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1. 39 U g CS User manual v 2 6 CS uges Adding a Vehicle to a Mission To add a vehicle click on the button at the upper left corner of the map Figure 37 Menu Mission Player Mission of 2015 02 26 18 mfe New route Figure 37 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 38 i EmuCopter 101 Select profile Take off point altitude Release control Yd Show avatar wae Show telemetry we Show commands Td Show log Show video show camera footprint Remove Figure 38 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 39 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 40 U g CS User manual v 2 6 CS uges i ArduCopter 101 A y Figure 39 Vehicle indicating icons a Battery level b uplink status c downlink status and d GPS status In the drop down menu there are addition
2. Add building Figure 50 Placemark menu You can also add description to placemark to not forget the purpose of placing it Create placemark Category HAZMAT HAZMAT Incidents Natural Events Figure 51 Placemark creation window To remove a placemark one must do a right mouse click on the placemark and chose Delete placemark It is also possible to move a placemark by doing a right mouse click on a placemark chosing Move placemark and then doing a left mouse click on the area one wants to move the placemark to Figure 52 51 U g CS User manual v 2 6 CS uges P b Move placemark Delete placemark Figure 52 Placemark edit window It is possible to import custom markers in KML format using UgCS Client Building UgCS has 3D building import feature which allows users to import 3D objects in UgCS Imported objects may range from small poles up to whole blocks of buildings Not only these objects are visually appealing they will be taken into account when calculating a route UgCS will avoid imported objects and calculate route around or over them Do not forget to enable To add a new 3d building one must do a right mouse click anywhere on map and select Add building from the appearing menu Choose building source in pop up menu for 3d models importing Click Browse to locate files for import Add a building from KMZ Add to new test ocalhost 8079 default localhost 8079
3. Edit buttons After this you can select a predefined vehicle profile Figure 71 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 zm cone wed C fn Tail number ArduCopter 101 D P Platform ArduPilot Uplink connected 9 Profile 3DR ArduCopter Quad Downlink connected Take off point altitude m 1 16 ArduPilot Downlink Yes Profiles Uplink Yes Payloads ArduCopter 103 As Tail number ArduCopter 103 Platform ArduPilot s Profile 3DR ArduCopter Quad Configuration Take off point altitude m Downlink Yes Uplink Yes Figure 70 Vehicle ArduCopter 101 Save Cancel yETul m ArduCopter 101 Profile 3DR ArduCopter Quad Figure 71 Select vehicle profile 64 U g CS User manual v 2 6 Vehicle Parameters Ugcs Below you can find the table of parameters that should be filled for the vehicle Figure 70 Figure 71 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
4. enabled Cancel Name Type URL ELS Maximum cache size megabytes Cache expiration period hours 4 Cache never expires Clear cache Description Figure 79 Google hybrid provider information Clear cache button delete cache file for current map provider from hard drive Tiles Type is for providers that are using the Google XYZ addressing system You can paste URLs of providers such as Open cycle map http tile opencyclemap org cycle 2 0 1 pon Hike amp Bike http a tiles wmflabs org hikebike 2 0 1 png WMS 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 epsg 3857 Spherical Mercator default e 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 TileJSON An example for overriding CRS http data worldwind arc nasa 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
5. reverse engineer decompile disassemble update 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 82 U g CS User manual v 2 6 CSuges 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 cop
6. 1x 2x DJI Phantom 3 03Z0 10 14 2015 4 55 42 AM Telemetry EmuCopter 101 Battery N A GPS N A Telemetry N A RC link N A 7 a Control mode N A Geotagging DJI Phantom 3 03Z0143746 import 2015 10 State N A Local time 10 21 2015 12 52 44 95 Camera time 10 21 2015 12 52 44 95 Photo point DJI Phantom 3 03Z0143746 l poaa import 2015 10 21 13 35 12 Camera time offset seconds 90 Latitude 56 53 32 16 N Browse gg Set camera UTC time zone Longitude 24 10 51 06 E amp if it s different from PC UTC time zone AGL alt 17 m g Processing complete AMSL alt 20 m Remaining images 0 a Processed images 72 Terrain elev 3 m KI Coordinates not found 1 DJI_0187 JPG Process Hide on map Save geotags to image files Close 96 53 31 Elevation 3n Figure 68 Camera positions on a map And if everything is fine press Save geotags to image files to save found latitude longitude AGL altitude as EXIF tags into pictures 61 U g CS User manual v 2 6 Uges How to prepare photo for geotagging processing 1 In order to synchronize time between your capturing device and UgCS client you need to make several photoshoots of UgCS client screen with opend time toolbar a In UgCS client navigate your cursor over current time widget Figure 69 a located in the top right corner b The Time toolbar Figure 69 b will appear c Take your camera and shoot the co
7. A menu will appear in which you will be able to deselect Aerodrome NFZ or Custom NFZ so that they are not displayed on the map Figure 17 Keep in mind that this does not disable the NFZ it simply hides them If you want to disable NFZ refer to the section Disabling NFZ NFZ and route creation algorithms You will not be able to calculate a mission with single waypoints in a NFZ However if a part of a circle or an area scan mission intersects a NFZ the flight path will be calculated around the NFZ automatically refer par NFZ Also the result of calculation should include correct fly by of buildings refer par Building 50 U g CS User manual v 2 6 CS uges Placemark Placemarkers are part of UgCS functionality that are meant for informing user about possible dangers in a place on map It is also possible to add custom markers and use them for individual purpose Placemarks are structured in categories Currently there are three categories e HAZMAT describes dangerous goods solids liquids or gases that can be harmful e Incidents to warn about dangers caused mainly by human activity e Natural Events for warning about natural disasters or dangers To place a placemark do a right mouse click on desired area select Create placemark here and chose from the availabe placemarks in the desired category to add a new placemark on the map Figure 50 d Create placemark here Import placemarks from KML
8. Sam Visibility range Figure 45 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 point 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 46 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 46 U g CS User manual v 2 6 CS uges Telemetry EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 RC link 100 Control mode State Downlink yes Uplink yes Altitude 0 00 m Altitude AMSL not available Altitude AGL not available Ground elevation 0 10 m Vertical speed 0 00 m s Air speed not available Ground speed 0 00 m s Latitude 56 58 36 36 N Longitude 24 04 25 10 E Pitch 0 90 Heading 0 Course 0 Figure 46 Telemetry window Principal values Battery GPS RC link and Telemetry These values indicate the level of the battery voltage the number of GPS satellites and quality of Radio Control link and te
9. 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 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 Camera footprint Camera footprint depends on the camera attitude values supplied by VSM By default camera footprint highlights the area right under the drone Out of the box there are no VSMs which know the exact camera position during the flight If drone autopilot provides such kind of data VSM SDK can be used to add support for this feature 54 U g CS User manual v 2 6 CSuges Cache terrain To save elevation information around camera view point for offline usage you should press Cache terrain button in the upper right corner Figure 58 Cache file will be saved for current map provider Wait until animated progress bar on the button will disappear Do not forget to press Cache terrain button after any camera view point changing for getting proper data ps Fa EmuCopter 101 Cache terrain Dy Figure 58 Cache terrain You can find cached files in subfolder UGCS db elevation of user data folder on the Windows OS ADS B U g CS supports ADS B Automatic dependent surveillance broadcast and warns the user about collision possibilities betw
10. descend rate parameter is taken from vehicle profile In the end route should contain takeoff waypoint some regular waypoints and a landing point If a autopilot does not support landing or take off actions then ofcourse there is no need to add these points to a route 13 U g CS User manual v 2 6 CS uges BB vigics Client a Mission D Example route O ot f Plane Emulator ae Hit Latitude Telemetry EmuCopter 101 eongituce r Battery 12 60 V 100 Avoid obstacles GPS 9 RC link 100 Avoid terrain 7 D Telemetry 1 00 Control mode Auto State gt ini mi 5 Return Home Sc ES Disarm eS 56 58 58 89 N 24 04 19 97 E Elevation 1 m Eye altitude 169m Figure 9 Adding segments take off and landing to route One may choose to add waypoints by drawing a line with mouse To do so one must first choose Waypoint tool Figure 10 a and then hold Ctrl Cmd key on the keyboard to draw a line on the map by additionally holding left mouse button and dragging the mouse cursor to the necessary position Another way to do so is by choosing Waypoint tool and then selecting Modifier draw a curve with automatic points tool Figure 10 b that will effectively replace holding keyboard button so now one can just draw a line by holding left mouse button and moving the cursor around 14 U g CS User manual v 2 6 BB VigICs Client Telemetry EmuCopter
11. new test localhost 8079 No file selected Figure 53 Building menu When appropriate files are located click on each file to select it or use button All to add all files from a directory The list of files for import will be shown click Add to start import UgCS will notify how many files were added were already imported or had errors during import Currently UgCS supports the import of KMZ archives and KML file with external links 52 U g CS User manual v 2 6 cS Uses Video Video Service is a standalone component designed to grab video data from various video sources and to stream it to UgCS clients The Show video check box Figure 54 a shows hides the video window Figure 54 b in the client You can expand the video window to full screen by double clicking on it Figure 54 b To view a list of available video streams click the button in Figure 54 c Also you can broadcast video data to web services using the Share button Figure 54 d Then all available video sources will be displayed in the video window Figure 55 and you will be able to select a source by clicking on it You can record video from any source and replay it from your OS You can find record files in subfolder UGCS video of user data folder on the Windows OS Menu Mission Player Demo mission yes A Untitled route gt 2 _ EmuCopter 101 ee saat Telemetry EmuCopter 101 Battery 11 94 V 78 _ Release con rol G
12. 101 Battery 12 60 V 100 GPS 9 Flight speed m s Telemetry 100 Turn type i nd Avoid obstacles JS E a a Avoid terrain Manual Mode Land Return Home Disarm N ps 56 58 37 67 N 24 04 24 64 E Elevation 1m Eye altitude 130 m Figure 10 Drawing waypoints with Draw a curve with automatic points modifier When a route is finished it is time to do the actual flight path calculation It is done by clicking the Calculate path button that is located on top of the screen in between Route name and connected vehicle menu After successful calculation the Calculate path button changes to Upload the route to vehicle button and Elevation profile menu should appear on the lower part of screen If the calculation was not successful Calculate path button will not change and an error message will appear in the status menu located in lower left corner of screen 15 U g CS User manual v 2 6 BB Vigics Client gt Emms D EmuCopter 101 pter 101 Please double check route and vehicle actions before live execution of mission to PA 1 00 ensure Safety brS Y OK Return Telemetry mmm LUU i EmuCopter 101 Manual Mode Land isi NO FILHO W Elevation profile Sample route Return Home Distance est t Duration est Waypoint count Disarm ASarm min alt AMSL AGL max alt AMSL AGL 11 34 36 EmuCopter
13. 101 Rout 11 34 36 EmuCopter 101 Take 11 34 36 EmuCopter 101 Uplov w Sone aandoen e araea 5 58 39 32 N 24 04 26 08 E Elevation 2m Eye altitude 86 m Figure 11 Calculated route Next step is to send the route to the desired vehicle To do so one must click the Upload the route to vehicle button after which a warning message will appear Click OK button if safe route execution can be ensured Note If the mission will be executed using vehicle emulator the emulator will move itself to the take off point on the map as soon as a mission is uploaded Now one may set the vehicle in Auto mode and arm the motors using the command buttons on right side of screen Auto Mode and Arm If the vehicle does not support automated take off the steps will differ 16 U g CS User manual v 2 6 Uscs EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 Control mode Auto Downlink yes Uplink yes iso asand Altitude 0 00 m Altitude AMSL 0 06 m Altitude AGL 0 01 m Elevation 0 06 m Vertical speed 0 00 m s Horizontal speed 0 00 m s EmuCopter 101 L cece F Latitude 56 58 36 70 N NS fg Longitude 24 04 25 46 E Auto Mode Pitch 0 toll 0 S 2 x ia Send the command to the current vehicle command is inactive ld T3 Return Home E w 5 9g Disarm Heading 0 12 28 16 EmuCopter 101 Auto Mode Command succeeded ae 12 28 16
14. EmuC 101 A Vode Sending command 11 58 37 EmuCopter 101 Route Sample route successfully uploaded 56 58 38 69 N 24 04 29 52 E 5 7 Elevation 1 m Eye altitude 86 m Figure 12 Sending commands After clicking Arm the vehicle will start executing mission In the end it will land in the specified location If one wants to repeat the flight with vehicle emulator just repeat the sequence engage auto mode and then arm the motors One can also arm the motors in manual mode and then switch to auto mode Safe flights UgCS Team U g CS User manual v 2 6 Uses 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 13 a contains a drop down list with prepared routes 2 The vehicle list Figure 13 b contains a set of vehicles available for control Telemetry EmuCopter 101 Battery 12 60 V 100 GPS 9 RC link 100 Telemetry 100 Control mode Manual State disarmed Fa ini O O Fu Return Home Disarm lol N amp EmuCopter 101 Aa 53 12 16 30 Route has been successfully processed a 56 58 38 58 N 24 04 19 58 E Elevation im Eye altitude 157 m 17 51 54 EmuCopter 101 Telemetry level is too low c 990 47 NN a P O AM 4 7 1 nh Figure 13 Mission workspace The Add vehicle Figure 14 c button opens the lis
15. First add the necessary source to the list The list order is also important because it determines the priority of a source higher listed sources are of higher priority and lower listed accordingly are of lower priority 75 Ugcs U g CS User manual v 2 6 Add new elevation source Geoserver UgCS Geographic Server Figure 85 Creating new elevation source Now the added elevation source is ready to be used and the route will be calculated according to the elevation source of highest priority for the specific area Figure 86 Remove URL http localhost 8079 test Enabled Figure 86 Created new elevation source Building sources Currently UgCS supports the import of KMZ archives and KML files with external links Connections default VSM URL http localhost 80 79 default Wa Map providers Enabled seoservers Elevation 7 order Figure 87 Building source menu To add new building source you should create it in Geoservers menu The same as for elevation sources one must go to Geoservers menu and by clicking on Local Geographic Server one can access Manage elevation buildings menu Figure 87 Then create new one by pressing New source button Figure 88 Building sources on Local Geographic Server Name State default Ready Remove New source Figure 88 Adding building source 76 U g CS User manual v 2 6 CS uges After that one must add created source t
16. Maximum take off weight Maximum allowed weight kg Yes U g CS User manual v 2 6 Payload List Adding a New Payload Ugcs You can add a new payload by creating a new card and filling in the parameters Create new Vehicles Profiles Configuration Vehicles Profiles Configuration Canon 5D Mark II 50 mm Name Canon 5D Mark II 50 mm Canon 5D Mark III 50 mm Name Canon 5D Mark III 50 mm Name Canon A2300 A2400 Canon ELPH 115 130 IS my Name Canon ELPH 115 130 IS Figure 75 Payload Cancel True focal length mm Weight kg Sensor width mm Sensor height mm Sensor horizontal resolution px Sensor vertical resolution px Canon 5D Mark II 50 mm Name Canon 5D Mark II 50 mm Canon 5D Mark III 50 mm i gt Name Canon 5D Mark III 50 mm d r Figure 76 Payload parameters 69 U g CS User manual v 2 6 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 vertical Sensor vertical resolution in pixels resolution px Yes Yes Yes Yes Yes Yes Yes Suges Mandatory 70 U g CS User manual v 2 6 eSuges Configuratio
17. OS lt Library Logs UGCS gt or 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 81 U g CS User manual v 2 6 eS uges 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 I Grant of License Subject to the terms of this Agreeme
18. Upload to Droneshare itki to open the upload window Figure 64 58 U g CS User manual v 2 6 CS uges Ol ellet lem com Ol EEEE 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 NH Save password not secure Riga Riga Latvia Cancel Figure 64 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 Player phantom import 2014 1 COM Create new layout Open Remove import telemetry Export telemetry Figure 65 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 65 a It is also
19. 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 Figure 24 b lets you exclude a specific route from the mission Be careful when removing routes as route removal cannot be undone Across the lake DJI Wookong M multico Around the pond SDR ArduCopler Quad River view DRP YA mullicopler New route Figure 24 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 24 c Show on map button eh 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 Editing Route Parameters Route parameters can be modified by clicking the Route options button next to the name of the route Figure 25 a AN River view ah a DJI A2 multicopter Figure 25 Current route bar 25 U g CS User manual v 2 6 CS uges In the Route options dialogue Figure 26 the Vehicle profile can be reassigned Figure 26 a and route parameter values can be changed Name My route Vehicle profile Quadcopter Emulator Home location Altitude mode J 1st waypoint Ww Set explicitly J Above ground Latitude Trajectory type Longitude y gt Straig
20. 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 73 U g CS User manual v 2 6 CS uges 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 b _http map host com europe 2 _ 0 1 jpg MBTiles To add new provider with the type MBTiles you have to specify URL address or browse it local at your machine by choosing mbtiles file Figure 80 New provider enabled Save Cancel Name Type MBTiles w Enabled Description Figure 80 New map provider with type of MBTiles To add a new provider click Map 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 Geoservers Geoserver is a UgCS component meant for custom elevation source and 3D model import It is installed together with UgCS and allows users to import custom DEM Digital Elevation Model data as elevation source for a specified region Connections UgCS Geographic Server VSM URL http terrain
21. in 56 U g CS User manual v 2 6 Uges ee Player 2015 06 09 15 13 37 Telemetry EmuCopter 101 Battery 12 52 V 97 GPS 9 Telemetry 100 EmuCopter 101 ee ce ae 56 59 141 N 24204 25 57 __ Elev ation 2 m By re altitude 1 12 km i Figure 61 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 61 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 61 b and use the calendar to choose the date 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 61 c 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 w
22. is connected vUigICs Client Player EmuCopter 101 f New route AA i New route creation Route name Untitled route 37 r MikroKopter Octo XL MikroKopter Quadro Figure 6 Vehicle profile list 11 U g CS User manual v 2 6 Quecs Choose the appropriate settings for the route All options are thoroughly explained in UgCS User Manual and if no specific settings are required may be left untouched for first flights BB vigics Client Vehicle profile Example route Home location Altitude mode C 1st waypoint ho Set explicitly o Above ground OO a oon Sa p Altitude above ground level m Falga Trajectory type Longitude Straight Action on loss of GPS J Wait Action on loss of RC 4 Aerodrome zones W4 Custom zones BEN Home Maximum altitude above ground m Emergency return altitude above ground m Wait Been Figure 7 Route settings Click OK and now it is time to place the first waypoints Action on battery discharge Telemetry EmuPlane 102 6 79 V 100 RC link 100 100 le Above sea level Land rs A c 4J Continue Land Continue To begin a route chose Take off tool then add the Take off point on map by holding Shift key on keyboard and clicking the left mouse button Note that Take off is not mandatory You may start route from any figure 12 U g CS User ma
23. openstreetmap org 2 0 1 png Bing enabled Type Bing maps URL http hO ortho tiles virtualearth net tiles h O jpeg g 131 Figure 77 Map providers menu Currently the following map providers are supported Google hybrid Google map Google satellite OSM Mapnik Bing To edit the provider data click on the corresponding item and choose the Edit option in the top right corner Removal is also available Figure 78 Google hybrid enabled Remove Type Tiles Clear cache URL http mtl gqoogle com vt lyrs y amp x 0 amp y 1 amp 2 2 Figure 78 Map provider edit option When editing the provider data you may set its type Tiles for the providers using the Google XYZ addressing system WMS for the WMS providers MBTiles Google map and Bing maps Figure 79 a The URL field contains the template of addresses with which map images can be downloaded for the WMS and Tiles options Figure 79 b You can add a Description which will display in the tooltip of the map provider when you select it Figure 79 c You can also set a maximum cache size for every map provider Figure 79 d 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 Figure 79 e After the cache is cleared it will reload from the internet 72 U g CS User manual v 2 6 CS uges Google hybrid
24. 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 6 CSuges 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 04 LTS 14 04 LTS and 15 04 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 6 eSuges Windows For quick installation follow these steps 1 Run the installer ugcs 2 6 exe 2 Follow the installation guide 3 Read the license
25. 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 awo 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 Aa Platform 3DR APM Profile 3DR Aero M Payloads Canon SX260 SX280 Altitude mode m N A Downlink Yes Uplink Yes Figure 72 Remove vehicle 65 U g CS User manual v 2 6 Uges 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 U g CS Client d Vehicles Payloads ARDRONE ArduPilot DJI A2 Name 3DR Aero M DJI NAZA M V2 Payloads ae Platform ArduPilot DJI WookKong M Payloads MICRODRONE Figure 73 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 avatar
26. possible to save many different layouts To do so click on the drop down menu next to the layout name Figure 65 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 59 U g CS User manual v 2 6 Uges Geotagging U g CS allows to tag images taken from your drone with coordinates from recorded telemetry Important note is that you need to know gap between your camera clock and clock on computer that recorded the telemetry HINT the easiest way to remember the time difference is to shoot your computer clock with a camera ona drone After that you ll be able to compare time on the image with modified attribute of the picture If you hover clocks placed in top right corner of UgCS you will get a hint with current time detailed up to milliseconds Geotagging tool is available from context menu of the vehicle in telemetry player Figure 66 Menu Mission Untitled layout import 2015 1 Yv Speed 2X Ax 8 Droneshare DJI Phantom 3 032Z0 a E i p 10 14 2015 A 4 55 42 AM s Clear selected telemetry Clear all telemetry Oe Show camera footprint Remove Figure 66 Geota
27. ugcs com Map providers Local Geographic Server Geoservers URL http localhost 6079 Figure 81 Geoserver providers All custom elevation data is managed by elevation sources To add a new elevation data one must either add data to an existing elevation source or create a new one To do so one must go to Main Menu Configuration then choose Geoservers and by clicking on Local Geographic Server one can access Manage elevation sources menu Figure 82 74 Ugcs U g CS User manual v 2 6 Local Geographic Server Cancel Local Geographic Server http localhost 8079 Manage elevation sources Manage building source Figure 82 Local Geographic server provider One can create up to four different elevation sources and each of those may contain several elevation files Press Upload button to choose local file of terrain Elevation sources on Local Geographic Server Name State Upload Remove Mew source Close Figure 83 Adding elevation source Elevation z order Currently UgCS supports ArcASCIl GeoTiff and SRTM formats but all GDAL Raster Formats that feature Georeferencing should work Connections VSM URL http terrain ugcs com srtm4 Map providers Enabled 7e0servers Figure 84 Elevation z order menu To use an elevation source it must be first added to Elevation z order list Figure 84 This list contains all elevation sources that may be currently used
28. values others require manual specification of values Please ensure you understand the meanings of these 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 Parameters All 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 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 th
29. ATAE E L A cia arpa veto sc E A T os A E E E E A T 77 ee An a eee A P ce E A E A E A E T ee 77 SOIC a E E E odeiye qosesee 77 VICO esa E E een toonenetnadeiare oss eeaneosseeaiauaeeecienssae eosin 77 Vidco COMME UG A on I CMO IN enans T 77 Video configuration in video service properties FIlC eecccccssseccccsecceceesececeeeeceeeeeeceeeeeseceseugeceeeeneeeetas 77 PS TOU IV AUN Cece sees crs syns lt acoorarten nt koa nav arouses coco eater E pave annus et oon ea tue ean ea E E E 78 PMCS pate E Se na ec eee eee E E see eet sane Seg na ec ape ee E een eeaameges ce snetese 78 FODE NOONE cs secs een ccc E sen tae caver sean tas eeesneeadenanecunae sa 81 LE IH SRN e E E E EEA E E eases 81 The Vehicle Is Flying around One Point for a LONG TiMe ssssssessesssrrrsesrrresrrersrreresrrrrsrreresrrresrrereserrresne 81 Appendix A End User License ABl CONIC IG viene dccesscsavescecivensesasecsecdeccusdseasestoedudutedscenueaseseaenedenasidaauenddardessateceecedss 82 U g CS User manual v 2 6 Suges 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 Wookong M Phantom 2 Visions Phantom 3 Advanced Professional Inspire 1 Microdrones Mikrokopter ArDrone ArduPilot Pixhawk Micropilot K
30. PS 9 PANER Telemetry 100 Show telemetry Show commands Show log vi Video EmuCopter 101 _ Ed Am Logitech Webcam 250 f y i TONE Auto Mode mee AECA a ge Oe ee a P Bs a So eI ete es PF EmuCopter 101 2 BAe es a on ia Pmi MA pa a ad 4 pi on oe pray 7 f 15 30 09 EmuCopter 101 Arm Command succeeded 15 30 09 EmuCopter 101 Arm Sending command 15 30 07 Route has been successfully processed Eye altitude 24816 km Figure 54 Video window Video EmuCopter 101 Select video source no pn Tar J ni rE S WEA LT feat wil ino Y Lir er Fi Figure 55 Video source in the video window 53 U g CS User manual v 2 6 CS uges Video EmuCopter 101 Logitech Webcam 250 Figure 56 Figure Video source panel share Ardrone Ustream Figure 57 Video source share menu In the share menu you can choose a web service to broadcast Figure 57 As example to use Ustream service http www ustream tv you should put insert your channel s URL Figure 57 b and to set flag of permission to broadcast to service Figure 57 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
31. U g CS User manual v 2 6 eS uges U g CS User Manual Table of Content FAS ore OnE ete en E A E E ears btivieagenieress 1 Pledse POV AUONUON sonia ET T T deaescouseaee 5 Installation and System Requirements ccccccsssccccesseccccenecccceseccceueceesenececeeeeccessuececsuneceeeuneceeseneeeessuseseesugeess 6 WINO OW E corae E E E secessensvecsesisaamsnseee 8 D E E E a 8 MACO ee E E ee eee 8 Checking the Components and Running the Application ccccccccssseccccessececesececeeeeceeeeeseceseeneceeeeeceeseneeeeeas 8 NCIS soore E E E E eseeye secnseensveccesseaanmm antec 8 MACO e E E E ee ere 9 D a E E E ge ndeeesseaeantesqseeeeacmesesacanosee 9 LOCI E E es peas otae e ertnien 9 CEINE Saas recede ect se eee gate ap teense E evens cean peseeecesan aesniasoieieoemiertasueecencerseeeetente 10 WATS Tee 1s 0 gl DCE T A eceeen e eeeeeee 18 Addne a NEW ROT gt Seen ee on ee eS eo er a eee ee ee 21 Route Name and Vehicle Profile serssisiscsnnei aen 21 ROUE PINETE a A T A eee se eeeeno es 23 LEO ROUTE or E E T 25 EE ROUE P CU CUS a A 25 SAME a ME O E E 26 Fe CMGI ANI O ea EA 27 PATS AAO Uh vee E E 27 The Tools and Basics Of Drawing a ROUtEC cccccccsssccccessececeeseceeceeceeeaeseceesuneceseenceeseeecessuecessunecetseges 29 BASIS VV AO AES E E enous oun tuens au etacen queen wemunneneineidavemustsntacnesacorene 30 Adding Removing and Editing Route Segments ccceecccssecceeseeccsscccesceceeceeeeeeeeeeeeee
32. a 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 29 U g CS User manual v 2 6 CS uges For complete information on how the tools work how they 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 i 1 1 Waypoint Latitude Longitude x Altitude above ground level m Flight speed m s Turn type Stop and Turn y Avoid obstacles Avoid terrain 1 Set camera mode Start recordi
33. ached Please refer to autopilot documentation Yes to check applicability of this parameter Waypoint acceptance radius Max altitude AMSL Maximum allowed altitude AMSL m Yes 67 U g CS User manual v 2 6 CSuges Max altitude AGL Maximum allowed altitude AGL m Yes Fence radius Radio link range radius m Yes Max travel time Maximum flight time in seconds Yes Minimal allowed distance to terrain for the vehicle m Small vehicles fe heigh i i i sate height over terrain can fly very close to terrain but larger ones should fly higher Safe distance to obstacle Minimal allowed distance to obstacles for the vehicle m Yes Max vertical soeed Maximum vertical speed m s Yes Max horizontal speed Maximum horizontal speed m s Yes Default climb rate Default climb speed of copters for take off waypoints Yes Default descent rate Default descent rate of copters for landing waypoints Yes Bide i Default glide slope y ide slope es a Applicable for the planes Default horizontal speed relative to ground m s Default ground speed m s l Yes Used as default speed for route segments and for click amp go mode Landing ground speed Plane ground speed in last flight segment to landing point m s m s Applicable for planes and not used for multirotors bia Height Vehicle height m Yes Length Vehicle length m Yes Width Vehicle width m Yes Wind resistance Maximum allowed wind speed m s Yes Dry take off weight Dry take off weight kg Yes
34. 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 6 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 a a UgCs client UgtCs service manager 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 CS components are installed as Windows Servic
35. al options and actions for the chosen vehicle Figure 38 Select profile t 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 Show video hides shows window with video sources and start stop video recording buttons Show camera footprint hides shows display a footprint on ground surface 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
36. alues 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 setting the take off altitude it is displayed in the vehicle card 42 U g CS User manual v 2 6 Uges 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 41 a The mission is saved and forms the waypoints uploaded to the assigned vehicles EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 pe l m EmuCopter 101 Manual Mode Land Return Home Disarm F h S 56 59 01 05 N 24 03 47 88 E Elevation 0 m Eye altitude 178 m Figure 41 Uploading process button a and indication b During uploading information upload process progress is shown in the log window Figure 41 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 Ro
37. alues 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 37 U g CS User manual v 2 6 CS uses Elevation Profile EmuCopter101 e a 7 a nN Elevation profile Untitled route Distance est Duration est Waypoint count min alt AMSL AGL max alt AMSL AGL Route AMSL alt 50 m AGL alt 50 m Terrain elev 0 m Figure 35 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 35 b for the calculated mission On the elevation profile windows you can see the profile heights trajectory Figure 35 d and ground level Figure 35 e If the route passes over a building its profile is also displayed in the window The window also displays the number of waypoints in the route the approximate length and duration of the flight You can view all variables for current point o
38. aypoints 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 Additionally circle has set default POI in the middle of circle so that vehicle will circle front facing to the centre if POI is supported To disable this just set Yaw angle 0 in the waypoint parameters 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 33 U g CS User manual v 2 6 CS uses 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 motio
39. cessuecesseceeeneeees 31 TOY FPA eA CI Sas 8 eg steep rg ce ane E E aaaahpe tusen cine suas se ownage N O EAS 32 LOE VAC OW acute ted crac E isu c sionee TEE E sees donesinnsasveaoeseedceas 35 NYS SION Cal UAL IOG se cse cues E nace ueedscescuces oats vemwsiaseuevnanesutswgscu T dev y ncaa ueeaunes oes E EA S 35 POC SSS ET O aa E E E E E peranaeepeeiiecayadsieus 35 Caru On RESU ee sce ces E E E AEE E E OE E EE EO 37 Elevato FOI esor en r E E E EE E E E E E N S 38 A OTS a E E E E E settee 38 Adding Removing and Rearranging Actions s ssssseseessressrersrrrsrersreresrersrersrrresrresreesrrresreeseeessreesreeseeene 38 U g CS User manual v 2 6 eSuges FDE Ol FC UIOM S case anatocucenans oe cacedenectonecsutesapucdeesetdsutse E 39 Adame a VERNIET OET IVIISSION ccacesaancenesctuscdsnanncece qactasereostesnnndssaisecascsd aonaaveasnaaautasinagaeetuaaascerasacumeananeseenantaeenens 40 Tea O FACS e E E EA E E E 41 Unoa dine aM O ee E E E 43 Brec Vence CONTO eaae EE A E A E E E EO 44 ek a Oa E E A E E A E nectaeches 45 Meare mene VOOIS ep E EE E E E E E E 46 TEAN ON e E E E EEE 46 venie MOCI eine n E T E E E A 48 NOFI ZOO NFZ oa A E esate nesnnanacerorsietemncenseuntersivabes 49 creatine TNFa E E EE E E E 49 D a UN NEZ oeer E eabyseasacasoaaceneee 50 NFZ and route crealion AIC OPI CNS scesroiissereien a NE 50 PUCER AE a E E E E E E E E S 51 POIANE ener E E E E E 52 VICO err E E E E aosnies 53 CET TOO T a E E E tee byseavasecoaaceneee
40. d additions which may become available from the 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 85
41. d negative means descending Ground speed Shows vehicle speed relative to the ground Air speed Shows the speed of the vehicle through the air 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 measured 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 47 Vehicle model To focus on the last known position of the vehicle click on its name Sometimes altitude value is unavailable because th
42. ding 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 a 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 see all available edit actions on the map as arrow icons near head and base of selected figure You can select the next segment by clicking arrow button in the upper right corner of the segment s properties or by click button and Y 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 You can draw a line on the map and UGCS will automatically set planning algorithms WPs points of perimeters etc along the trajectory For this action you must hold Ctrl Cmd button on the keyboard left mouse button and draw a line on the map Another way is to activate Curve points by clicking the icon hold left mouse button and drag cursor to draw a line without holding Ctrl Cmd button Tool Parameters Each tool requires the specification of additional parameters which customize the planned path of the drone These parameters are listed in the segment properties window Some of them have default
43. e deemed to create any subsequent or similar waivers 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 84 U g CS User manual v 2 6 eSuges 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 an
44. e vehicle Manuals ex DJI Manual 32 U g CS User manual v 2 6 CS uses All except for Waypoint Take off Landing Circle Area scan Actions in every waypoint can be checked to repeat actions attached to the route segment in every basic waypoint generated by the tool Take off waypoints are associated with climb rate parameter that can be found in vehicle profile Landing waypoints are associated with descent rate parameter that can be found in vehicle profile Note The landing algorithm for planes in UgCS has two basic points the waypoint at which the landing sequence starts and the landing point The landing trajectory is a straight line between both of these points provided there are no obstacles between them The landing trajectory is calculated based on the glide slope parameter The glide slope parameter is set in the vehicle profile settings It might be for instance 10 This means that for each 100 m the plane travels to the landing point it decreases its altitude by 10 m The landing ground speed parameter is the speed set in vehicle profile This speed should be set to a low value so that if automatic flaps are enabled for the plane they are deployed 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 counter clockwise unchecked Number of approximating points number of basic w
45. een 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 5NM e V 300m e T 60sec Warnings about possible collisions Figure 59 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 55 U g CS User manual v 2 6 CS uges 17 33 30 ArduCopter 101 Proximity warning cleared with vehicle ArduCopter 104 17 33 30 ArduCopter 104 Proximity warning cleared with vehicle ArduCopter 101 17 33 27 ArduCopter 101 Proximity warning Distance 46 50 m azimuth 267 378 approaching vehicle Ardulopter 104 h hal 17 33 27 ArduCopter 104 Proximity warning Distance 46 50 m azimuth 67 386 approaching vehicle Ardulopter 101 Figure 59 Warning about collision possibility A warning is cleared if one of the following events occurs e The minimal convergence persisted in the past and the spread angle between t
46. ere is no take off altitude for the vehicle It will be displayed after setting the take off altitude 48 U g CS User manual v 2 6 N uges No Fly Zones NFZ As the name implies no fly zones NFZ are areas on the map where flying is prohibited NFZ can be divided into two categories aerodrome zones which are in build into UgCS and custom zones which can be created by the operator Creating a NFZ Creating custom NFZ is very similar to creating missions in UgCs NFZ can be created by clicking on one of the two bottom icons on the left side of the screen Figure 48 Figure 48 NFZ icons The operator can create a custom NFZ of either of the two shapes e Prism e Cone The creation of prism NFZ is very similar to creating an area scan and the creation of cone NFZ is similar to creating a circle To start creating a NFZ click on either of the two bottom icons on the left side of the screen and shift click on the map To create a NFZ in the form of a prism at least 3 points are necessary The cone NFZ requires only one point To finish creating a NFZ click on the selected NFZ icon again To edit the finished NFZ click on the zone on the map To delete a NFZ click on the trash can icon in the editing screen You can change the following parameters for each of the NFZ e Name of NFZ e No fly zone starts from altitude from which the NFZ begins For instance if set at 50 m flying at 40 m inside the NFZ will be allowed but flyin
47. es it is possible to open the Windows Services panel through the U g CS system tray icon U g CS User manual v 2 6 eSuges 4g U g CS server running Video service running Vehicle emulator running I LO Ardupilot VSM running ie ArDrone VSM running 29 DJIVSM running OS Mikrokopter VSM running gt es XBee Connector running YS U g CS geoserver running Language gt a Quit 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 U g CsS 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 automatically Login After the U g CS client starts it will auto log
48. estrel 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 HCl 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 6 CS uges 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 property or encountering other damages by taking unnecessar
49. f the route on the tooltip Figure 35 c Tooltip is displayed after moving mouse cursor on to the trajectory on the elevation profile 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 36 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 38 U g CS User manual v 2 6 CSuges Set camera mode Change POI Set camera by time Panorama Set camera by distance Change yaw Set camera attitude zoom Wait Figure 36 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 T
50. 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 77 U g CS User manual v 2 6 cS 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 To increase client performance enable Show buildings without textures flag License Uigics Client x U g CS client version 2 6 636 NOT ACTIVATED Activate Your copy of Ulg CS is not activated yet Activation is not mandatory but allows to turn on additional features like unlimited range of operation DEM data sources video recording Ra a M Figure 90 License screen Shows you the version number of your UgCS software information about activatio
51. g at an altitude of 55 m will not By default this parameter is set to O0 m AGL e Ground or sea level change the altitude origin between AGL and AMSL e Height the altitude at which the NFZ ends By default this parameter is set to infinity For the cone NFZ there are two additional parameters e Base radius radius of the base of the flight zone By default this is set to 100 m e Top radius radius of the top of the flight zone This parameter can be used only if the height parameter for the cone NFZ is not infinity 49 U g CS User manual v 2 6 CS uges Disabling NFZ To disable NFZ enter route settings and deselect either Aerodrome NFZ or Custom NFZ whichever you want to not take into account when creating the route Figure 49 Note Your application should be activated to do this refer par License Example route Vehicle profile Home location Altitude mode LJ ist waypoint Set explicitly LJ Above ground Above sea level Latitude Trajectory type J Straight Action on loss of GPS J Wait Land Action on loss of RC v4 Aerodrome zones W4 Custom zones Wait oe Land Ww Home J Continue Maximum altitude above ground m z 120 00 Action on battery discharge i Wasi i J i t Emergency return altitude above ground m pr svan ode Lance Figure 49 NFZ visibility To change the visibility of NFZ click on the Layers button at the very top right hand corner of the screen
52. gging menu After pressing Geotagging you will get next window Figure 67 Geotagging DJI Phantom 3 0320143746 import 2015 10 Browse Camera time offset seconds w Set camera UTC time zone if it s different from PC UTC time zone elected 73 images tart time 10 14 2015 15 59 34 00 nd time 10 14 2015 16 03 10 00 Process Figure 67 Geotagging window 60 U g CS User manual v 2 6 CS uses Press Browse to select images For now we support only JPEG You will see number of images time from the first and last image as start and end time The process of geotagging is pretty straight forward We take image and try to find the closest telemetry record in the database To make the search as more precise as possible you need to know camera time offset the difference between camera clock and computer where telemetry was initially recorded clock If you process data on the computer with clock configured for another UTC time zone than you camera time zone then you need to check Set camera UTC time zone if it s different from PC UTC time zone and specify your camera UTC time zone After everything is configured you can press Process Algorithm will try to find coordinates for the pictures After processing you can press Show on map to see camera position for each picture taken Menu Mission Player Untitled layout import 2015 1 v place Layers EM 12 52 PM z Cache terrain Speed
53. gure 17 g WET OME VELE Base map tile provider Google hybrid Overlay tile provider no provider NeiShow terrain absence W Buildings PY Placemarks Terrain sources j Building sources srtm4 default No fly Zones PY Aerodrome zones W Custom zones Figure 17 Layers menu Key Figure 16 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 upper corner of the screen Figure 16 k 20 U g CS User manual v 2 6 CS uges To minimize the interface click the Minimize button Figure 16 I You can also access the mission menu Figure 16 f and Figure 18 Mission of 2014 10 2119 07 Lia Create new mission Stop editing Open Remove Import mission Export mission Figure 18 Mission menu Create new mission Figure 18 a starts the creation of a new mission Start Stop editing Figure 18 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 18 c allows you to switch between missions Remove Figure 18 d deletes the current mission Import mission Figure 18 e allows
54. 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 E 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 Calculated route build around NFZ and refer par NFZ and buildings refer par Building 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 Common errors for route calculation are provided below 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 required by the vehicle or is inside an obstacle Modify the first or last route segment to fix the problem 35 U g CS User manual v 2 6 eS uges The server failed
55. hat 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 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 36 U g CS User manual v 2 6 eSuges 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 of 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 para
56. he series will consist 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 nose angle 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
57. he 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 60 It is displayed green if a connection with at least one such device is active and grey otherwise Menu Mission Player P Layers l 13 02 49 TON New route EmuCopter 101 Cache terrain om gt gt Quadcopter Emulator s Figure 60 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 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
58. ht Altitude above ground level m pS Action on loss of GPS ORLEN AE l r Action on loss of RC W4 Aerodrome zones 4 Custom zones AUEN ME i l L Home J Continue Maximum altitude above ground m F Action on battery discharge i Ks I Alai ry a Emergency return altitude above ground m p vvait A Land Figure 26 Route options dialogue A useful option is the change of Altitude mode Figure 26 b It converts all the altitudes regarding the digital elevation model of the area Locations of all the points are preserved You can make export your route to file Export to kml and xml is available Click Export to KML or Export to XML Figure 26 c in the Route options dialogue to start unloading Saving a Mission Missions are not saved in a file All missions are stored in a single database so there is no need to specify a file when saving a mission a Mission of 2014 10 17 12 22 Mission of 2014 10 17 12 22 Figure 27 Mission saving The mission is automatically saved every 5 seconds if a change has occurred Figure 27 a or on mission upload Figure 27 b Missions are distinguished by their names which can be changed by clicking on the mission name Figure 27 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 26 U g CS User manual v 2 6 CSuges Editing a Mission Route
59. ies of the Software and at the request of the Licensor 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 a 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 1s lawful and not in breach of any third party rights or o
60. in If you have more than one user account a login page will be shown The default login admin and password admin U g CS User manual v 2 6 CS uges Getting started To create first flight mission in UgCS open up UgCS client application vigics Client x Mission Player New route EmuCopter 101 56 58 33 04 N 24 04 32 71 E Elevation 5 m Eye altitude 114 m 12 11 38 EmuCopter 101 The target location is reached A a A EA Figure 4 Mission editor Move mouse pointer to the desired location and zoom in by using mouse wheel or and buttons on numpad Next if there is a vehicle connected it will appear in the upper Vehicle menu if there is not one may choose from available emulators plane and quadcopter emulators are available As soon as a vehicle is connected one may start creating a new route by clicking New route button in the top left corner of screen Next chose Create from scratch if no previously saved routes are available or Import from file option if there are previously saved routes available 10 U g CS User manual v 2 6 vUigics Client Playe EmuCopter 101 4 New route 1uCoF New route creation Create from scratch Import from file Figure 5 Route creation Next chose a name for the route Sample route in this case and select the vehicle which will be used for the route usually the same vehicle that
61. is 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 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 flight controller Yes 3D distance of the vehicle from approach waypoint sufficient to consider point as re
62. it but if You add any action to algorithm POI disabled 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 All new segments include arrows which show direction of movement for vehicle 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 the 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 31 U g CS User manual v 2 6 eSuges If using the building tool click the Choose next button in the properties window to choose the next buil
63. ithout recorded data 57 U g CS User manual v 2 6 CS uges Icons correspond to the following commands Icon Description M Upload Arm Disarm B Auto mode o Manual Mode x Land Figure 62 Telemetry player workspace First move the seek bar Figure 61 d to a time when telemetry has been recorded To start the playback use the Play cc button Figure 61 i At any moment playback can be paused using the Pause ALY 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 Clear selected telemetry Clear all telemetry show Video Se show camera footprint Remove Figure 63 Vehicle menu in the telemetry player Playback speed can be adjusted using the speed button on the top side of the screen Figure 61 f Button 1x provides a normal speed Speed can be increased by up to eight times button 8x To delete the recorded telemetry from the selected vehicle click on vehicle avatar in the left corner Figure 63 a It is possible to delete only the telemetry currently seen on the timeline by clicking Clear selected telemetry Figure 63 b To remove all telemetry from the selected vehicle choose Clear all telemetry Figure 63 c You can upload your telemetry to www droneshare com Select the
64. itute 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 parameter 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 T
65. le you will be prompted to do that When you press Click amp Go button you need to make double click or SHIFT click on the map to define target waypoint In the window Figure 43 you can adjust point altitude AGL approach speed and optional heading EmuCopter 101 Click amp Go Te re eee an ee oe set point to go to AGL alt m 5 00 speed m s 5 00 Heading iir E a Figure 43 Target point inspector By default approach speed is current vehicle speed or default ground speed from vehicle profile AGL should be in a range of Safe height over terrain and Max latitude AGL profile parameters Speed should not exceed Mac horizontal speed from vehicle profile If command sent successfully vehicle will move towards the point specified You will see dashed line connecting vehicle and target point If you hover the point head you ll see distance to approach and estimated time EmuCopter 101 gt EmuCopter 101 ee i Target point EmuCopter 101 Distance 43 m 00 09 Latitude 56 58 39 87 N Longitude 24 04 19 26 E AGL alt 34 m AMSL alt 34 m Terrain elev 1 m Figure 44 Target point inspector After vehicle approaches the target point i e enters the acceptance radius defined for vehicle profile target point disappears 45 U g CS User manual v 2 6 CSuges Measurement Tools Several tools are available to ease mission planning Distance measurement Area measurement
66. lemetry signal 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 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 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 47 U g CS User manual v 2 6 eSuges 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 an
67. link 100 lt Control mode State Figure 29 Telemetry window 28 U g CS User manual v 2 6 eSuges The telemetry window mode switcher Figure 29 e makes the window full sized or collapses it to short mode when only 6 parameters are shown The default mode is short It shows the battery level Figure 29 a GPS Figure 29 b telemetry level Figure 29 b and Radio control link level Figure 29 d values which have a white orange or red color depending on the charge or reception level Control mode shows Manual or Auto control and State status shows motor state it can be armed or disarmed 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 30 i E Waypoint Area scan Perimeter Circle Take off Landing Figure 30 A
68. lock unlock the mission Enter the name of a location in the Searching for bar Figure 16 g to quickly navigate to the specified position internet connection required Video recording indicator will show you recording status Figure 16 i Layers button Figure 16 h opens window with map layers configuration menu Two map providers can be used at the same time meaning that one of them is used as Base map tile provider Google Hybrid for example Figure 17 a and another is used as an Overlay tile provider OQpenWheatherMap for example Figure 17 b which for example can add street names or show wheather refer par Map providers You can check map for terrain absence by toggling Show terrain absence checkbox Figure 17 c Area without terrain would be shown with red colour Click on Buildings refer par Building and Placemarks refer par Placemark checkboxes to display it on map Figure 17 d Also you can enable any single Terrain source refer par Elevation z order as a layer on the map by selecting it from list Figure 17 e and focus camera on it by pressing Focus button The same is for Building sources list on the right side of the Layers window Figure 17 f To highlight a imported source elevation or buildings on the map with green colour you should select if from the list To display No fly zones refer par NFZ on map toggle checkboxes Aerodrome zones and Custom zones Fi
69. lusive jurisdiction over all disputes relating to 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 b
70. meter value 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 35 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 All calculated segments include arrows which show direction of movement for vehicle The elevation profile shows landscape elevation along the path with proper altitudes of the path shown Both absolute and relative altitudes 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 35 a These are estimated flight duration route mileage total number of waypoints and min max v
71. mputer screen iW ops apa OES ayer m 11 3 2015 i 7 7 Landing 15 46 23 40 Latitude z Telemetry EmuCopter 101 v Longitude Battery 12 60 V 100 m ao A GPS 9 Telemetry 100 RC link N A Control mode Manual Avoid obstacles Avoid terrain State Disarmed Arm Auto Mode EmuCopter 101 Manual Mode lt Land Sa Return Home _ Disarm Hold Continue p N rd A a J Figure 69 Time tooltipe 2 Connect your device to the PC notebook for telemetry data receiving from the drone 3 Execute mission in automatic or manual mode with camera working in periodic photo mode How to write geotags to photo files 1 Copy photo files from camera and backup it 2 Open telemetry player Add drone to the vehicle list Check what you can find telemetry data for selected drone read more at the Telemetry Player paragraph 3 Open geotagging window for selected drone Figure 66 62 U g CS User manual v 2 6 eSuges 4 Calculate time offset value a Select one photo with time in UgCS client b Record time value from photo c Open this photo in the geotagging window open window and select photo by clicking browse button After successfully selection you can see photo creation time in the middle of geotagging window after words start time Figure 67 Record this value d Calculate offset in seconds between two values If time on the photo more than time on the ge
72. n Connections The Core service section defines HCl 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 Xbee connector U g CS supports XBee networks as a datalink Please refer to our XBee connector manua information for more Automatic VSM Discovery UCS can automatically discover local VSM instances running on the same machine or on a host in a local area network using Simple Service Discovery Protocol SSDP For this purpose VSM processes advertise their locations host and port to connect to on startup and respond to the UCS search requests When UCS discovers an unknown location it attempts to connect to it Automatically discovered VSM instances do not appear in the user VSM Configuration list It can be managed manually UCS connects to the user defined VSM instances alongside with the discovered ones Please note that emulator VSM does not use SSDP to avoid spam in the local network It works only on the same computer as UCS Also note that SSDP works only for nodes located in the same s
73. n 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 or send a request to 78 U g CS User manual v 2 6 eS uges There are three types of licenses No fly zone airport registry Can t be disabled Can t be disabled Can be disabled 500m from first point Fly Zone Limits for Routes No Limits No limits 120 meters AGL ee o we o o een o e ee o e co Figure 91 Types of licenses functionality 79 U g CS User manual v 2 6 Support 24x7 Figure 92 Types of licenses support Contact ugcs ugcs com 80 U g CS User manual v 2 6 eSuges 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
74. n 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 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 yyZl H wes Figure 33 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 The scanning area is partitioned into frames of calculated sizes wi
75. ng Stop recording Figure 31 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 between the basic ones to avoid collisions with obstacles or violation of minimum altitude constraints For example see Figure 32 where additional waypoints were produced after setting two base waypoints 30 U g CS User manual v 2 6 CSuges Figure 32 Additional waypoints inserted between the basic ones 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 required 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 a POI action is set by default in centre of
76. ns suggest recommended commands for example Figure 42 b d e f h i depending on the current state of the vehicle Arm Auto Mode Manual Mode Click amp Go Land Return Home Disarm Hold Continue Figure 42 Command toolbar Arm Disarm activates deactivates all systems and makes the vehicle ready for flight Auto Manual Mode switches the vehicle between automatic flight mode and stabilized manual mode Return home returns the vehicle home Land 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 Click amp go allows to specify target waypoint for the vehicle Hold suspends current operation In case of mission Auto mode puts mission execution on hold In case of Click amp Go flight stops the vehicle loiter around current position in case of plane and clears current target point In case of Landing holds landing Continue continues mission execution from point where mission were put on hold Please refer to our vehicle specific manuals for more information on mentioned commands For some vehicles there are exeptions in described behaviour 44 U g CS User manual v 2 6 CS uges Click amp Go Note Please note that to use Click amp Go vehicle should be in Armed state Note Please note if Take off Altitude is not specified for the vehic
77. nt the Licensor grants You a limited personal 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
78. nt 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 28 27 U LE User manual v 2 6 Suges Mirpur District Azad Kashmir Pakistan Tahoe Westway Number 7 7 Colonia E Pa Texas 79 at we c sig Nips Township Oakland County IFO a of Ame rica l r ta 550A d SONA SITAT 12 16 30 Route has been successfully processed 11 28 24 Route has been successfully processed A vehicle used in the mission was deleted It will be removed from the mission Eye altitude 11600 km Figure 28 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 16 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 29 Telemetry can be displayed in edit and calculated route mode Telemetry DJI Phantom 3 Battery 15 64 V 100 GPS 19 Telemetry 100 RC
79. nual v 2 6 CS uges aa BB vigics Client Mission LOEB WIL Example route 6 Plane Emulator e i 1 1 Take off Latitude Telemetry EmuCopter 101 Longitude Battery 12 60 V 100 Altitude above ground level m s GPS 9 RC link 100 VA Flight speed m s x Telemetry 100 Avoid obstacles x Control mode Auto State Avoid terrain r b t 4 I Return Hom Disarm EmuCopter 101 N B A YA IO 56 58 58 31 N 24 04 26 16 E Elevation 0m Eye altitude 169 m Figure 8 Route planning On the left side waypoint also Take off point parameters may be edited and for ease of use a waypoint may be moved around by clicking and holding the left mouse button on the base circle of a waypoint Also the altitude of a waypoint may be changed by clicking the left mouse button on top of the waypoint pole and dragging it up or down Next step is to add waypoints to the route Chose Waypoint tool from the left pane and by holding Shift key on keyboard and clicking the left mouse button one may add a waypoint on map Double click of a left mouse button also works The point will be added at the altitude of the previous figure Try to add a few waypoints and finish off by creating a Landing point To do so select the Landing waypoint tool and place the point in same way as other waypoints Only difference is that Landing waypoint does not have height parameter
80. o Building sources list Figure 88 As for elevations sources that list contains all building sources that may be currently used Press Add button and select created source Add new building source Geoserver Source UgCs Geographic Server test_ building Local Geographic Server Figure 89 Creating new building source Now the added building source is ready to be used Imported building models will be loaded to current building source 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 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
81. onvenient way to set the home position is to point it on the map Click the button with the crosshair icon Figure 21 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 22 After the location has been chosen clicking on the OK button takes you back to the wizard 23 U g CS User manual v 2 6 CSuges Home location Latitude 49 Oy vas c e dd Longitude 122 01 19 35 Lee Altitude abo e ground level m Figure 22 On the map selection of home location 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 i
82. otagging window offset has positive value If the opposite offset has negative value 5 Add all photos from camera exclude photo with screen 6 Set calculated camera offset If you need you can set time zone of the camera 7 Process and save geotags to photo files 63 U g CS User manual v 2 6 Vehicle List Registering a New Vehicle New vehicles should be registered in U g CS The registration process step by step is as follows Ugcs 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 Phantom 2 Vision Phantom 3 Inspire 1 Microdrones and Mikrokopter can be found in folder UgCS docs Provided that the vehicle is supported by U g CS 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 After the automatic detection of vehicles in U g CS you can see a vehicle card in the main menu vehicle list Figure 70 U g CS will choose the most suitable vehicle profile for the vehicle 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
83. paragraphs The current coordinates of the cursor are displayed in the lower right corner Figure 14 i Buttons for measurement tools Figure 14 e and No flight zones Figure 14 j are placed at the left border refer par Owu6ka UcTouHnk ccbhinkn He Ha gen The menu bar is located at the top of the window Figure 14 a It contains a set of basic parameters and buttons Figure 16 Cache terrain Figure 15 Cache terrain You can find an additional menu with Cache terrain and ADS B indicator at the top right corner Figure 14 d To save elevation information with current camera view press Cache terrain button refer par Cache terrain More information about ADS B refer to ADS B section 19 U g CS User manual v 2 6 CS uges Menu Mission Player Mission of 2015 05 26 10 36 LIiwi search places DS Layers MM PRI 10 37 05 E a b c d e f g h ij k Figure 16 Menu bar The Menu button Figure 16 a allows you to exit to the main menu The Mission and Player buttons Figure 16 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 16 d Next to the mission name the release control icon Figure 16 e is displayed Move the cursor 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
84. round solution 83 U g CS User manual v 2 6 eS uges 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 exc
85. s 3D for vehicles by choosing avatars for the vehicle profile Figure 74 a and can also edit parameters Figure 74 b U g CS Client i ziajx Microdrone md4 1000 Cancel Back 5 XECE Microdrone md4 1000 Click to Platform MICRODRONE Vehicles Payloads Payloads Charged battery voltage V Normal battery voltage V o Low battery voltage V Discharged battery voltage V Battery weight kg GPS Configuration Normal number of satellites Low number of satellites Telemetry Normal telemetry level Low telemetry level so Routing Max waypoints Waypoint acceptance radius m Max altitude AMSL m Figure 74 Vehicle profile 66 U g CS User manual v 2 6 XS uges 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 74 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 6 y 6 shown in white colour if between this voltage and normal voltage Normal battery voltage V Voltage value shown in white if at or Yes above th
86. s 54 CRETE I e E E E E E E 55 AD D a E E E E E A E E E 55 TEMEN PIY OF e E E A E E 57 GeO PINE ea E E E S E 60 How to prepare photo for geotagging processing seessessresssrrresrreresrrresereresreresereresreresrrereserreserrreseerene 62 How to write geotags tO DNOLO TIES sieissisernrsieenn En eE EEEE 62 VEMICICIEISE srne E E E 64 PRES IS CERNING a NEN NVON E e EE te sanieeauseatassasceamaeaciaaneedee 64 Venice Parimet ae E E E 65 REMOVE a VENCE a E EE 65 van e Prone C e E E E E 66 Adding a New Vehicle Profile eee eee EE EEEE O 66 ECE IG a Vende Prole oere E E E E 66 Adding Payload toa vehicle Profil scsirreisrsorrsicieie etie E 67 vehicle Prole Paramete S seeriana E E 67 OA ENS a E E EE A se 69 Adding a New Payload ne Renner an a Pa ee ee 69 PVF UE OT sess E E 71 U g CS User manual v 2 6 eSuges CONNECTION asr seamen eects ce nenesesace eu canacsans asa E E E 71 NV SIN Me cts concontoutonnests ones de etsnunehcbessubveteete che rsp O A E AA ET T A AE E AE A 71 ADEEL OC OT aar E E EE E E 71 AOMC N DEC COVO y ere E E E E 71 Disabling GISCOVENY OF CAE NSM seiseccruescoasnncdcosacetecesanucecnant A E A ceucauntanacnanesonateadens 71 MPP OVA EE EE EE E E E E seecens 71 E E A E E EEI E E E A A ET T A E A E 73 WV IVS a E A E E A E A E eseniauiss 73 EION E A E E E E E 73 MB WG S e a E E E E E 74 GC OSG CG spinnin e E EE E E EE 74 EVE AU ET S E E E nye E E E E E E A A E A O 75 NS SOCO a E E E 76 SEEN RESO IUO ceai EE E E E 77 BE
87. s 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 and 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 poi
88. s 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 whilst the Safe option generally produces two segments one vertical and one horizontal as schematically shown below The behaviour 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 Safe descending Safe ascending Figure 23 Safe trajectories 24 U g CS User manual v 2 6 CS uges 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 24
89. t 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 selecting it its telemetry window Figure 14 f command history window Figure 14 h and command list Figure 14 g can be seen Each vehicle provides its own set of commands 18 U g CS User manual v 2 6 Uscs venu aa New route b Telemetry EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 EmuCopter 101 Manual Mode Land Return Home Disarm 18 07 25 EmuCopter 101 Route Example route successfully uploaded 18 07 25 EmuCopter 101 Take off point altitude changed 0 441 m AMSL 56 58 33 15 N 24 04 25 86 E Elevation 4m Eye altitude 126 m 18 07 25 EmuCopter 101 Uploading route Example route Figure 14 Mission workspace Multiple vehicles can be added To select more vehicles click on the Add Vehicle button Figure 14 c The button to create a route is located below it Figure 14 b When the vehicle is selected the telemetry window Figure 14 f and the vehicle event log Figure 14 h will appear on the screen See more about it in the Editing Mission and Log Window
90. 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 at the top of the map and click the drop down menu Figure 40 a 41 U g CS User manual v 2 6 CS uges 2 EmuCopter 101 ay a F Select profile Take off point altitude Take off point altitude i z Altitude 0 00 m Release control Altitude AMSL MIA Show avatar Altitude AGL m Show telemetry show commands Show log E Show video E Show camera footprint Remove Figure 40 Set take off altitude 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 40 b sample it from terrain by clicking the map while holding Shift or setting it from the current terrain altitude under the vehicle Figure 40 c It must be noted that it is highly recommended to always check altitude v
91. th given overlaps The direction of passage is selected using Direction angle The route is based on the snake 34 U g CS User manual v 2 6 CS uges Perimeter 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 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 13 The log window displays messages about the status of operations calculation of the mission uploading changing vehicle modes video recording and the results of the commands In case of insufficient battery voltage low number of GPS satellites or low telemetry warnings are shown in the og window All errors are accompanied by a sound signal The timestamp of new messages is highlighted for 10 seconds Messages older than 1 day look darker There is also a possibility to copy contents of the log window to clipboard by clicking the corresponding icon Figure 34 a 13 44 42 EmuCopter 101 Arm Command succeeded 43 14 42 EmuCopter 101 Arm Sending command 13 14 27 EmuCopter 101 Route Untitled route successfully uploaded ee E Fa r A oe Figure 34 Log window Mission Calculation After the route
92. ther applicable laws in some jurisdictions The Licensor 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 11 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 a
93. 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 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 techniques can be used Observe the calculated route to find out which route segments produce the densest sequences of waypoints Then subst
94. to ensure a safe execution of the mission it is crucial to understand and review all of the parameters before the route is confirmed Untitled route Quadcopter Emulator Home location Altitude mode C ist way point Set explicitly J Above ground Above sea level Latitude Trajectory type Longitude Straight safe Altitude above ground level m e Action on loss of GPS C Wait Land Action on loss of RC Custom zones a mn su W4 Aerodrome zones i i Wait E gt Land Home C Continue Maximum altitude above ground m i 120 00 Action on battery discharge Emergency return altitude above ground m Wait Land Cancel Figure 21 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 21 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 button An alternative and usually more c
95. ubnetwork So for example it will not work for internet connections or over the gateway Disabling discovery of the VSMs Automatic VSM discovery is turned on by default To turn it off change the following property value of the ucs properties configuration file to false ucs vsm discovery false Discovery of the particular VSM can be disabled by commenting the service_discovery vsm_name property in the configuration file For example for Emulator VSM add sign at the beginning of the line service_discovery vsm_name Emulator VSM Map providers You can configure custom providers of map images There are four kinds of providers currently supported WMS providers TileJSON providers MBTiles providers and providers using the Google XYZ addressing system To edit the list of usable providers choose Map providers from the configuration menu At the right the list of registered providers will be shown Figure 77 71 Ugcs U g CS User manual v 2 6 Connections Google hybrid enabled VSM Type Tiles URL http mtt gqoogle com vt lyrs y amp x 0 a amp y 122 Google map enabled Geoservers Type Tiles Elevation 7 order URL http mt1 google com vtlyrs m amp x 0 8y 1 az2 2 Screen resolution Language Google satellite enabled Measurement Type Tiles URL http mtl google com vt lyrs s amp x O0 a amp y 1 e212 Sound Video OSM Mapnik enabled Type Tiles Performance URL http a tile
96. ute Route name upload failed Error can be caused by a 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 43 U g CS User manual v 2 6 CS uges 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 Direct vehicle control There are several commands that allow operator to directly control vehicle You can find these commands in the right command bar UGCS Client can show the command buttons in different shades You can always press all buttons disregarding of shade Highlighted butto
97. vailable 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 Dragging 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 the vehicle facing to the centre if autopilot supports it If one does not require the vehicle to face centre just set Yaw angle at 0 and the vehicle will fly facing the flight direction 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 are
98. y 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 6 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 6 eSuges 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 Windows XP with SP2 or later Operating Mac OS X Maverick Ubuntu 12 13 or 14 Windows 7 with SP1 or later system 10 9 or later 32 bit and 64 bit Windows 8 CPU Core 2 Duo
99. you to load a mission from a file Export mission Figure 18 f allows you to save a mission to a file Adding a New Route To create a route select the New route Figure 14 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 Import from file to import existing route Click Browse in appeared string and specify the path to the file with route Import from xml and kml is available 21 U g CS User manual v 2 6 Uges New route creation O Create from scratch import from file Cancel Figure 19 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 Md4 1000 Figure 20 Route name and drone selection 22 U g CS User manual v 2 6 CS uges Route Parameters The third step is to review and set missing parameters of the route In order

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