemetry records are saved in XML format Note All the values displayed in the mission player are the recorded values No real time data is shown or produced 42 U g CS User manual v 2 3 Uges Vehicle List Registering a New Vehicle New vehicles should be registered in U g CS The registration process step by step is as follows 1 To register a new vehicle connect your vehicle to U g CS and ensure that the VSM for that vehicle type is running For more information on specific vehicle workflows please refer to our manuals How to do this for ArDrone Ardupilot DJI Naza M V2 A2 Wookong m Microdrones and Mikrokopter can be found in folder UgCS docs 2 Provided that the vehicle is suppor
22. S Figure 19 b and telemetry level Figure 19 c values which have a white orange or red color depending on the charge or reception level Once some geographical elements in a route have been created one can quickly focus the view on the route by clicking the route name The map will move to the last element of the route or to the first calculated waypoint in case of a processed route The Tools and Basics of Drawing a Route A route consists of a sequence of elements route segments Route segments allow for the setting of waypoints or the creation of more complex constructions like an area or a circle For each segment a geographical object such as a point a polygon or a building is set The resulting path is shown after the route calculation process has completed Tool selection is done from the toolbar at the left side of the window Currently available tools are shown in Figure 20 20 U g CS User manual v 2 3 HOugcs El o d D Waypoint Area scan Perimeter Circle Building Take off Landing Figure 20 Available tools The Waypoint tool is the default tool To create a new waypoint press and hold the Shift key while simultaneously dragging up from the ground to the desired height Therefore not only the location but also the required altitude of the waypoint is set in one motion The waypoint s position can be adjusted more precisely later The pin can be dragged by its base to change latitude and longitude Draggin
23. U g CS User manual v 2 3 HOugcs U g CS User Manual Table of Content WAS OFCON EN ser HO EE OE EE EE OE EE EG 1 Pene Paw Aten OR oe ee ee ee EA Ie ee ee GE ie ce Ge ER ee ee ee Ee EA ee ee ie ee 5 Installation and System Requirements is Hede EE EE Ge Ee DE ie ee Ge EA ee de ie ie ae De ee Ge 6 dele le OE EE EE EE EE EE OE EG EE EE EE 8 Aid SE EO EE ETE OE EE EE ET EO EE eee EE 8 Visie 9 EE ET EE EE EE OE ee ee EE eee 8 Checking the Components and Running the Application ees sees ee ee ee Re ee ee ee ee ee ee ee 8 WIRO le OO EE EE EE EE N EE RE TEE EE 8 Visie EE EE EE EE EE ON EE EE ee 9 da EO EE ETE OO EE LE EE EO EO OE NE N EE 9 BO ji RE EE EE EE EE ER EE EO N ET EE EA OE DE 9 BVT IS SOI WO KS CO EE ee oct ee O EE E ee A N ee ek De A 10 Addis ANNE BOUER n E ee eee so nancies eee aad sae Ge 12 Route Name and Vehicle Protile ideas EES De GEN EG EN nav cand N gees DE ee Ge es 12 Kotie PI aE E ss RE ER N ee ee EE ee ee Ee Oe DE 14 Bi syd ROUTO AA EE N TE EE N EA AO EE N AE 16 EE CUP Route lp IN US oe n AEE EG shen ee ee ee ETENEE 17 SAVE AE N E E E A A E E E E 18 Pane MISSIO oe DE E E EE A E TEE 19 PY PU EVO p E E OO EEEN EE E OE EE EE E EE TEE 19 The Tools and Basics Of Drawing a Route ss ee RE N ee se oe ee ee EE ee ee se Ge SE 20 sjiek sleg OR MR AE OO EE EE OE HEI 22 Adding Removing and Editing Route Segments iss ss sees se ee ee ee ee ee ee ee ee ee ee RE ee 23 ele Ede EA ME MR EO OE ER ER EE HERE ED 23 LEO vliee OE EE AE OE
24. ameter is expected to be a positive digit Speed specified for the segment is higher than the maximum speed specified for the route Decrease the flight soeed parameter for the route segment The path cannot be found Please try to change the location of the basic point s or values of parameters One of the segments of the route cannot produce a path That particular segment should be modified The radius of the circle is too small less than a meter Radius of the circle has to be one meter or more 27 U g CS User manual v 2 3 HOugcs The number of approximating points cannot be less than three Change the Number of approximating points parameter of the Circle to be three or more The height of the circle s centre above ground level is less than the safe height specified for the vehicle Increase the elevation of the circle The minimum height is less than the safe height specified for the vehicle Increase the minimum height of the building scan segment The minimum height is higher than the max height Review the Minimum height and Maximum height parameter values of the Building tool If Maximum height is not specified make sure that minimum height is less than the height of the building The scanning step exceeds the difference between maximum and minimum heights Either decrease the scanning step or increase the maximum altitude of the building scan mission The calculated route will cross other buildings with the given values o
25. amp sw Video Googie satelite n ET ST aho County Idaho United States of America taho Mirpur District Asad Kaschmir Pakistan Taho Thar Parkar District Sindh Pakistan Tahoe Turtle Rock Irvine Orange County California 92612 United States of Americ Tahoe Westway Number 7 Colonia El Paso County Texas 79913 United States of Americ Tahoe Independence Township Oakland County Michigan 48348 United States of Americ Tahoe Stony Lake Oceana County Michigan United Stat tes of Americ Tahoe Goodview Winona County Minnesota 55987 United States of Americ Tahoe Mississauga Transitway Burnhamthorpe T Mississauga Ontario M9C Canad Figure 18 Search places The U g CS Map supports custom sources of map images A source can be selected by clicking on the name of the current source Figure 6 h and choosing the required source Available sources are specified in the configuration The telemetry component show hide telemetry window is switched on when the vehicle is selected Figure 19 Telemetry can be displayed in edit and calculated route mode ArduCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 Figure 19 Telemetry window The telemetry window mode switcher Figure 19 d makes the window full sized or collapses it to short mode when only 3 parameters are shown The default mode is short It shows the battery level Figure 19 a GP
26. asured using an on board compass Heading shows the azimuth of the vehicle movement and is not directly related to its attitude Telemetry is recorded and values are saved to the database Usually a vehicle reports its state multiple times per second All reported data is saved to disk The telemetry data can take up a large amount of available space Vehicle Models The model will be shown above the map in the last known location of the vehicle The vehicle model is an alternative method of representation for some of the telemetry values namely the WGS 84 coordinates latitude longitude and AMSL altitude heading and yaw Coordinates affect the location of the model An Orange arrow shows yaw angle and a green arrow shows heading direction The orange arrow shows the direction where the front side of the vehicle is facing The green arrow shows the direction of movement of the vehicle while the vehicle is moving Figure 34 Vehicle model To focus on the last known position of the vehicle click on its name Sometimes altitude value is unavailable because there is no take off altitude for the vehicle It will be displayed after setting the take off altitude 36 U g CS User manual v 2 3 USCS Video Video Service is a standalone component designed to grab video data from various video sources and to stream it to UgCS clients The Video button Figure 35 a shows hides the video window Figure 35 b in the client You can ex
27. censor shall so certify to the Licensor that such actions have been performed Termination of this Agreement does not entitle You to any refund of any license fees paid by You if any 5 Disclaimers The Licensor does not and cannot make any express or implied warrantees guarantees certification assurances or representations of similar nature or effect Undertaking whether by law civil or common custom usage or otherwise with respect to the usability performance of the Software for any purpose or to the fitness or reliability of the Software or any results obtained from the Use of the Software and or for non infringement of third party rights integration satisfactory quality or fitness for any particular purpose The End User understands and is aware that the Use including the interfacing of the Software in conjunction with other Third Party software or hardware without the prior consent or authorization of the Third Party may be deemed to be unlawful or illegal in particular jurisdictions and or may be in breach of the rights conditions or rules of the third party on whose platform services equipment hardware or software or otherwise the Software is Used interfaced with or otherwise applied to or Used in conjunction with and therefore it shall be the responsibility of the End User to ensure that its use of the Software is lawful and not in breach of any third party rights or other applicable laws in some jurisdictions The L
28. cting it its telemetry window Figure 5 f command history window Figure 5 h and command list Figure 5 g can be seen Each vehicle provides its own set of commands 10 U g CS User manual v 2 3 Menu Miss 2 UsiCS i ssion of 2015 02 26 18 3oogle hybrid no provid arch place New route emuC opter Tt F EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 Player Auto Mode Manual Mode EmuCopter 101 Land Pa eB KA s g d Return Home Disam 18 05 19 EmuCopter 101 Telemetry level is too low 56 58 40 19 N 24 04 27 15 E Elevation 1 m Eye altitude 93 m Figure 5 Mission workspace Multiple vehicles can be added To select more vehicles click on the Add Vehicle button Figure 5 c The button to create a route is located below it Figure 5 b When the vehicle is selected the telemetry window Figure 5 f and the vehicle event log Figure 5 h will appear on the screen See more about it in the Editing Mission and Log Window paragraphs The current coordinates of the cursor are displayed in the lower right corner Figure 5 i Buttons for measurement tools are placed at the left border Figure 5 e The menu bar is located at the top of the window Figure 5 a It contains a set of basic parameters and buttons Figure 6 You can find an additional menu with the Video player and ADS B indicator at the top right corner Figure 5 d The Video button shows
29. d ee oss ee ee ee ie Ee 46 Vehicle PONEC Pal ae CONS ui se di se OE GO oe de Oe De De GR ions N E Re ER es 46 leed ds EE N OR RE EEN EE IE N OE EE EE N EO EE 48 PGI a Maw AV OTO oe eie ee EE Se ee Ee Ee ei feed encneintea ued RE Se ee GE Ee 48 CON EUa ON OR EE EE OE ET N OE OE ER EE OE EE EE OE E 50 CGS CO NG AE EE EE OE EN OE EE E 50 VoM EE EE N ET EN OE EER OE N OE IG 50 DVIS OV ol AE SO Ee ET ER OE EE OE EO OE EE ET N 50 BC OS OUO ae OE OE EA OE EE EE OE 51 EO EE EE OE EE EE OE E A ER OE E N 51 VASE PIERRE OE OE EO N N EE N OE EN 51 selde PEER N N EE OE N EE EE OE saeeaant 51 els AR OE OE EE ER EA EE N E 51 Video COMMEUFATION in CMON iss EE ie se N Ge eN ee ee ee eae eo De Ge De ER De GR DEE 51 Video configuration in video service properties file ss sees ee ee ee ee ek ee ee ee RE ee 51 Re ANG AO EE EE EE N E 52 Hie oi ME AR EE N EE oe etec tae 52 TOUDE piele de AR OE EE N EO OE E EE EE N 53 dd ie de OR N N OE EE ER EE EE EE 53 U g CS User manual v 2 3 The Vehicle Is Flying around One Point for a Long TIME esse sesse see ee ee ee ee dee ee ee ee ee ee Appendix A End User License Agreement U g CS User manual v 2 3 HOugcs U g CS stands for Universal Ground Control Software The software is universal because it supports different vehicle and payload manufacturers and provides users with a unified environment for mission planning execution monitoring and the inventory and management of unmanned vehicles Currently DJI Naza M V2 A2
30. d out is done by rotating the mouse wheel or by pressing the keys or Page Up Page Down keys on the keyboard Map rotation is accomplished by dragging from left to right or from right to left while holding the right mouse button or by pressing the Ctrl left right arrow keys or the Ctrl A D keys on the keyboard To change the inclination drag from up to down or down to up while holding the right mouse button or press the Ctrl up down arrow keys or Ctrl W S arrow keys on the keyboard When using Mac OS you should use the key on the keyboard instead of the Ctrl key for rotation and inclination of the map For Windows Linux OS use the Ctrl key The lower right corner of the map shows the current coordinates of the mouse pointer position The displayed position corresponds to the point on the ground at which the mouse is currently pointing This allows the operator to see the approximate landscape elevation if eye altitude is less than 30 km of a particular point on the map as well as its latitude longitude and eye altitude The compass component shows the direction the map is facing To reset the direction to North click the compass To navigate greater distances on the map use the Search places bar in the upper right corner Enter the location name to move to this location Figure 18 19 U g CS User manual v 2 3 HOugcs BB vos Client adel o EE Mission of 2014 10 17 16 25
31. dow The window also displays the number of waypoints in the route the approximate length and duration of the flight Actions Each route segment can have a sequence of actions attached to it An action is a task performed by the vehicle when it passes through the segment or one of its waypoints Not all available actions can be performed using any vehicle For more information about available actions refer to the vehicle s manual Adding Removing and Rearranging Actions To add an action first select the route segment Actions are found at the lower part of the segment properties window To add an action click on corresponding button from the list of actions Figure 26 The new action will be added to the list To change the order of actions use the Move up and Move down buttons An action can be removed from the list by clicking on the Remove button in the upper left corner 29 U g CS User manual v 2 3 CSuges Set camera mode Change POI Set camera by time Panorama Set camera by distance Change yaw Set camera attitude zoom Wait Figure 26 Supported actions Types of Actions Camera mode allows you to choose one of the following modes Start recording for continuous video recording Stop recording to stop it and Shot for taking a single photo Camera mode by time allows you to shoot a series of images with a time delay between them You can add a delay before the shot series are started The series will con
32. e modify reproduce duplicate copy distribute or otherwise disseminate all or any part of the Software or extract source code from the object code of the Software The Software is licensed as a single product you may not separate its component parts for use on more than one computer or for any other purpose You may not assign sublicense transfer pledge lease rent or share your rights under this Agreement Proprietary Rights Confidentiality You acknowledge and agree that the Software is a product of the Licensor protected under copyright laws and international treaties This Agreement does not convey to you any interest in or to the Software except for a limited 54 U g CS User manual v 2 3 HOugcs right of use as set forth herein terminable in accordance with the terms of this Agreement You shall maintain all copies of the Software and all related documentation in confidence and in a manner that the Software and all related documentation are not publicly accessible and that only those that need access to Software are able to access it 4 Term and Termination The Licensor may terminate this Agreement upon the breach by You of any of its terms Any termination of this Agreement shall also terminate the License granted hereunder Upon termination of this Agreement for any reason You agree to destroy or remove from all computers hard drives networks and other storage media all copies of the Software and at the request of the Li
33. ecorded telemetry from the selected vehicle click on vehicle avatar in the left corner Figure 42 a It is possible to delete only the telemetry currently seen on the timeline by clicking Clear selected telemetry Figure 42 b To remove all telemetry from the selected vehicle choose Clear all telemetry Figure 42 c You can upload your telemetry to www droneshare com Select the Upload to Droneshare Figure 42 d Figure 43to open the upload window 41 UIgl CS User manual v 2 3 CS uses Upload to Droneshare EmuCopter 101 2 17 2015 1 46 11 PM 2 17 2015 2 15 51 PM Duration 00 29 39 9420000 38220 records 338 94 KB Privacy Default w N Save password not secure Riga Riga Latvia Cancel Figure 43 Upload to Droneshare window Information about vehicle name date flight time and duration of the mission is displayed at the top of the window Enter your Droneshare login and password and select the type of privacy You can save the password but it is not secure During subsequent uploads the connection parameters can be stored in the client storage on UCS under clientid key Select Ok to start uploading You can see the progress of uploading in the bottom of the window When uploading is finished you will receive the link to uploaded mission If uploading is failed error message will display in the bottom of the window Select the link to redirect to Droneshare and see your mission
34. er corner of the screen Figure 6 k To minimize the interface click the Minimize button Figure 6 You can also access the mission menu Figure 6 f and Figure 7 Mission of 2014 10 21 19 07 Lreate new mission Stop editing Open Remove Import mission Export mission Ee Figure 7 Mission menu Create new mission Figure 7 a starts the creation of a new mission Start Stop editing Figure 7 b allows the current user to gain release control over the mission This means that in a multiuser environment another operator will not be able to edit this mission until control is released This means that another user can t edit the mission while it is under the control of the current user But if the current user releases control another user can edit it Open Figure 7 c allows you to switch between missions Remove Figure 7 d deletes the current mission Import mission Figure 7 e allows you to load a mission from a file Export mission Figure 7 f allows you to save a mission to a file Adding a New Route To create a route select the New route Figure 5 c icon There can be more than one route in a mission Route creation consists of three steps Route Name and Vehicle Profile The first step is to choose whether to draw the route manually or to import the route from a file Select Create from scratch and move to next step to create a new route Select mport from file to import existing route C
35. ers unless as stipulated by written and signed agreement The End User may not assign its obligations and or rights pursuant to this Agreement The validity of this License is dependent on the payment of all fees relating to the account of the End User connected with the Use of the Software All rights not expressly granted in this Agreement are reserved entirely to the Licensor 9 Definitions For the purpose of this Agreement the following terms shall have the following meaning Backup means a secondary copy of the Software which shall be used solely and explicitly to restore the originally installed Software in case of a data loss event where files or data are deleted or corrupted and the Software cannot be used until the Back Up copy is used 56 U g CS User manual v 2 3 HOugcs Computer means and refers to any programmable electronic device or technical mechanism or terminal that amongst other things accepts reads and or utilizes information in digital or similar form and converts or otherwise manipulates it for a specific result based on a sequence of instructions and or which may respond to new instructions which it is given Software means and includes all the software all documentation and other computer information whether stored on disk read only memory or any other media with which this Agreement is provided including any modified versions updates upgrades and additions which may become available from the
36. ertical speed m s Yes Maximum horizontal speed m s Yes Default climb rate Yes Default descent rate Yes Vehicle height m Yes Vehicle length m Yes Vehicle width m Yes Maximum allowed wind speed m s Yes Dry take off weight kg Yes Maximum allowed weight kg Yes 47 U g CS User manual v 2 3 Uges Payload List Adding a New Payload You can add a new payload by creating a new card and filling in the parameters Create new Canon 5D Mark II 50 mm Name Canon 5D Mark II 50 mm Vehicles Profiles Canon 5D Mark III 50 mm ra i x Canon 5D Mark III 50 mm Canon A2300 A2400 Configuration 5 Canon A2300 A2400 Canon ELPH 115 130 IS MY Name Canon ELPH 115 130 IS Figure 50 Payload Cancel True focal length mm Vehicles Weight kg Sensor width mm Profiles Sensor height mm Sensor horizontal resolution px Foods Es i Canon 5D Mark II 50 mm Configuration Name Canon 5D Mark II 50 mm Canon 5D Mark III 50 mm Name Canon 5D Mark III 50 mm Figure 51 Payload parameters 48 U g CS User manual v 2 3 Below is a table with the parameter meanings Parameter Description Payload name User defined payload name Weight Camera weight kg True focal length True focal length mm Sensor width mm Physical sensor width in metric units Sensor height mm Physical sensor height in metric units Sensor horizontal Sensor horizontal resolution in pixels resolution px Sensor vertica
37. f parameters Please change values of parameters or determine the route manually This means that there are buildings situated too close to the selected building for a safe path to be found Increase the Minimum height parameter in order for scanning to begin or end higher than the neighbouring buildings Another option is to change the Safe distance parameter value wt No cameras are assigned to the vehicle To assign a camera open the main menu Profiles edit vehicle profile and add an appropriate camera into the section Payload The route has at least one segment created with the Area scan tool but the payload does not contain a camera as one of its elements Attach a camera to the vehicle using the route options dialogue or remove the Area scan segments The true focal length for the selected camera must be specified There is a camera amongst the payload items but its parameters are not specified Make sure that the focal length is set to a correct value Other possible errors are described in the Troubleshooting chapter Calculation Results As soon as calculation is completed the results are displayed Figure 25 b All successfully calculated segments of the route are connected by green lines Each route drawn previously will be shown with waypoints prepared for upload to the vehicle The elevation profile shows landscape elevation along the path with proper altitudes of the path shown Both absolute and relative alti
38. for each autopilot For Ardupilot these are Straight and Spline For DJI autopilots these are Stop and Turn Bank and Adaptive bank You can find more information about the supported turn types and their descriptions for your vehicle in the vehicle Manuals ex DJI Manual Actions in every waypoint can be checked to repeat actions attached to the route segment in every basic waypoint generated by the tool Climb rate climb speed of the drone for this segment of route Descent rate descent speed of the drone for this segment of route Route calculation is performed so that the route points are placed at the same height relative to the ground This height is calculated based on the camera settings and set value GSD Note this tool requires a camera to be selected as a payload The camera must have properly specified positive values of focal distance sensor size width and height and sensor resolution horizontal and vertical For more information about setting a camera for vehicle and camera parameters please see the Adding a Payload to a Vehicle Profile and Payload List sections Camera payload that is assigned to a profile In case of multiple cameras attached to profile it is allowed to select which one to use for area scanning Ground resolution GSD cm approximate ground resolution for resulting images in centimetres per pixel Forward overlap ratio of the overlap in neighbouring frames consecutive by
39. g do Longitude 122 01 19 35 yam Altitude abg e ground level m Figure 11 On the map selection of home location Initial speed is the parameter that defines the speed of the vehicle before the first waypoint is reached Additionally it defines the default speed for the rest of the route s elements Maximum speed is the upper speed limitation of the UAV This value cannot exceed the maximum speed the vehicle can achieve it is set in vehicle configuration and defined by vehicle manufacturer Maximum altitude is the altitude limitation for the route Note that this altitude changes its type above mean sea level or above ground as one changes the altitude type for the route see below Emergency return altitude is the altitude used by the vehicle to return to the home position in emergency cases or when the operator recalls it during the mission Altitude origin specifies whether altitudes are calculated from the mean sea level or from the level of terrain Usually it is more convenient to specify altitudes relative to the ground level Please note that once the choice is made all the altitudes specified in the created route are interpreted in the chosen type There is the option to change the altitude origin afterwards via the route options window Trajectory type is the parameter for defining the pattern of the route between two waypoints Choosing the Straight option results in a direct line segment between the points whil
40. g the pin by its head changes the altitude of the waypoint Alternatively coordinates can be corrected in numerical form using the properties window of the waypoint Multiple waypoints can be drawn in sequence Each waypoint you draw creates a new route segment connecting particular waypoints The Circle tool makes the route go around the specified point at a required distance Creating a circle is similar to creating a waypoint To change the radius of the circle drag the circular part of the pin The radius can be specified in the properties of the circle in numerical format Like with waypoints circles can be added to the route in sequence The Perimeter and Area tools are based on polygons and allow the vehicle to fly along a closed path or to cover an area with the required density of flight paths e g for the purpose of scanning the area To create a polygon hold the Shift key and click on the map where you intend to have the corners of the polygon Polygon corner pins can be moved by clicking and holding their bases Latitude and longitude may also be adjusted by means of editing properties To close the polygon set the last pin close to the first one or drag the last pin close to the first A polygon must have at least three corners The Take off tool is used to mark the take off position and parameters The Landing tool is used to mark the landing position and parameters For complete information on how the tools work how they
41. gov wms layers esat amp crs crs 84 For the TileJSON providers the URL no need changes You can paste your TileJSON provider URL as is For example htip earthatlas info nz tiles nz popden tilejsonFor the providers who use the Google XYZ addressing system the URL might need some changes which are shown below Supply URLs in a parameterized form containing tokens X Y and Z or 0 1 and 2 If you have an address at hand containing X Y and Z tokens you must respectively substitute 0 1 and 2 for them preserving the order they are used in http map host com europe Z _ X _ Y jpg M http map host com europe f2 0 1 jpg To add a new provider click Map gt Providers gt Add then fill out the fields and click Save Note that any changes made to the list of providers will not affect the application until it is restarted Note There must be at least one provider on the list otherwise you will not be able to access the map Screen Resolution On this screen you can adjust the window resolution Changes apply immediately Language On this screen you can select the language for the user interface Measurement On this screen you can choose the measurement system for the user interface Sound On this screen you can disable the sound signal in the U g CS client Sound signals are used to notify user about errors in the vehicle log Video You can find detailed instructions for configuring the video in
42. he building You can deselect current tool by clicking tool icon You can edit value in the segment s properties window manually To confirm the input value use button Enter on the keyboard Note there are special cases when the inserted segment is created using the same tool as the one currently selected E g if the next segment is required to be a polygon tool the existing polygon has to be closed and finished beforehand Until then new polygon corners are added to the unfinished figure not to the new one If using the building tool click the Choose next button in the properties window to choose the next building otherwise clicking on a building will modify the current segment and will not produce a new one Note Click the insert new segment route icon m to add a new segment before the current segment When a route segment is selected you can edit it as if it had just been created move points change the radius of circles modify corner points of polygons or change the selected building for the building tool You can select the next segment by clicking arrow button in the upper right corner of the segment s properties or by click button 1 and on the keyboard The selected segment can be removed by clicking the Remove segment button in the upper left corner of the segment s properties or click button Del on the keyboard Tool Parameters Each tool requires the specification of additional parameters which
43. hides the video window refer par Video More information about ADS B refer par ADS B AI NETTIE EEN i da paet ON ET Ois Figure 6 Menu bar The Menu button Figure 6 a allows you to exit to the main menu The Mission and Player buttons Figure 6 b and c allow you to switch between the Mission and Telemetry player windows refer par Telemetry Window The mission name is assigned according to their date and time of the creation of the mission Figure 6 d Next to the mission name the release control icon Figure 6 e is displayed Move the cursor 11 U g CS User manual v 2 3 CS uges to it to display the name of the user who has control if you are working with a mission on two clients Click the icon if you want lock unlock the mission Select Map provider Figure 6 g to choose between different providers Two map providers can be used at the same time meaning that one of them is used as a base map tile provider Google Hybrid for example Figure 6 g and another is used as an overlay tile provider Figure 6 h WMS type only which for example can add street names Enter the name of a locaiton in the Searching for bar Figure 6 i to quickly navigate to the specified position internet connection required Key Figure 6 j icon is displayed when you are using the Open version After activating the license the icon will disappear Current local time is displayed in the right upp
44. icensor makes no Undertaking and accepts no liability with respect to any thirds party claims in this respect The provisions of this Clause shall survive the termination of this Agreement howsoever caused provided that this shall not imply or create any continued right to Use the Software after termination of this Agreement The End User is hereby notified and understands that most software products contain programming errors Bugs which may or may not be fixed or amended and therefore the Licensor makes no Undertaking that the Software licensed pursuant to this Agreement is error free Any implied warranties whether at law in custom or pursuant to industry standards in this respect are also excluded and waived in their entirety by the End User and the Licensor shall accept no liability towards the use of the Software or the completeness accuracy or reliability of any data or other results generated from the Software and excludes all liability in respect to any damages of whatever kind suffered by the End User through the use or reliance on the Software Use and reliance of the Software is completely at the End User s risk The Licensor furthermore does not guarantee any 1 Service Levels 11 Uptime Levels 111 Response Times and or iv that it shall fix and bugs errors or faults in the Software and shall be entitled to request a fee for costs and expenses in providing a fix or turn around solution 55 U g CS User manual v 2
45. l l Sensor vertical resolution in pixels resolution px Yes Yes Yes Yes Yes Yes Yes KS uges Mandatory 49 U g CS User manual v 2 3 HOugcs Configuration Connections The Core service section defines HCI and VSM connections to a UCS By default it points to the local instance In the case of a multi node deployment network the address of the UCS can be specified Use proxy allows you to specify a HTTP proxy server This setting can affect the loading of the map VSM Records for each of VSM servers By default points to local instances If you have a dedicated VSM installation and want core services to connect to it add a new record with the appropriate host and port fields Map providers You can configure custom providers of map images There are two kinds of providers currently supported WMS providers TileJSON providers and providers using the Google XYZ addressing system To edit the list of usable providers choose Map gt Providers from the configuration menu At the right the list of registered providers will be shown Currently the following map providers are supported Google hybrid Google map Google satellite OSM Mapnik Bing Germany roads To edit the provider data click on the corresponding item and choose the Edit option in the top right corner Removal is also available When editing the provider data you may set its type Tiles for the providers using the Google XYZ addressing system
46. l non exclusive non transferable non sublicensable license to use the Software as provided herein solely for using the Software according with its documentation the License Each License allows You to install and use two 2 copies of the Software on a two 2 computers for use by not more than one user at a time Use of the Software by two or more users requires a separate License for each such user The End User acknowledges that Updates may be licensed by the Licensor with additional or distinct terms and conditions The License given pursuant to this Agreement is without prejudice to any additional user policies rules or instructions which may be supplied with the Software or published by the Licensor from time to time The End User hereby agrees to comply with all such policies rules or instructions and failure to do so shall be deemed to be a material breach of this Agreement The Licensor reserves the right to amend the terms of the License given to the End User pursuant to this Agreement Continued Use of the Software by the End User following the date of notification by the Licensor of the new terms shall be deemed to be an acceptance by the End User of the new terms The new terms shall supersede the terms of the original License and shall thereafter be deemed to be binding and enforceable Other Rights and Limitations You may not and may not permit or aid others to translate reverse engineer decompile disassemble updat
47. latform 3DR APM Profile 3DR Aero M Payloads Canon SX260 SX280 Altitude mode m N A Downlink Yes Uplink Yes Figure 47 Remove vehicle 44 U g CS User manual v 2 3 Uses Vehicle Profile List Adding a New Vehicle Profile You can add a new vehicle profile by creating a new card and filling in the parameters UIgICS Client i Create new 3DR Aero Fed Create new item Name 3DR Aero Vehicles Payloads ARDRONE ArduPilot i 3DR Aero M DJI A2 Name 3DR Aero M DJI NAZA M V2 Payloads Yr a Platform ArduPilot DJI WooKong M Payloads MICRODRONE Figure 48 Adding a new vehicle profile Editing a Vehicle Profile You can add edit a vehicle profile by clicking on the profile card and pressing the Edit button You can choose different avatars 3D for vehicles by choosing avatars for the vehicle profile Figure 49 a and can also edit parameters Figure 49 b ff U g CS Client Cancel Microdrone md4 1000 Back Es XECE Microdrone md4 1000 Click to Platform MICRODRONE Vehicles Payloads Charged battery voltage V Payloads Normal battery voltage V Low battery voltage V Discharged battery voltage V Battery weight kg GPS _ Remove 25 2 oo 21 29 Normal number of satellites a EN 512 Ad 4000 Configuration Low number of satellites Telemetry Normal telemetry level Low telemetry level Routing Max waypoints Waypoint acceptance radius m Max altitude
48. leading to misdetection and device hanging as VSMs launch their vehicle detection routines You should alter port searching patterns for VSMs to exclude ports that you use for microADSB devices see note in Registering a New Vehicle In the event such device hangs for any other reason simply unplug it then plug it back in 39 U g CS User manual v 2 3 Uges Telemetry Player Menu MIER olave Untitled layout Yv Speed b EE 2y 4x 8x S4 EmuPlane 102 2015 02 27 ie Sm d 00 00 00 N ol i f Cl B 56 58 28 92 N 24 04 07 43 E Elevation 1m Eye altitude 122 m Figure 40 Telemetry player workspace Telemetry values recorded during the flight can be re played to closely resemble actions that happened during the actual mission execution To open the player select the Player button Figure 40 a in the upper left corner And to return to mission view just click the Mission button to the left of the Player button It is necessary to select the vehicle whose telemetry was recorded It can be done in the same way as in the Mission view Please view the Adding a Vehicle section for further information Then click the button Open calendar Figure 40 c and use the calendar to choose the date Figure 40 c on which the flight took place all the dates having recorded telemetry are highlighted in the calendar If the telemetry data was recorded it is displayed on a timeline Figure 4
49. lick Browse in appeared string and specify the path to the file with route Import from xml and kml is available 12 U g CS User manual v 2 3 Uges New route creation O Create from scratch import from file Cancel Figure 8 Route creation mode The second step is to name the route and specify the vehicle profile for the route The vehicle profile defines common parameters for a vehicle class For more information about vehicle profiles refer to the Vehicle Profile section Route planning uses the vehicle profile instead of the vehicle instance Thus one route can be uploaded to several vehicles sharing one profile New route creation Route name Across the lake MC Fly Hellios Microdrone tyd4 1000 Figure 9 Route name and drone selection 13 U g CS User manual v 2 3 CS uses Route Parameters The third step is to review and set missing parameters of the route In order to ensure a safe execution of the mission it is crucial to understand and review all of the parameters before the route is confirmed Across the lake DJI Wookong M multicopter Home location Take off point altitude ist waypoint Set explicitly CO Above around Latitude z Trajectory type Longitude gene p O Straight Altitude above ground level m Action on loss of GPS OREN a Land Initial speed m s 6 00 Action on loss of RC be Bite Ks a Maximum speed m s 10 00 m Vail WW Land E Home Continue
50. lt Users Username Library Logs gt directory Linux lt var opt ugcs gt directory U g CS client If you are having trouble seeing the client or if the client does not run on Windows please run the client using the shortcut U g CS client in OpenGL mode from the Start menu The Vehicle Is Flying around One Point for a Long Time The most common problem is associated with specified small waypoint acceptance radiuses or poor accuracy of the determination of GPS coordinates A possible solution is to increase the waypoint acceptance radius of the vehicle configuration 53 U g CS User manual v 2 3 HOugcs Appendix A End User License Agreement NOTICE TO END USER PLEASE READ THESE TERMS AND CONDITIONS CAREFULLY BY INSTALLING AND OR OTHERWISE USING ALL OR ANY PART OF THE SOFTWARE AS DEFINED HEREIN YOU ACCEPT AND UNDERTAKE TO BE BOUND BY ALL THE TERMS AND CONDITIONS OF THIS AGREEMENT IF YOU DO NOT AGREE DO NOT USE THIS SOFTWARE This End User Software License Agreement the Agreement is entered into between you as the person purchasing a license to use the Software and whose details are contained below the End User or You and Smart Projects Holding Ltd a company organized and existing under the laws of the Republic of Malta with offices located at 85 St John Street Valletta Malta the Licensor l Grant of License Subject to the terms of this Agreement the Licensor grants You a limited persona
51. motion vector see the scheme below Value is set in the range from 1 to 90 Side overlap ratio of the overlap in neighbouring frames placed in 24 U g CS User manual v 2 3 CS uses Perimeter Circle neighbouring rows see the scheme below Value is set in the range from 1 to 90 Camera top facing forward concerns the camera orientation to the motion vector If the flag is set then it is assumed that the camera is oriented so that the frames overlap over the upper frame boundary motion vector If the flag is removed then the frames overlap along the lateral frame boundary Direction angle used to change the direction of the main scanning progress By default the algorithm calculates a route scan in a bounded polygon so that the main course of the scan is performed in the direction of South North Actions in every waypoint if the flag is cleared the algorithm generates only the turning points Point between the turns of the vehicle will be skipped WwslaHswery Figure 23 Sample area scan route fo forward overlap so side overlap Calculation 1 Calculate the altitude required for camera recording a heightAgl f GSD sensorWidthPx sensorWidth b heightAgl f GSD sensorHeightPx sensorHeight c Selected minimum value calculated of heightAgl 2 Calculate the frame size a frameWidth sensorWidth heightAgl f b frameHeight sensorHeight heightAgl f 3
52. n errors for route calculation are provided below 26 U g CS User manual v 2 3 HOugcs The starting ending point of a route is not passable The first or last point of the route has an AGL altitude less than the minimum reduired by the vehicle or is inside an obstacle Modify the first or last route segment to fix the problem The server failed to calculate path The route is too complex or terrain is too tricky Please set more precise route and try again Usually shown when the landscape configuration is too complex to produce a path Substitute route segments created using tools with plain waypoints or add remove additional waypoints The point exceeds the maximal altitude specified for the route One or more points are set too high Either lower it them or change the maximal altitude parameter in the route options The distance between the point and an obstacle building is less than the safe distance specified for the vehicle At least one of the points is too close or inside a building and has to be relocated to a safe distance from the building If a point is set inside the building temporarily turn off the buildings layer by clicking the 3D objects button to reveal and move the point The distance between the point and the ground is less than the safe height specified for the vehicle At least one of the points is not high enough to satisfy the minimal altitude condition and must be elevated The total number of waypoints in the
53. n the basic ones to avoid collisions with obstacles or violation of minimum altitude constraints For example see Figure 22 where additional waypoints were produced after setting two base waypoints Figure 22 Additional waypoints inserted between the basic ones 22 U g CS User manual v 2 3 HOugcs The following table presents how each of the tools produces basic waypoints Tool Basic waypoints Take off Take off vehicle in the current position Waypoint Set explicitly by the user Area scan Generated in places where the camera has to take shots Perimeter Correspond to vertices of the polygon elevated to the reduired height Circle Set at equal distance from each other to give decent approximation of the circle Number of basic points may be set by the user or are set automatically Landing Vehicle landing in the selected position Adding Removing and Editing Route Segments By default route segments are added in order of creation the next one succeeding the last one created before To insert a segment between two existing segments select the segment and then create the segment as described in the previous section Each new segment of the route is created after the currently selected waypoint To select a waypoint click on its pin s head To select a circle click on its head or on its circular part A polygon is selected by clicking near its contour To select a segment based on a building click the marker located above t
54. nt and find the distances to all obstacles around that point The tracing is performed on a horizontal plane You can deselect current tool by clicking tool icon Telemetry Window When the mission is in progress the telemetry window Figure 33 is shown Three gauges at the top of the window show the battery charge level number of GPS satellites visible and the quality of the downlink channel This gauges will have a white orange or red color depending on the charge or the quality of the signal 34 U g CS User manual v 2 3 CS uses ArduCopter 101 Battery 12 60 V 100 GPS 9 Principal values Telemetry 100 Control mode Downlink yes Uplink yes State armed Altitude 50 25 m Altitude AMSL 49 09 m Altitude AGL 45 42 m Elevation 3 67 m Location Speed Vertical speed 0 00 m s Horizontal speed 0 00 m s Latitude 56 58 32 56 N Longitude 24 04 20 88 E Mar h N bel gt 4 Vo Attitude Figure 33 Telemetry window Principal values Battery GPS and Telemetry These values indicate the level of the battery voltage the number of GPS satellites and quality of the signal telemetry Control mode Control mode status automatic flight mode or manual mode Downlink Downlink connection status Uplink Uplink connection status State State of vehicle status Arm activates all systems and makes the vehicle ready for the flight or Disarm deactivates all systems and makes the
55. o this Agreement 8 Miscellaneous Provisions If any Clause of this Agreement or part thereof is deemed to be null void and or unenforceable it shall not affect the validity of the remainder of the Agreement which shall remain valid and enforceable according to its terms This Agreement does not and shall not be deemed to create or imply an agency partnership or other type of joint venture by and between the parties Any amendment to this Agreement shall be valid only and to the extent that it shall be in writing duly executed and signed by an authorized officer of the Licensor The provisions contained in this Agreement constitute the entire agreement between the Parties and supersede all prior agreements representations discussions Undertakings whether oral or written and all other communications between the Parties No term or condition contained in any document provided by one Party to the other Party pursuant to this Agreement shall be deemed to amend modify or supersede or take precedence over the terms and conditions contained herein unless explicitly agreed to in writing by and between the Parties Any waiver of any failure to comply with any provision of this Agreement or part thereof or any waiver of any obligation imposed under this Agreement shall be executed in writing dated and signed by both Parties Provided that any waiver of one clause or of any failure to comply shall not be deemed to create any subsequent or similar waiv
56. ollow the installation guide 3 Read the license agreement carefully you can find it at the end of this document Linux For Linux deb packages are available on our website ugcs com For Linux installation instructions please go to http apt ugcs com doc Mac OS For quick installation follow these steps 1 Run the installer ugcs 2 3 dmg 2 Follow the installation guide 3 Read the license agreement carefully you can find it at the end of this document Checking the Components and Running the Application Windows U g CS will start automatically after the installation You can start U g CS Client by clicking the icon on desktop U g CS Client is a GUI application which starts U g CS Service manager and all necessary processes All processes will be closed after exiting from U g CS Client Alternatively you can run the service manager by clicking the icon on desktop U g CS Service manager will start the required background processes universal control server UCS vehicle specific modules VSM and the emulator La L U g Cs U g CS chent SEMICE Figure 1 U g CS Service manager and U g CS client shortcuts Provided that the service manager starts properly it can be found in system tray Please check that all services are running If a service has stopped it should be launched from the system manager s menu Please note that Administrator privileges are required to run the services Provided that the U g
57. opter 104 Proximity warning Distance 46 50 m azimuth 87 386 approaching vehicle Ardulopter 101 Figure 38 Warning about collision possibility 38 U g CS User manual v 2 3 CS uges A warning is cleared if one of the following events occurs e The minimal convergence persisted in the past and the spread angle between the trajectories is more than 20 degrees e The minimal convergence persisted in the past and spread angle between the trajectories is less than 20 degrees and the areas of the vehicles are not violated Warnings are created only for vehicles which have been added to the vehicle list When control is released all current alerts for that vehicle are removed An indicator in the top right corner shows whether any ADS B receivers are currently connected Figure 39 It is displayed green if a connection with at least one such device is active and grey otherwise Menu Mission Player Google hybrid no provider P Ki 18 51 38 AN Untitled route Video j Quadcopter Emulator DO gt 2 Figure 39 ADS B receiver connection indicator As of this moment U g CS supports microADSB receivers as sources of ADS B data Multiple devices can be used simultaneously for improved reception of ADS B transmissions Important Vehicle detection may use the same ports that microADSB device uses Its driver however requires it to be properly shut down via a specific procedure after a connection attempt possibly
58. pand the video window to full screen by double clicking on it Figure 35 b To view a list of available video streams click the button in Figure 35 c Also you can broadcast video data to web services using the Share button Figure 35 d Then all available video sources will be displayed in the video window Figure 36 and you will be able to select a source by clicking on it Mission of 2015 02 26 18 A iw Select video source Select video source E m E sad dm A Z GoPro elect video source Figure 36 Video source in the video window share Ardrone C Ustream d Figure 37 Video source share menu In the share menu you can choose a web service to broadcast Figure 37 As example to use Ustream service http www ustream tv you should put insert your channel s URL Figure 37 b and to set flag of 37 U g CS User manual v 2 3 CS uses permission to broadcast to service Figure 37 a Now you can check your stream on Ustream channel Note that it could be a delay that is set by default in Ustream service Video Service runs under control of Service Manager Video service works with different video sources such as capturing devices web cameras and network streams GoPro or ArDrone video streams for example Video Service provides information about available video sources to UgCS client so you can pick up desired stream just from client For every video device or stream found Video Service
59. produce commands that will be uploaded to vehicles please see the Tool Parameters chapter Each tool has its own properties window All the properties windows look similar There are two buttons on the header row used to select the previous and next route segments On the right side there is a Remove segment button The properties window is divided into three sections The first displays and allows the editing of the coordinates and general values of tools The second contains parameters specific to the chosen tool The last contains the list of attached actions and buttons used to create new actions 21 UIglCS User manual v 2 3 CS uses Aa Mm 1 1 Waypoint Latitude Longitude Altitude above ground level m Flight speed m s Turn type Stop and Turn y Avoid obstacles Avoid terrain 1 Set camera mode Start recording Stop recording Figure 21 Layout of tool inspector a figure properties b tool parameters c list of actions Basic Waypoints Tools except for the Waypoint tool are designed to automatically create sequences of waypoints in a more accurate and effective way than by defining them manually using the Waypoint tool These automatically generated waypoints are further treated in U g CS as basic waypoints Basic waypoints are locations that will be visited by the drone Provided that safe calculation of route has been chosen additional waypoints will be added automatically in betwee
60. rding of shade Highlighted buttons suggest recommended commands for example Figure 17 a f depending on the current state of the vehicle for example Figure 17 b c d e Arm Auto Mode Manual Mode Land Return Home Disarm Figure 17 Operation toolbar Arm Disarm Figure 17 a f activates deactivates all systems and makes the vehicle ready for flight Auto Manual Mode Figure 17 b c switches the vehicle between automatic flight mode and stabilized manual mode Return home Figure 17 e returns the vehicle home Land Figure 17 f lands the vehicle Camera Trigger triggers the camera switch if the vehicle is equipped with one For example DJI A2 and Wookong autopilots support general purpose servos which can be used to trigger the camera 18 U g CS User manual v 2 3 HOugcs Editing a Mission Routes in the mission are edited separately The route currently open for editing is the one selected from the list of routes Navigation This chapter describes map usage in order for the operator to be able to adjust the map view and create route elements Note For full functionality of the map an internet connection is required Provided there is a proxy its settings should be specified in the U g CS configuration Moving the map is done by holding the left mouse button and dragging or by pressing the arrow keys or WASD keys on the keyboard The map will follow mouse movements Zooming in an
61. roperty or encountering other damages by taking unnecessary risks The user must be acquainted with and comply with location specific legal regulations before using U g CS Please make sure that the first waypoint is located close to the actual take off location and there is no significant vertical drop Also make sure that a correct take off point altitude is specified before flight For doing this please refer to page 31 of this manual It is important to do this because the barometer readings change between power on route upload and take off In the case of strong wind using automatic take off and landing is not advised and could lead to a crash In a scenario like this it is safer to take off and land the vehicle in manual mode Automatic mode should be switched on only when in mid air U g CS User manual v 2 3 HOugcs Installation and System Requirements There are two installation modes for all operating systems e Simple deployment installs all the components on a single computer and runs the components as processes inside a user session e Users with advanced requirements can choose the Advanced deployment option that allows the installation of different components on separate machines and or the ability to run them as separate services System requirements for Simple installation ee N Windows XP with SP2 or later Operating Mac OS X Maverick Ubuntu 12 13 or 14 Windows 7 with SP1 or later s
62. s for the chosen vehicle Figure 28 Select profile It is possible to choose a different profile for the current vehicle if the wrong profile is selected To do so one must click Select profile and choose a new profile for the current vehicle Take off altitude You can set a new take off altitude for the vehicle Please see more information in the Take off Altitude section Gain control lock control for the chosen vehicle Release control unlock control for the chosen vehicle Show avatar hides shows the vehicle icon on the map Show telemetry choose whether to display telemetry info or not Show commands choose whether to display vehicle command buttons or not Show log remove or show vehicle specific information in the log window Take off Altitude Take off altitude this is the height above ground of the starting point or the current point of the vehicle in the current moment Its installation is necessary to adjust the heights of the waypoints before uploading them into the vehicle because sensor readings barometer accumulate errors during long stays in the air When creating a new mission the altitude status can be not available This is because either for the specific vehicle profile the default take off altitude is not set or was not set automatically by our software We will further explain the importance of proper take off altitude To set take off altitude please choose vehicle a
63. satellites or low telemetry warnings are shown in the og window All errors are accompanied by a sound signal 17 10 24 ArduCopter 101 Uploading route Untitled route 17 10 22 ArduCopter 101 lt Vehicle gt null Take off point altitude changed 1 16 m AMSL 17 10 10 ArduCopter 101 Route Untitled route upload failed Command cant specify take off point altitude for the drone Figure 24 Log window Mission Calculation After the route has been formed with all segments in place and their parameters are double checked the mission is ready for processing The calculation process is executed by clicking the Calculate button EA The mission is automatically saved when the route calculates Calculation might take some time During the calculation process the route is checked for feasibility according to predefined rules First it checks whether figures and parameters are specified correctly All polygons must be closed and all parameters must be correctly specified before proceeding Correct parameters must also be supplied for actions attached to the route segments To ease error correction for a route a message is displayed pointing to incorrect values before route calculation proceeds The first route segment with an invalid parameter is automatically selected After the problem has been fixed click the Calculate button again If no more errors are found the calculation process will be launched Processing Errors Commo
64. sist of a number of shots with an interval between them Camera mode by distance allows you to shoot a series of images with a specified distance between each of the shots You can add a delay before the series is started The series will consist of a number of shots with a distance between each of them The Camera attitude zoom action allows you to change the angles of camera pitch roll and yaw or to set the required zoom level of a camera Angles can be defined from 0 inclusively through 360 exclusively Zoom levels are integral positive values The Yaw action specifies the heading relative to the movement direction The value must be in range from 0 to 360 Point of interest POI sets the point of interest for the vehicle to face towards during the flight It can be set either by entering a latitude longitude and altitude in a numerical form or by clicking the Crosshair button in the action properties and drawing the POI in the same way that waypoints are drawn holding the Shift button and clicking on the map After inserting the POI click the crosshair icon again to exit POI mode Panorama action allows the vehicle to slowly rotate in the specified waypoint to take a video panorama or shoot a series of photos while rotating Wait action wait in the current waypoint for a certain time Note The Point of interest action does not affect connection between the route segments for which it is set 30 UIglCS User
65. st the Safe option generally produces two segments one vertical and one horizontal as schematically shown below The behavior of vehicles in different types of trajectories and applicability of failsafe conditions depend on the autopilot s capabilities For more information check the manual and specifications of the device 15 U g CS User manual v 2 3 CS uges Safe descending Sate ascending Figure 12 Safe trajectories Action on GPS loss action on RC loss and action on battery discharge are the pre defined emergency actions In all cases the option to wait or to land the vehicle can be chosen Options to return to home position and to continue flight along the route are also available provided GPS is operational Usually it is only required to specify the home position and safe altitude other parameters have reasonable default values based on known vehicle properties Still it should be ensured that defaults are correct The software will perform checks and will cancel route creation if incorrectly defined or conflicting values of parameters are present Notifications about errors in values are displayed at the bottom of the window and the particular parameter is highlighted List of Routes The List of routes can be opened by clicking the Open list button Figure 13 a located to the right beside the particular mission Each item on the list shows the route name and the name of the assigned vehicle The Remove button
66. starts video stream MJPEG on specific http port Device streaming begins when at least one client is connected to specific port There is more information about component configuration options below ADS B U g CS supports ADS B Automatic dependent surveillance broadcast and warns the user about collision possibilities between vehicles U g CS gives warnings about dangerous convergences concerning vehicles controlled by U g CS and vehicles observed by U g CS via the ADS B receiver Collision possibility calculation is based on three parameters e H horizontal distance meters e V vertical distance meters e T warning time seconds Values for the vehicles controlled by U g CS e H 20m e V 15m e T 60sec Values for the vehicles observed by U g CS e H 9260m 5 NM e V 300m e T 60sec Warnings about possible collisions Figure 38 appear in the log window if vehicles during the minimal convergence would in the future violate both boundaries H V of any other vehicle in a time less than T A warning is not displayed if the minimal convergence occurred in the past and the vehicles fly apart from one another 17 33 30 ArduCopter 101 Proximity warning cleared with vehicle ArduCopter 104 h 17 33 30 ArduCopter 104 Proximity warning cleared with vehicle ArduCopter 107 17 33 27 ArduCopter 101 Proximity warning Distance 46 50 m azimuth 267 378 approaching vehicle Ardulopter 104 17 33 27 ArduC
67. t the top of the map and click the drop down menu Figure 30 a A ay EmuCopter 101 oe n Take off point altitude ty 3 Altitude 0 00 m select profile Altitude AMSL N A Take off point altitude Altitude AGL Release control VETTE avatar af Show telemetry Show commands EmuCopter 101 N f Show tee Remove Figure 30 Set take off altitude 32 U g CS User manual v 2 3 Uges Take off altitude is set to zero automatically by our software when a new mission is uploaded to a disarmed vehicle So the software predicts that aircraft is disarmed and on ground level But prior to uploading a new mission to an armed vehicle take off altitude must be set manually in the vehicle menu upper left corner This is because of altitude drift that can happen due to vehicle sensor specifics and can cause incorrect altitude reporting Sometimes the take off altitude after resetting power on the vehicle can reset and you will need to set it again There are 3 ways to set it Enter it manually Figure 30 b sample it from terrain by clicking the map while holding Shift or setting it from the current terrain altitude under the vehicle Figure 30 c It must be noted that it is highly recommended to always check altitude values Altitude drift problems cannot be solved by software only and require operator attention Always check after power cycling a vehicle or mission upload whether the altitude is reported correctly After set
68. ted by U g CS at the moment Microdrones Mikrokopter DJI Naza M V2 DJI A2 DJI Wookong M ArDrone 2 and Ardupilot the VSM should detect a new connection and a new record in the vehicle list in the U g CS client should be created Please refer to troubleshooting options further on in this section in case of failure 3 After the automatic detection of vehicles in U g CS you can see a vehicle card in the main menu vehicle list Figure 45 UIglCS will choose the most suitable vehicle profile for the vehicle 4 If necessary you can select a different profile for the device manually or edit the current profile To select the profile for the vehicle you must click the Gain control and Edit buttons After this you can select a predefined vehicle profile Figure 46 Note Vehicle registration can fail if the VSM does not detect a new port for the vehicle connection The VSM uses the following default pattern for port searching dev ttyUSB 0 9 com 0 9 You can change this pattern in the VSM configuration file that can be found at lt UGCS INSTALLATION PATH gt vsm vsm conf Please restart the VSM after configuration changes zum one ey TT EES On Tail number ArduCopter 101 Platform ArduPilot Uplink connected Ag Profile 3DR ArduCopter Quad Downlink c ected EE Take off point altitude m 1 16 ArduPilot Downlink Yes Profiles Uplink Yes Payloads ArduCopter 103 As Tail number ArduCopter 103 a gt Platform
69. ting the take off altitude it is displayed in the vehicle card Uploading a Mission If you are satisfied with pre calculated routes missions can be uploaded to vehicles Upload is done by clicking the Upload button Figure 31 a The mission is saved and forms the waypoints uploaded to the assigned vehicles Coach voces EmuCopter 101 Battery 12 60 V 100 a GPS 9 Telemetry 100 _ a EmuCopter 101 Manual Mode Land Return Home Disarm 18 41 01 EmuCopter 101 Route Untitled route successfully uploaded 18 41 01 EmuCopter 101 Uploading route Untitled route 18 40 58 Route has been successfully processed s EE EE EE Eye altitude 86 m Figure 31 Uploading process button a and indication b 33 U g CS User manual v 2 3 HOugcs During uploading information upload process progress is shown in the log window Figure 31 b When the route is being uploaded to the vehicle you can see the following message on the log window Vehicle name Uploading route Route name Do not interrupt the connection between the computer and the vehicle When the route has been successfully uploaded you can see the following message on the log window Vehicle name Route Route name successfully uploaded If the upload to the vehicle fails you can see the following message on the log window Vehicle name Route Route name upload failed Error can be caused by a
70. tudes of each generated waypoint can be seen by moving the mouse pointer over the waypoint Statistics of the calculated route are presented above the elevation profile Figure 25 a These are estimated flight duration route mileage total number of waypoints and min max values of AMSL above the mean sea level and AGL above ground level altitudes of the path Please ensure that the minimum AGL altitude value is sufficient for safe flight If there is more than one route in the mission switch between them to observe calculation results To return to editing mode click the Edit button Clicking again on the Calculate button will re calculate only the changed segments of the route Therefore re calculations usually take less time 28 UgCs U g CS User manual v 2 3 Elevation Profile Elevation profile Untitled route Distance est Duration est Waypoint count min alt AMSL AGL max alt AMSL AGL Figure 25 Calculated path and elevation profile After successful calculation the Elevation profile screen will appear at the bottom of the screen To enable hide the window click the Elevation profile button a on the route panel The window shows the height profile Figure 25 c for the calculated mission On the elevation profile windows you can see the profile heights trajectory Figure 25 d and ground level Figure 25 e If the route passes over a building its profile is also displayed in the win
71. utomatically Login After the U g CS client starts it will auto login If you have more than one user account a login page will be shown The default login admin and password admin UIglCS User manual v 2 3 SO UgCS Mission Workspace When you start the application for the first time a new mission workspace will be created automatically The screen consists of several parts 1 The route list Figure 4 a contains a drop down list with prepared routes 2 The vehicle list Figure 4 b contains a set of vehicles available for control YP an AE DNAEINSDIODG la Mission of 2015 02 26 18 an itl a 4 4 Waypoint P Latitude b EmuCopter 101 D Battery 12 60 V 100 Altitude above ground level m GPS 9 E Telemetry 100 Flight speed m s Turn type Avoid obstacles Avoid terrain EmuCopter 101 Land Return Home 48 05 19 EmuCopter 101 Telemetry level is too low 56 58 41 55 N 24 03 58 53 E Elevation 1m Eye altitude 93 m Figure 4 Mission workspace The Add vehicle Figure 5 c button opens the list of registered vehicles To register a new vehicle connect your vehicle to U g CS and ensure that the VSM for that vehicle type is running U g CS should automatically detect the connected vehicle and assign an appropriate profile for it For more information on specific vehicle workflows please refer to the Adding a Vehicle to a Mission section After adding a vehicle to the list and sele
72. vehicle not ready for the flight Latitude and longitude Current latitude and longitude WGS 84 coordinates of the vehicle calculated according to GPS coordinates Altitude Shows the current altitude of the vehicle Usually this is the height that the vehicle sends and calculates using the barometer from the starting point 35 U g CS User manual v 2 3 CS uges Altitude AMSL Shows current altitude of the vehicle above the mean sea level This value is based on GPS and or barometer data The value is calculated thusly Altitude AMSL Take off point altitude Altitude Altitude AGL Shows current vehicle altitude above ground level Accuracy of this value depends on the digital elevation model of the map for the particular region The value is calculated thusly Altitude AGL Altitude AMSL Elevation Elevation AMSL of landscape under the current location of the vehicle Depends on the digital elevation model for the region Landscape elevation is shown in meters above the mean sea level Vertical speed Indication of how fast a vehicle is rising or descending A positive value means an increase of AMSL altitude and negative means descending Horizontal speed Shows vehicle speed relative to the ground Four more elements below the list of values display the current attitude of the vehicle roll pitch yaw angles and heading Note yaw angle shows the angle of rotation of the vehicle around its vertical axis and is usually me
73. ystem 10 9 or later 32 bit and 64 bit Windows 87 Core 2 Duo or Athlon X2 at 2 4 GHz Minimum 2 GB of RAM Recommended 4 GB of RAM 2 GB of free space Graphics Graphics card with DirectX 9 support Shader model 2 0 Any card made since hardware 2004 should work TCP IPv4 network stack Screen Minimum supported screen resolution 1024x768 resolution Please note that the software has not yet been tested on server versions of Windows and OS X Windows Vista is not supported U g CS User manual v 2 3 HOugcs System Requirements for Advanced Installation Windows Windows XP with SP2 or later Windows 7 with SP1 or later Windows 8 Operating Mac OS Mac OS X Maverick 10 9 or later system Linux Ubuntu 12 13 or 14 32 bit and 64 bit Core 2 Duo or Athlon X2 at 2 4 GHz 1 GHz processor Intel Celeron or better 1 GB RAM minimum 2 GB RAM recommended 512 Mb RAM 1 GB free space 256 Mb free space Graphics card with DirectX 9 Graphics support shader model 2 0 VGA capable of 1024x768 screen resolution hardware Any card made since 2004 should work Network TOP IPv4 network stack Screen Minimum supported screen resolution 1024x768 resolution Please note that the software has not yet been tested on server versions of Windows and OS X Windows Vista is not supported U g CS User manual v 2 3 HOugcs Windows For duick installation follow these steps 1 Run the installer ugcs 2 3 exe 2 F

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