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1. 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 5 Uges 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 14 a contains a drop down list with prepared routes 2 The vehicle list Figure 14 b contains a set of vehicles available for control Telemetry EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 P eg EmuCopter 101 7 ym gt A F qe WM dunn t gt Manual Mode Return Home Disarm 1 18 07 25 EmuCopter 101 Route Example route successfully uploaded SEN _ 18 07 25 EmuCopter 101 Take off point altitude changed 0 441 m AMSL 56 58 33 41 N 24 04 26 41 E Elevation4m Eye altitude 128 m 18 07 25 EmuCopter 101 Uploading route Example route Figure 14 Mission workspace The Add vehicle Figure 15 c button opens the list of registered vehicles To register a new vehicle connect your vehicle to U g CS and ensure that the VSM for that vehicle type is running U g CS should automatically detect the connected vehicle and assign an appropriate profile for it For more information on specific vehicle workflows please refer to the Adding a Vehicle to a Mission section After adding a
2. Figure 16 Cache terrain You can find an additional menu with Cache terrain and ADS B indicator at the top right corner Figure 15 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 5 CS uses Menu Mission Player Mission of 2015 05 26 10 36 L a b c d e v search places ME IESE EES f g h ij k Figure 17 Menu bar The Menu button Figure 17 a allows you to exit to the main menu The Mission and Player buttons Figure 17 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 17 d Next to the mission name the release control icon Figure 17 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 lock unlock the mission Enter the name of a location in the Searching for bar Figure 17 g to quickly navigate to the specified position internet connection required Video recording indicator will show you recording status Figure 17 i Layers button Figure 17 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 t
3. 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 5 Suges Windows For quick installation follow these steps 1 Run the installer ugcs 2 5 exe 2 Follow the installation guide 3 Read the license agreement carefully you can find it at the end of this document Linux For Linux deb packages are available on our website ugcs com For Linux installation instructions please go to http apt ugcs com doc Mac OS For quick installation follow these steps 1 Run the installer ugcs 2 5 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 chent UgCs service manager Figure 1 U g CS Service manager and U g CS client shortcuts Provided that the service manager starts properly
4. Yes Yes Yes KS uges Mandatory 64 U g CS User manual v 2 5 Uges Configuration Connections The Core service section defines HCI and VSM connections to a UCS By default it points to the local instance In the case of a multi node deployment network the address of the UCS can be specified Use proxy allows you to specify a HTTP proxy server This setting can affect the loading of the map VSM Records for each of VSM servers By default points to local instances If you have a dedicated VSM installation and want core services to connect to it add a new record with the appropriate host and port fields Map providers You can configure custom providers of map images There are four kinds of providers currently supported WMS providers TileJSSON 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 72 Connections Google hybrid enabled VSM Type Tiles URL http mtl gqoogle com vt lyrs y amp x O a amp y 122 Google map enabled Geoservers Type Tiles Elevation z order URL http mtl google com vt lyrs m amp x 0 amp y 1 az 2 Screen resolution Language Google satellite enabled Measurement Type Tiles URL http mtl google com vt lyrs s amp x 0 amp y 1 a2 2 Sound Video OSM Mapnik enabled Type Tiles
5. Downlink Yes Uplink Yes Figure 67 Remove vehicle 59 U g CS User manual v 2 5 Uses Vehicle Profile List Adding a New Vehicle Profile You can add a new vehicle profile by creating a new card and filling in the parameters U g CS Client i Create new 3DR Aero ze Create new item Name 3DR Aero Vehicles Payloads ARDRONE ArduPilot e 3DR Aero M DJI A2 Name 3DR Aero M DJI NAZA M V2 Payloads Yr a Platform ArduPilot DJI Wookong M Payloads MICRODRONE Figure 68 Adding a new vehicle profile Editing a Vehicle Profile You can add edit a vehicle profile by clicking on the profile card and pressing the Edit button You can choose different avatars 3D for vehicles by choosing avatars for the vehicle profile Figure 69 a and can also edit parameters Figure 69 b zjx U g CS Client Cancel Microdrone md4 1000 Back Get XECE Microdrone md4 1000 Click to Platform MICRODRONE Vehicles Payloads Charged battery voltage V Payloads Normal battery voltage V Low battery voltage V Discharged battery voltage V Battery weight kg GPS _ Remove 25 2 oo 2 ER Normal number of satellites a ER 512 E 4o00 7 Configuration Low number of satellites Telemetry Normal telemetry level Low telemetry level Routing Max waypoints Waypoint acceptance radius m Max altitude AMSL m Figure 69 Vehicle profile 60 U g CS User manual v 2 5 eS uges Adding
6. Altitude above ground level m Action on loss of GPS O Wait Gs Land P77 Aerodrome zones J Custom zones Initial speed m s Action on loss of RC UTET SFE Maximum speed m s 10 00 wait Lana Home O Continue Maximum altitude above ground m 120 00 Action on battery discharge Emergency return altitude above ground m wait O Land C Gi Home amp Continue Export to KML Export to OK Figure 27 Route options dialogue A useful option is the change of Altitude mode Figure 27 b It converts all the altitudes regarding the digital elevation model of the area Locations of all the points are preserved 26 U g CS User manual v 2 5 CS uges You can make export your route to file Export to kml and xml is available Click Export to KML or Export to XML Figure 27 c in the Route options dialogue to start unloading Saving a Mission Missions are not saved in a single file All missions are stored in a single database so there is no need to specify a file when saving a mission f Mission of 2014 10 17 12 Mission of 2014 10 17 12 22 Figure 28 Mission saving The mission is automatically saved every 5 seconds if a change has occurred Figure 28 a or on mission upload Figure 28 b Missions are distinguished by their names which can be changed by clicking on the mission name Figure 28 By default the name of a new mission consists of the date and time of the mission s creation To rename th
7. 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 5 2Uet EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 Control mode Auto Downlink yes Uplink yes nr 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 z EmuCopter 101 L cece F Latitude 56 58 36 70 N S amp Ze Longitude 24 04 25 46 E Auto Mode gt itch 0 ol 0 wi 2 ga i Send the command to the current vehicle command is inactive P i t e Return Home d kv fy ading O s Ji ats te AN 12 28 16 EmuCopter 101 Auto Mode Command succeeded CH 12 28 16 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 7 Elevation 1 m Eye altitude 86 m Figure 13 Sending commands Disarm 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
8. Performance URL http a tile 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 72 Map providers menu Currently the following map providers are supported Google hybrid Google map Google satellite OSM Mapnik Bing 65 U g CS User manual v 2 5 CS uges 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 73 Google hybrid enabled Remove Type Tiles Clear cache URL http mtl google com vt lyrs y amp x 0 amp y 1 amp 2 2 Figure 73 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 74 a The URL field contains the template of addresses with which map images can be downloaded for the WMS and Tiles options Figure 74 b You can add a Description which will display in the tooltip of the map provider when you select it Figure 74 c You can also set a maximum cache size for every map provider Figure 74 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 74 e After the cache is cleared it will reload from t
9. 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 ou Response Times and or iv that it shall fix and bugs errors or faults in the Software and shall be entitled to request a fee for costs and expenses in providing a fix or turn around solution 76 U g CS User manual
10. Yes Uplink Yes Figure 65 Vehicle ArduCopter 101 Save Cancel Ze ZEIEN ArduCopter 101 a Gs Profile 3DR ArduCopter Quad Figure 66 Select vehicle profile 58 U g CS User manual v 2 5 Vehicle Parameters Ugcs Below you can find the table of parameters that should be filled for the vehicle Figure 65 Figure 66 Parameter Vehicle name Tail number Platform Profile Payloads Altitude mode m Downlink connected Uplink connected Removing a Vehicle Description Mandatory User defined vehicle name Yes Former ID field Tail number of the vehicle Not editable Vehicle platform You can edit this field in the vehicle profile list Choose an available vehicle profile or create a new vehicle profile Yes View selected payload for the vehicle Current take off point altitude For more information about this field please see the take off altitude section Downlink connection status Uplink connection status You can remove a vehicle from the list manually by pressing the corresponding buttons Gain control and Remove A Tail number ArduCopter 101 Uplink connected Downlink connected 3DR APM Profiles Payloads Configuration Platform 3DR APM Profile 3DR ArduCopter Quad Payloads Altitude mode m Downlink Uplink ArduPlane 102 Tail number ArduPlane 102 A Platform 3DR APM Profile 3DR Aero M Payloads Canon SX260 SX280 Altitude mode m N A
11. 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 Services it is possible to open the Windows Services panel through the U g CS system tray icon U g CS User manual v 2 5 Lues e wi He ADSB receiver running Ho Vehicle emulator running g U g CS server running V HG Video service running HG ArDrone VSM running He Ardupilot VSM running Hg DJI VSM running E a z Microdrones VSM running j Mikrokopter VSM running d wi x Language Quit i 5014 10 14 Figure 2 U g CS Service manager menu The desktop icon launches the U g CS Client U g CS configuration is done automatically Mac OS You can start U g CS by clicking the U g CS client icon in Launchpad After successful installation the Launchpad has folder UGCS with two shortcuts U g CS Service manager and U g CS 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
12. 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 74 U g CS User manual v 2 5 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 l Grant of License Subject to the terms of this Agreement the Licensor grants You a limited pe
13. maximum speed specified for the route Decrease the flight soeed parameter for the route segment The path cannot be found Please try to change the location of the basic point s or values of parameters One of the segments of the route cannot produce a path That particular segment should be modified The radius of the circle is too small less than a meter Radius of the circle has to be one meter or more The number of approximating points cannot be less than three Change the Number of approximating points parameter of the Circle to be three or more The height of the circle s centre above ground level is less than the safe height specified for the vehicle Increase the elevation of the circle The minimum height is less than the safe height specified for the vehicle Increase the minimum height of the building scan segment The minimum height is higher than the max height Review the Minimum height and Maximum height parameter values of the Building tool If Maximum height is not specified make sure that minimum height is less than the height of the building The scanning step exceeds the difference between maximum and minimum heights Either decrease the scanning step or increase the maximum altitude of the building scan mission The calculated route will cross other buildings with the given values of parameters Please change values of parameters or determine the route manually This means that there are buildings situated too clo
14. 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 login 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 5 Uges Getting started To create first flight mission in UgCS open up UgCS client application SES BB VigICs Client d F New route Figure 4 Mission editor Move mouse pointer to the desired location and zoom in by using mouse wheel or and buttons on numpad BET e i pme E o es Menu Mission Player Mission of 2015 05 06 13 39 A e search places SET E 16 28 07 New route e P ar ge Add new route A Cache era EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 EmuCopter 101 74 l Manual Mode g kg Wi Land i Return Home Disarm 14 53 50 EmuCopter 101 Telemetry level is too low 14 21 02 EmuCopter 101 Telemetry level is too low a c e 58 37 22 N 24 04 2047 E 0m Eye altitude 102 m Y at 16 05 30 EmuCopter 101 Telemetry level is too low W a Figure 5 Connected vehicle in mission editor 10 U g CS User manual v 2 5 CS uses Next
15. 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 The server failed to calculate path The route is too complex or terrain is too tricky Please set more precise route and try again Usually shown when the landscape configuration is too complex to produce a path Substitute route segments created using tools with plain waypoints or add remove additional waypoints The point exceeds the maximal altitude specified for the route One or more points are set too high Either lower it them or change the maximal altitude parameter in the route options The distance between the point and an obstacle building is less than the safe distance specified for the vehicle At least one of the points is too close or inside a building and has to be relocated to a safe distance from the building If a point is set inside the building temporarily turn off the buildings layer by clicking the 3D objects button to reveal and move the point The distance between the point and the ground is less than the safe height specified for the vehicle At least one of the points is not high enough to satisfy the minimal altitude condition and must be elevated The total number of waypoints in the route exceeds the maximum number of waypoints that the vehicle can handle Please reduce the complexity of the route The route needs
16. 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 30 U g CS User manual v 2 5 CS uses Aa dl 1 1 Waypoint Latitude Longitude Altitude above ground level m Flight speed m s Turn type Stop and Tum y Avoid obstacles Avoid terrain 1 Set camera mode Start recording Stop recording Figure 33 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 34 where additional waypoints were produced after setting two base waypoints Figure 34 Additional waypoints inserted between the basic ones 31 U g CS User manual v 2 5
17. source After that one must add created source to Building sources list Figure 83 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 UgCs Geographic Server Figure 84 Creating new building source Now the added building source is ready to be used Imported building models will be loaded to current building source 70 U g CS User manual v 2 5 CSuges 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 vid
18. 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 Microdrones Mikrokopter ArDrone ArduPilot Pixhawk and other MAVLink compatible UAVs are supported with an option to add more by a custom development performed by SPH Engineering or by the clients themselves through an included SDK for third party developers The U g CS architecture consists of three separate layers Human Control Interface Client Universal Control Server Server Vehicle Specific Modules VSM The Client provides a graphical user interface for operations such as adjusting vehicle parameters mission planning monitoring telemetry and payload data and replaying missions from an archive The Client is designed to work on all main computer platforms Windows Mac OS X Linux Ubuntu and will soon be available for mobile platforms iOS and Android U g CS has been tested to be stable on Windows Mac OS X and Ubuntu 12 14 04 and 14 10 The Server is an intermediate layer It contains the database services for HCI and VSM GIS and routing facilities Each VSM contains an adapter for a specific vehicle It translates routes from our universal vehicle neutral protocol to vehicle specific protocols It knows how to detect the vehicle and how to obtain and t
19. 25 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 25 b lets you exclude a specific route from the mission Be careful when removing routes as route removal cannot be undone Across the lake E DRIDU ZE aTa u PA Around the pond SDR ArduCopter Quad River view S DJI A2 multicopler New route Figure 25 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 25 c Show on map button del allows you to show hide calculated routes on the map Elevation profile button dech allows you to show hide the elevation profile window for calculated routes Route selection is done using the abovementioned list of routes 25 U g CS User manual v 2 5 Uges Editing Route Parameters Route parameters can be modified by clicking the Route options button next to the name of the route Figure 26 a River view 4 b T DJI A2 multicopter 4 cH Figure 26 Current route bar In the Route options dialogue Figure 27 the Vehicle profile can be reassigned Figure 27 a and route parameter values can be changed Name New route Vehicle profile Quadcopter Emulators ES Home location Altitude mode O 1st waypoint amp Set explicitly Latitude Trajectory type Longitude ES O Straight
20. 3 14 42 EmuCopter 101 Arm Sending command 13 14 27 EmuCopter 101 Route Untitled route successfully uploaded a Ea T ee AAT wm EE een fw E MB e om D E CTT D TE TEEN 7 ef SI ee e D Io 3 ES Figure 36 Log window Mission Calculation After the route has been formed with all segments in place and their parameters are double checked the mission is ready for processing The calculation process is executed by clicking the Calculate button EA The mission is automatically saved when the route calculates Calculation might take some time During the calculation process the route is checked for feasibility according to predefined rules First it checks whether figures and parameters are specified correctly All polygons must be closed and all parameters must be correctly specified before proceeding Correct parameters must also be supplied for actions attached to the route segments 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
21. 9 This list contains all elevation sources that may be currently used 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 Add new elevation source Geoserver UgCS Geographic Server Local Geographic Server Figure 80 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 81 Remove URL http localhost 8079 test Enabled Figure 81 Created new elevation source 69 U g CS User manual v 2 5 Uges 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 ee ae Enabled Map providers 3eo0servers Elevation 7 order Figure 82 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 82 Then create new one by pressing New source button Figure Building sources on Local Geographic Server Name State default Ready New source Figure 83 Adding building
22. Agl 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 with given overlaps The direction of passage is selected using Direction angle The route is based on the snake Flight height altitude of flight along the perimeter This altitude is not affected by the altitude type chosen for the route Number of laps number of times the drone flies along the perimeter 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 14 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 36 a 35 U g CS User manual v 2 5 CS uges 13 4 42 EmuCopter 101 Arm Command succeeded 4
23. CSuges 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 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 spec
24. PS 9 eege E Z 1 Flight speed mie ES Telemetry 100 E Climb rate m s B V Avoid obstacles Avoid terrain EmuCopter 101 Ge lt wi S E Fa A S 56 58 39 08 N 24 04 2f81 E Elevation im Eye altitude 86 m Figure 9 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 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 only descend rate parameter 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 D 4 4 Landing Latitude EmuCopter 101 Longitude 24 04 25 77 E Gm Battery 12 60 V 100 Descent rate m s GPS 9 Avo
25. U g CS User manual v 2 5 Lues U g CS User Manual Table of Content RETTEN 1 Pene PV ANEMIO EE 5 Installation and System Requirements soweiiarssirisnir a 6 lee 8 Biet E 8 LAI GR KE 8 Checking the Components and Running the Application ccccsccccssecccssecceececeeececenececeeeeeecesaencessueceseeeeeees 8 lee et 8 Vulle KE 9 Biet E 9 Betz 9 EIERE EE 10 BVT VS SOI VOM Ke SIO EE 18 PACH a NEW ROUTE E 21 ROUTE Nameand Vehicle Profile sesiis raiser nr esi an P E nav cand N E T es 21 ROUTE ne 23 RG geng E 25 EE CUE ROWE E 26 DAN WV NV MNS SUNN E 27 Pane a N SHO E 28 PY PU EVO p E A srs ce pens ces ee A EEA E E A E E A E A EE 28 The Tools and Basics of Drawing a Route ccseccccesseccceesececeeecceeeescceeeeeceeseneceeseeeceesensecessenecetsugeceesanas 30 BaS AVDO EC 31 Adding Removing and Editing Route Segment 32 elei AM AMM OU EE 33 PES VV ICI OWN EE 35 RES STOIC AIC Een EE 36 PFO COS SHINE EVE OS sar Screws neoosneaemanier toe ssed EE E E ope maauiivvacdeiteauneutentonautecparmaceunonen 36 CGI UAL OM RC EE 38 EVE Vat eis Re 38 ee e 39 Adding Removing and Rearranging Actions 39 U g CS User manual v 2 5 Lues Ree Eet e 39 Adding a Vehicle to a Ee EEN 40 TKO dere 42 Led NO UCIT aV ON ea E aaetedaianctouancateneeese one 43 DEE TOO eegene 44 WINS NOW EE 44 STACI OCS E 46 Vleit 47 FV eh TE 47 BE dte A E 48 NFZ and route creation al COMICS EE 48 W nee E 49 BO NINN na costar iene ia ec E E vont a
26. a Payload to a Vehicle Profile You can add and remove a payload to from the vehicle profile by editing the vehicle profile Figure 69 c Vehicle Profile Parameters Below you can find the table of parameters that should be filled for the vehicle Parameter Description Mandatory Vehicle profile name User defined vehicle profile name Yes Platform Choose a vehicle platform from the available variables Yes Payloads Edit available payloads for the vehicle profile Yes Battery fully charged at voltage V shown as 100 Voltage value Charged battery voltage l Yes shown in white colour if between this voltage and normal voltage Normal battery voltage V Voltage value shown in white if at or i Yes above this voltage shown in yellow if below this voltage Normal battery voltage Low but sufficient voltage V Voltage value shown in yellow if at this Low battery voltage voltage or between low and normal voltage Voltage value shown in Yes red if below this voltage Discharged battery voltage Battery zero level V shown as 0 Shown in red Yes Battery weight Battery weight kg Yes Normal number of satellites to provide a good level of accuracy Normal number of GPSShown in white colour if at or above this level Number of satellites satellites shown in yellow colour if below this level and between normal and low level Low number of GPS satellites while still being enough to launch the Low number of GPSvehicle Number of sate
27. 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 EN U g CS User manual v 2 5 Uges New route creation O Create from scratch import from file Cancel Figure 20 Route creation mode The second step is to name the route and specify the vehicle profile for the route The vehicle profile defines common parameters for a vehicle class For more information about vehicle profiles refer to the Vehicle Profile section Route planning uses the vehicle profile instead of the vehicle instance Thus one route can be uploaded to several vehicles sharing one profile New route creation Route name Across the lake MC Fly Hellios Microdrone tyd4 1000 Figure 21 Route name and drone selection 22 U g CS User manual v 2 5 Uges Route Parameters The third step is to review and set missing parameters of the route In order to ensure a safe execution of the mission it is crucial to understand and review all of the parameters before the route is confirmed Across the lake DJI Wookong M multicopter Home location Altitude mode O 1st waypoint amp set explicitly O Above ground Latitude Trajectory ty pe Longitude ms tt O Straight Altitude above ground level m Action on loss of GPS O Wait E Land Aerodrome zone
28. ace 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 49 a Create placemark here Import placemarks from KML Add building Figure 49 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 50 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 51 49 U g CS User manual v 2 5 CS uses ef b Move placemark Delete placemark Figure 51 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
29. 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 localthost 8079 default localhost 8079 new test localhost 8079 No file selected Figure 52 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 50 U g CS User manual v 2 5 oS Uges 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 53 a shows hides the video window Figure 53 b in the client You can expand the video window to full screen by double clicking on it Figure 53 b To view a list of available video streams click the button in Figure 53 c Also you can broadcast video data to web services using the Share button Figure 53 d Then all available video sources will be displayed in the video window Figure 54 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 fin
30. ating icons a Battery level b uplink status c downlink status and d GPS status In the drop down menu there are additional options and actions for the chosen vehicle Figure 40 Select profile ts 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 41 U g CS User manual v 2 5 Lues 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 st
31. aypoint before the landing point This soeed 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 waypoints generated If left blank this parameter will be automatically determined from the radius of the circle Follow terrain if enabled all generated waypoints have the same altitude from ground AGL altitudes are equal If disabled all the points will have equal AMSL altitudes Route calculation is performed so that the route points are placed at the same height relative to the ground This height is calculated based on the camera settings and set value GSD Note this tool requires a camera to be selected as a payload The camera must have properly specified positive values of focal distance sensor size width and height and sensor resolution horizontal and vertical For more information about setting a camera for vehicle and camera parameters please see the Adding a Payload to a Vehicle Profile and Payload List sections Camera payload that is assigned to a profile In case of multiple cameras attached to profile it is allowed to select which one to use for area scanning Ground resolution GSD cm approximate ground reso
32. ays in the air When creating a new mission the altitude status can be not available This is because either for the specific vehicle profile the default take off altitude is not set or was not set automatically by our software We will further explain the importance of proper take off altitude To set take off altitude please choose vehicle at the top of the map and click the drop down menu Figure 42 a i EmuCopter 101 4 D select profile Take off point altitude Take off point altitude a E sai Altitude 0 00 m Release control Altitude AMSL NIA Show avatar Altitude AGL 2 Show telemetry D Show commands Show log Ve Show camera footprint Remove Figure 42 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 42 U g CS User manual v 2 5 Uges Figure 42 b sample it from terrain by clicking the map while holding Shift or setting it f
33. censor 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 78
34. d record files in subfolder UGCS video of user data folder on the Windows OS Menu Mission Player Demo mission yes Untitled route e amp _ EmuCopter 101 ale TaT Telemetry EmuCopter 101 Battery 11 94 V 78 _ Release control GPS 9 Telemetry 100 Show telemetry Show commands Show log Video EmuCopter 101 DES Ka Am Logitech Webcam 250 f y i VD Auto Mode uCopter 101 WE 4 REA CEET a E OARE S auai _ a Eer ee eT Em bo e ie AN E ge Ke Gett at oS st eee p Ze KA f di 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 53 Video window Video EmuCopter 101 Select video source o source itech Webcam 250 i fe LOC LSD Figure 54 Video source in the video window 51 U g CS User manual v 2 5 CS uges Video EmuCopter 101 Logitech Webcam 250 Figure 55 Figure Video source panel share Ardrone Ustream Cancel Figure 56 Video source share menu In the share menu you can choose a web service to broadcast Figure 56 As example to use Ustream service http www ustream tv you should put insert your channel s URL Figure 56 b and to set flag of permission to broadcast to service Figure 56 a Now you can check your stream on Ustream channel Note that it could be a delay that is set by default in Ust
35. e 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 point on the ground at which the mouse is currently pointing This allows the operator to see the approximate landscape elevation if eye altitude is less than 30 km of a particular point on the map as well as its latitude longitude and eye altitude The compass component shows the direction the map is facing To reset the direction to North cl
36. e mission click the mission title and then supply the new name Near the right side a toolbar is located The buttons set there depend on the vehicle type and autopilot UGCS Client can show the command buttons in different shades You can always press all buttons disregarding of shade Highlighted buttons suggest recommended commands for example Figure 29 a f depending on the current state of the vehicle for example Figure 29 b c d e Arm Auto Mode Manual Mode Land Return Home Disarm Figure 29 Operation toolbar Arm Disarm Figure 29 a f activates deactivates all systems and makes the vehicle ready for flight Auto Manual Mode Figure 29 b c switches the vehicle between automatic flight mode and stabilized manual mode Return home Figure 29 e returns the vehicle home Land Figure 29 f lands the vehicle Camera Trigger triggers the camera switch if the vehicle is equipped with one For example DJI A2 and Wookong autopilots support general purpose servos which can be used to trigger the camera 27 U g CS User manual v 2 5 Lues Editing a Mission Routes in the mission are edited separately The route currently open for editing is the one selected from the list of routes Navigation This chapter describes map usage in order for the operator to be able to adjust the map view and create route elements Note For full functionality of the map an internet connection is required Provided ther
37. elemetry These values indicate the level of the battery voltage the number of GPS satellites and quality of the signal telemetry Control mode Control mode status automatic flight mode or manual mode Downlink Downlink connection status Uplink Uplink connection status State State of vehicle status Arm activates all systems and makes the vehicle ready for the flight or Disarm deactivates all systems and makes the 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 A titude AMSL Take off point altitude Altitude 45 U g CS User manual v 2 5 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 s
38. eo configuration file It s located in the following path Windows lt C installation directory bin vstreamer conf gt By default this path is lt C Program Files x86 UgCS bin vstreamer conf gt Mac OS lt Library Application Support UGCS configuration vstreamet conf gt or lt Users username Library Application Support UGCS configuration vstreamet conf gt Linux lt etc opt ugcs gt directory About configuration file vstreamer conf refer to Manuals video service 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 71 U g CS User manual v 2 5 oS Uges License U g CS client version 2 3 370 NOT ACTIVATED Your copy of Ulg CS is not activated yet Activation is not mandatory but allows you to overcome maximum altitude 120m AGL and maximum range 500m limits for the mission planner License Figure 85 License screen Shows you the version number of your UgCS software information about activation and has the o
39. erated waypoint can be seen by moving the mouse pointer over the waypoint Statistics of the calculated route are presented above the elevation profile Figure 37 a These are estimated flight duration route mileage total number of waypoints and min max values of AMSL above the mean sea level and AGL above ground level altitudes of the path Please ensure that the minimum AGL altitude value is sufficient for safe flight If there is more than one route in the mission switch between them to observe calculation results To return to editing mode click the Edit button Clicking again on the Calculate button will re calculate only the changed segments of the route Therefore re calculations usually take less time Elevation Profile EmuCopter101 we gt KS 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 37 Calculated path and elevation profile 38 U g CS User manual v 2 5 CSuges 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 37 b for the calculated mission On the elevation profile windows you can see the profile heights trajectory Figure 37 d and ground level Figure 37 e If
40. he icon will disappear Current local time is displayed in the right upper corner of the screen Figure 17 k 20 U g CS User manual v 2 5 CS uges To minimize the interface click the Minimize button Figure 17 I You can also access the mission menu Figure 17 f and Figure 19 Mission of 2014 10 21 19 07 2 a Greate new mission Stop editing Open Remove Import mission Export mission a Figure 19 Mission menu Create new mission Figure 19 a starts the creation of a new mission Start Stop editing Figure 19 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 19 c allows you to switch between missions Remove Figure 19 d deletes the current mission Import mission Figure 19 e allows you to load a mission from a file Export mission Figure 19 f allows you to save a mission to a file Adding a New Route To create a route select the New route Figure 15 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
41. he internet Google hybrid enabled Cancel Name Type URL Y Enabled Maximum cache size megabytes Cache expiration period hours 4 Cache never expires Clear cache Description Figure 74 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 pn Hike amp Bike http a tiles wmflabs org hikebike 2 0 1 png 66 U g CS User manual v 2 5 CS uses 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 e epsg 3857 Spherical Mercator default e epsg 4326 Geodetic projection e crs 84 Geodetic projection differs from epsg 4326 only by axes order 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 cha
42. he 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 behavior of vehicles in different types of trajectories and applicability of failsafe conditions depend on the autopilot s capabilities For more information check the manual and specifications of the device 24 U g CS User manual v 2 5 CS uges Safe descending Sate ascending Figure 24 Safe trajectories Action on GPS loss action on RC loss and action on battery discharge are the pre defined emergency actions In all cases the option to wait or to land the vehicle can be chosen Options to return to home position and to continue flight along the route are also available provided GPS is operational Usually it is only required to specify the home position and safe altitude other parameters have reasonable default values based on known vehicle properties Still it should be ensured that defaults are correct The software will perform checks and will cancel route creation if incorrectly defined or conflicting values of parameters are present Notifications about errors in values are displayed at the bottom of the window and the particular parameter is highlighted List of Routes The List of routes can be opened by clicking the Open list button Figure
43. ial cases when the inserted segment is created using the same tool as the one currently selected E g if the next segment is required to be a polygon tool the existing polygon has to be closed and finished beforehand Until then new polygon corners are added to the unfinished figure not to the new one If using the building tool click the Choose next button in the properties window to choose the next building otherwise clicking on a building will modify the current segment and will not produce a new one Note Click the insert new segment route icon Zei 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 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
44. ick 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 30 28 U g CS User manual v 2 5 oS Uges Men Mes Player Demo mission Tahoe P Layers MER New route e Quadcopter Emulator a E he l Je TT e E ee ATE KAS es d e Ki d K 3 La 4 d d Was A h 2 D Figure 30 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 17 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 31 Telemetry can be displayed in edit and calculated route mode ArduCopter 10 Battery 12 60 V 100 4 GPS 9 lt Tenei 100 lt Figure 31 Telemetry window The telemetry window mode switcher Figure 31 d makes the window full sized or collapses it to short mode when only 3 parameters are shown The default mode is short It shows the battery level Figure 31 a GPS Figure 31 b and telemetry level Figure 31 c values which have a white orange or red color depending on the charge or reception level Once some geographical elements in a route have been created one can quickly focus the view on the route by clicking the route name The ma
45. id obstacles 2 Telemetry 1 00 Avoid terrain Manual Mode Land Return Home Disarm 09 34 36 EmuCopter 101 Telemetry level is too low 16 05 30 EmuCopter 101 Telemetry level is too low 14 53 50 EmuCopter 101 Telemetry level is too low 56 58 37 699N 24 04 25 61 E ae pee EN Elevation 1m Eye altitude 86 m a em a IESSE Figure 10 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 11 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 11 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 5 BB VigICs Client Se Telemetry EmuCopter 101 Battery 12 60 V 100 GPS 9 Flight speed m s Telemetry 100 Turn type Avoid obstacles Sf e A a Avoid terrain JS e d to Mode Manual Mode Land Return Home Disarm 56 58 37 67 N 24 04 24 64 E Elevation 1m Eye altitude 130 m Figure 11 Drawing waypoints with Draw a curve with automatic points modifier When a route is finished it
46. ied region Connections UgCs Geographic Server VSM URL http terrain ug es com Map providers Local Geographic Server URL http localhost 6079 Figure 76 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 77 Local Geographic Server Cancel Local Geographic Server http localhost 8079 Manage elevation source Manage building source Figure 77 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 78 Adding elevation source 68 U g CS User manual v 2 5 eSuges 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 Enabled Map providers Elevation 7 order Figure 79 Elevation z order menu To use an elevation source it must be first added to Elevation z order list Figure 7
47. 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 r E VigIcs Client a New route EmuCopter 101 2 60 V 100 New route creation x i 100 O Create from scratch Import from file F N Figure 6 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 is connected 11 U g CS User manual v 2 5 8 BB VigIcs Client Mission New route New route creation Route name 16 05 30 EmuCopter 101 Telemetry level is too low 14 53 50 EmuCopter 101 Telemetry level is too low 14 21 02 EmuCopter 101 Telemetry level is too low EmuCopter 101 Sample route MikroKopter Quadro search places EmuCopter 101 2 60 V 100 CC 100 lt gt gt Plane Emulator T rex 800 Figure 7 Vehicle profile list Choose the appropriate settings for the route All options are thoroughly explained in UgCS User Manual and if no specific se
48. ile provider Google Hybrid for example Figure 18 a and another is used as an Overlay tile provider OpenWheatherMap for example Figure 18 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 18 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 18 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 18 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 18 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 Figure 18 g Map layers Base map tile provider Google hybrid Overlay tile provider no provider GE bow terrain absence W Buildings W Placemarks Terrain sources Building sources srtm4 default No fly Zones e Fic PY Aerodrome zones PY Custom zones Figure 18 Layers menu Key Figure 17 j icon is displayed when you are using the Open version After activating the license t
49. ingle photo Camera mode by time allows you to shoot a series of images with a time delay between them You can add a delay before the shot series are started The series will 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 39 U g CS User manual v 2 5 CS uges The Camera attitude zoom action allows you to change the angles of camera pitch roll and yaw or to set the required zoom level of a camera Angles can be defined from 0 inclusively through 360 exclusively Zoom levels are integral positive values The Yaw action specifies the heading relative to the movement direction The value must be in range from 0 to 360 Point of interest POI sets the point of interest for the vehicle to face towards during the flight It can be set either by entering a latitude longitude and altitude in a numerical form or by clicking the Crosshair button in the action properties and drawing the POI in the same way that waypoints are drawn holding the Shift button and clicking on the map After inserting the POI click the crosshair icon again to exit POI mode Panorama action allows the vehicle to slowly rotate in the specified waypoint to take a video panorama or shoot a series
50. 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 5 BB Vigics Client EmuCopter 101 pter 101 Please double check route and vehicle actions before live execution of mission to DA 1 00 SCH ensure safety ed oro Yy OK V Return 1 P Telemetry mmm V EmuCopter 101 Manual Mode Land mi LI GE A 7 e Elevation profile Sample route Return Home Distance est Duration est Waypoint count D isarm min alt AMSL AGL l max alt AMSL AGL 11 34 36 EmuCopter 101 Rout 11 34 36 EmuCopter 101 Take 11 34 36 EmuCopter 101 UNOL apane ocr eee e 5 58 39 32 N 24 04 26 08 E T Elevation 2m Eye altitude 86 m Figure 12 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
51. left 32 U g CS User manual v 2 5 CS uges 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 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 co
52. llites shown in yellow colour if at this level or satellites between this and normal level Number of satellites shown in red colour if below this level Normal telemetry level Telemetry level value shown in white colour Normal telemetry level if at or above this level Telemetry level value shown in yellow colour Yes if below this level and between normal and low level Low telemetry level Telemetry level value shown in yellow colour if Low telemetry level at this level or between this and normal level Telemetry level value Yes shown in red colour if below this level Max waypoints Maximum supported WPs by NC Yes Waypoint acceptance Waypoint acceptance radius message of which waypoints in theo radius route can be reached 61 U g CS User manual v 2 5 Lues Max altitude AMSL Maximum altitude AMSL 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 Safe height over terrain Yes 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 speed Maximum vertical speed m s Yes Max horizontal speed Maximum horizontal speed m s Yes Default climb rate Default climb rate Yes Default descent rate Default descent rate Yes Glide slope Default glide slope Yes Height Vehicle height m Yes Length Vehicle length
53. lution for resulting images in centimetres per pixel Forward overlap ratio of the overlap in neighbouring frames consecutive by motion vector see the scheme below Value is set in the range from 1 to 90 Side overlap ratio of the overlap in neighbouring frames placed in 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 34 U g CS User manual v 2 5 CS uges Perimeter WslaHewesy rameWidt Figure 35 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 height
54. 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 Maximum take off weight Maximum allowed weight kg Yes 62 U g CS User manual v 2 5 Uges Payload List Adding a New Payload You can add a new payload by creating a new card and filling in the parameters Create new Canon 5D Mark II 50 mm Name Canon 5D Mark II 50 mm Vehicles Profiles Canon 5D Mark III 50 mm e e d Le Canon 5D Mark III 50 mm Canon A2300 A2400 Configuration Canon A2300 A2400 Canon ELPH 115 130 IS E9 Name Canon ELPH 115 130 IS Figure 70 Payload Cancel True focal length mm Vehicles Weight kg Sensor width mm Profiles Sensor height mm Sensor horizontal resolution px rom E i Canon 5D Mark II 50 mm Configuration Name Canon 5D Mark II 50 mm Canon 5D Mark III 50 mm Name Canon 5D Mark III 50 mm Figure 71 Payload parameters 63 U g CS User manual v 2 5 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 l Sensor vertical resolution in pixels resolution px Yes Yes Yes Yes
55. manual v 2 5 Lues Figure 58 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 the trajectories is more than 20 degrees e The minimal convergence persisted in the past and spread angle between the trajectories is less than 20 degrees and the areas of the vehicles are not violated Warnings are created only for vehicles which have been added to the vehicle list When control is released all current alerts for that vehicle are removed An indicator in the top right corner shows whether any ADS B receivers are currently connected Figure 59 It is displayed green if a connection with at least one such device is active and grey otherwise Menu Mission Player Demo mission ZA e P Layers l 13 02 49 Gen New route e ES A we EmuCopter 101 Cache terrain a o gt _ 4 Fi Quadcopter Emulator FA Ag Yv til Figure 59 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 rou
56. mouse pointer Figure 23 After the location has been chosen clicking on the OK button takes you back to the wizard Home location Latitude Di PE OG Longitude 122 01 19 35 gym Altitude abg e ground level m Figure 23 On the map selection of home location Initial speed is the parameter that defines the speed of the vehicle before the first waypoint is reached Additionally it defines the default speed for the rest of the route s elements Maximum speed is the upper speed limitation of the UAV This value cannot exceed the maximum speed the vehicle can achieve it is set in vehicle configuration and defined by vehicle manufacturer Maximum altitude is the altitude limitation for the route Note that this altitude changes its type above mean sea level or above ground as one changes the altitude type for the route see below Emergency return altitude is the altitude used by the vehicle to return to the home position in emergency cases or when the operator recalls it during the mission Altitude origin specifies whether altitudes are calculated from the mean sea level or from the level of terrain Usually it is more convenient to specify altitudes relative to the ground level Please note that once the choice is made all the altitudes specified in the created route are interpreted in the chosen type There is the option to change the altitude origin afterwards via the route options window Trajectory type is t
57. mpleted the mission is ready for execution Measurement Tools Several tools are available to ease mission planning Distance measurement Area measurement 2 Visibility range Figure 44 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 45 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 44 U g CS User manual v 2 5 CS uses Telemetry EmuCopter 101 Battery 12 53 V 97 GPS 9 Telemetry 95 Control mode Auto Downlink yes Uplink yes State armed Altitude 34 14 m Altitude AMSL 33 76 m Altitude AGL 34 04 m Ground elevation 0 28 m Vertical speed 0 12 m s Air speed not available Ground speed 4 55 m s Latitude 56 58 36 74 N Longitude 24 04 21 83 E Pitch 11 Roll 15 Heading 5 Course 122 Figure 45 Telemetry window Principal values Battery GPS and T
58. nd Ardupilot the VSM should detect a new connection and a new record in the vehicle list in the U g CS client should be created Please refer to troubleshooting options further on in this section in case of failure 3 After the automatic detection of vehicles in U g CS you can see a vehicle card in the main menu vehicle list Figure 65 U g CS will choose the most suitable vehicle profile for the vehicle 4 If necessary you can select a different profile for the device manually or edit the current profile To select the profile for the vehicle you must click the Gain control and Edit buttons After this you can select a predefined vehicle profile Figure 66 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 Les one Seet EE CO On Tail number ArduCopter 101 Platform ArduPilot Uplink connected W I Profile 3DR ArduCopter Quad Downlink c ected A selen Take off point altitude m 1 16 ArduPilot Downlink Yes Profiles Uplink Yes Payloads ArduCopter 103 As Tail number ArduCopter 103 a gt Platform ArduPilot s Profile 3DR ArduCopter Quad Configuration Take off point altitude m Downlink
59. ndition 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 the vehicle Manuals ex DJI Manual All except for Waypoint 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 Climb rate climb speed of the drone for this segment of route Landing Descent rate descent speed of the drone for this segment of route 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 33 U g CS User manual v 2 5 CS uses Circle Area scan The target air speed parameter is the speed set at the w
60. ng 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 be deemed to create any subsequent or similar
61. nges You can paste your TileJSON provider URL as is For example htip earthatlas info nz tiles nz popden tilejsonFor the providers who use the Google XYZ addressing system the URL might need some changes which are shown below Supply URLs in a parameterized form containing tokens X Y and Z or 0 1 and 2 If you have an address at hand containing X Y and Z tokens you must respectively substitute 0 1 and 2 for them preserving the order they are used in http map host com europe Z _ X _ Y jpg be _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 75 New provider enabled Cancel Name Type URL Browse Ce Enabled Description Figure 75 New map provider with type of MBTiles 67 U g CS User manual v 2 5 Uges 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 specif
62. ocus on the last known position of the vehicle click on its name Sometimes altitude value is unavailable because there is no take off altitude for the vehicle It will be displayed after setting the take off altitude 46 U g CS User manual v 2 5 eSuges 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 47 Figure 47 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 al
63. 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 Adding a Vehicle to a Mission To add a vehicle click on the button at the upper left corner of the map Figure 39 Menu Mission Player Mission of 2015 02 26 18 WK a New route Figure 39 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 40 40 U g CS User manual v 2 5 CS uses Select profile Take off point altitude Release control E Show avatar Ed Show telemetry eed Show commands yf Show log EA E Show camera footprint Remove Figure 40 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 41 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 T ArduCopter 101 e Led e Figure 41 Vehicle indic
64. p will move to the last element of the route or to the first calculated waypoint in case of a processed route 29 U g CS User manual v 2 5 Lues 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 32 o Waypoint Area scan Ferimeter Circle Take off Landing Figure 32 Available tools The Waypoint tool is the default tool To create a new waypoint press and hold the Shift key while simultaneously dragging up from the ground to the desired height Therefore not only the location but also the required altitude of the waypoint is set in one motion The waypoint s position can be adjusted more precisely later The pin can be dragged by its base to change latitude and longitude 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 Ci
65. peed Indication of how fast a vehicle is rising or descending A positive value means an increase of AMSL altitude and 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 46 Vehicle model To f
66. ption 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 There are three types of licenses 3d Buildings 20 Buildings 100 Buildings 72 U g CS User manual v 2 5 eSuges Can t be disabled Can t be disabled Can be disabled 500m from first Fly Zone Limits for Routes pomi No Limits No limits 120 meters AGL mmm ff n E 1 res o oem LL Ena ss ERE Figure 86 Types of licenses functionality Support 24x7 Contact ugcs ugcs com Figure 87 Types of licenses support 73 U g CS User manual v 2 5 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 OS lt Library Logs UGCS gt or
67. ransfer it s telemetry data to the Client and the Server U g CS User manual v 2 5 Lues 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 unnecessary risks The user must be acquainted with and comply with location specific legal regulations before using U g CS Please make sure that the first waypoint is located close to the actual take off location and there is no significant vertical drop Also make sure that a correct take off point altitude is specified before flight For doing this please refer to page 42 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 5 Lues 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 component
68. rcle tool makes the route go around the specified point at a required distance Creating a circle is similar to creating a waypoint To change the radius of the circle drag the circular part of the pin The radius can be specified in the properties of the circle in numerical format Like with waypoints circles can be added to the route in sequence The Perimeter and Area tools are based on polygons and allow the vehicle to fly along a closed path or to cover an area with the required density of flight paths e g for the purpose of scanning the area To create a polygon hold the Shift key and click on the map where you intend to have the corners of the polygon Polygon corner pins can be moved by clicking and holding their bases Latitude and longitude may also be adjusted by means of editing properties To close the polygon set the last pin close to the first one or drag the last pin close to the first A polygon must have at least three corners The Take off tool is used to mark the take off position and parameters The Landing tool is used to mark the landing position and parameters For complete information on how the tools work how they 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
69. rded telemetry indication the icons are displayed Icons are schematic representations of commands that were sent to the machine at the time Note For emulator vehicle telemetry doesn t store by default On telemetry player you can see icons only without recorded data 55 U g CS User manual v 2 5 CS uges Icons correspond to the following commands Icon Description Upload Arm Disarm Auto mode Manual Mode E E Land F Figure 61 Telemetry player workspace First move the seek bar Figure 60 d to a time when telemetry has been recorded To start the playback use the Play I gt button Figure 60 i At any moment playback can be paused using the Pause di 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 ge EmuCopter 101 a KH RK We KL D Clear selected telemetry Clear all telemetry Mi Show video ES Glow camera footprint Remove Figure 62 Vehicle menu in the telemetry player Playback speed can be adjusted using the speed button on the top side of the screen Figure 60 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 Figu
70. re 62 a It is possible to delete only the telemetry currently seen on the timeline by clicking Clear selected telemetry Figure 62 b To remove all telemetry from the selected vehicle choose Clear all telemetry Figure 62 c You can upload your telemetry to www droneshare com Select the Upload to Droneshare tee to open the upload window Figure 63 56 U g CS User manual v 2 5 CS uses IER Ball 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 ES ES Save password not secure Riga Riga Latvia Cancel Figure 63 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 Expor
71. ream service Video Service runs under control of Service Manager Video service works with different video sources such as capturing devices web cameras and network streams GoPro or ArDrone video streams for example Video Service provides information about available video sources to UgCS client so you can pick up desired stream just from client For every video device or stream found Video Service 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 Cache terrain 52 U g CS User manual v 2 5 CS uges To save elevation information around camera view point for offline usage you should press Cache terrain button in the upper right corner Figure 57 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 EmuCopter 101 Cache terrain Figure 57 Cache terrain You can find cached file
72. rge Emergency return altitude above ground m wait Land mm amp Home E Continue Export to XML OK Figure 48 NFZ visibility To change the visibility of NFZ click on the Layers button at the very top right hand corner of the screen 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 18 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 48 U g CS User manual v 2 5 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 pl
73. rom the current terrain altitude under the vehicle Figure 42 c It must be noted that it is highly recommended to always check altitude values Altitude drift problems cannot be solved by software only and require operator attention Always check after power cycling a vehicle or mission upload whether the altitude is reported correctly After setting the take off altitude it is displayed in the vehicle card Uploading a Mission If you are satisfied with pre calculated routes missions can be uploaded to vehicles Upload is done by clicking the Upload button Figure 43 a The mission is saved and forms the waypoints uploaded to the assigned vehicles Demo mission w EmuCopter 101 Battery 12 60 V 100 GPS 9 Telemetry 100 E S i m w EmuCopter 101 ay ee f EORI S ah Manual Mode Land Return Home 12 27 58 EmuCopter 101 Route New route successfully uploaded 12 27 58 EmuCopter 101 Take off point altitude changed 0 225 m AMSL 12 27 58 EmuCopter 101 Uploading route New route 96 59 01 05 N 24 03 47 88 E pen Elevation 0 m Eye altitude 178 m Figure 43 Uploading process button a and indication b During uploading information upload process progress is shown in the log window Figure 43 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 interrup
74. rsonal non exclusive non transferable non sublicensable license to use the Software as provided herein solely for using the Software according with its documentation the License Each License allows You to install and use two 2 copies of the Software on a two 2 computers for use by not more than one user at a time Use of the Software by two or more users requires a separate License for each such user The End User acknowledges that Updates may be licensed by the Licensor with additional or distinct terms and conditions The License given pursuant to this Agreement is without prejudice to any additional user policies rules or instructions which may be supplied with the Software or published by the Licensor from time to time The End User hereby agrees to comply with all such policies rules or instructions and failure to do so shall be deemed to be a material breach of this Agreement The Licensor reserves the right to amend the terms of the License given to the End User pursuant to this Agreement Continued Use of the Software by the End User following the date of notification by the Licensor of the new terms shall be deemed to be an acceptance by the End User of the new terms The new terms shall supersede the terms of the original License and shall thereafter be deemed to be binding and enforceable Other Rights and Limitations You may not and may not permit or aid others to translate reverse engineer decompile disassemble
75. s Custom zones Initial speed m s d Action on loss of RC MET arr Maximum speed m s 10 00 wait E Land d Home O Continue Maximum altitude above ground m 120 00 Action on battery discharge Emergency return altitude above ground m r Wait Land 50 00 Home Continue Cancel Figure 22 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 22 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 convenient way to set the home position is to point it on the map Click the button with the crosshair icon Figure 22 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 23 U g CS User manual v 2 5 CSuges change its height depending on the position of the
76. s 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 between vehicles U g CS gives warnings about dangerous convergences concerning vehicles controlled by U g CS and vehicles observed by U g CS via the ADS B receiver Collision possibility calculation is based on three parameters e H horizontal distance meters e V vertical distance meters e T warning time seconds Values for the vehicles controlled by U g CS e H 20m e V 15m e T 60sec Values for the vehicles observed by U g CS e H 9260m 5 NM e V 300m e T 60sec Warnings about possible collisions Figure 58 appear in the log window if vehicles during the minimal convergence would in the future violate both boundaries H V of any other vehicle in a time less than T A warning is not displayed if the minimal convergence occurred in the past and the vehicles fly apart from one another 17 33 30 ArduCopter 101 Proximity warning cleared with vehicle ArduCopter 104 A 17 33 30 ArduCopter 104 Proximity warning cleared with vehicle ArduCopter 101 hal 17 33 27 ArduCopter 101 Proximity warning Distance 46 50 m azimuth 267 378 approaching vehicle Ardulopter 104 17 33 27 ArduCopter 104 Proximity warning Distance 46 50 m azimuth 67 386 approaching vehicle Ardulopter 1017 53 U g CS User
77. s on separate machines and or the ability to run them as separate services System requirements for Simple installation ee ecc 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 Core 2 Duo or Athlon X2 at 2 4 GHz Minimum 2 GB of RAM Recommended 4 GB of RAM 2 GB of free space Graphics Graphics card with DirectX 9 support Shader model 2 0 Any card made since hardware 2004 should work TCP IPv4 network stack Screen Minimum supported screen resolution 1024x768 resolution Please note that the software has not yet been tested on server versions of Windows and OS X Windows Vista is not supported U g CS User manual v 2 5 eSuges 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
78. se ois ae see dence E eget nace A ceed ssnaees 50 VO EE 51 nek POO UO MIN E 52 CDE WS i aM ses cers a E cae aenceet E suceneset seine E see cata eceossenschesessvaneebe nen 52 PTS e E EE EE wtetee Seaside ved E Reina E T E E sons avedvnd sachet E iaaaueurenaes 53 Ee e AE ar E E E A T 55 yenice E 58 Ror e ne a NEWN e EE 58 vence eu E E 59 H eren te E 59 Venele FTI EE 60 e en a New ER e UE 60 ERE ay VTC ee 60 Adding a Payload toa Vehicle Profile E 61 Veide Prole e EE 61 PAO AC E 63 Adame a ICV FV e EEN 63 IN AOI EE 65 GINS CO E 65 VN E E E tiacactyecuvessuttatscenetbvecevasoutertunceraeveiaves chats E E E E E 65 PUTA OVC CN 65 MSS E EA E N seve A E E E A ET 66 NN EE E E E E E E EA A E A E O E E E ENEE 67 U g CS User manual v 2 5 Lues NL ON r E E ese cuareapecseuosneaeseiay E eapseneeebye 67 Vull 67 OS ee 68 BV CVO E EE 69 FSP SS ONION crater crseeasas care ssaetnee anes ayy cnecoues desetoasy edensessaaceb E 70 Err 71 VE te ln ET pcan te tenses ees E E es cnrees none eiee eee euneelee ieee 71 Ke E 71 NNO E 71 WAGES COMO UE AUN u en EE 71 Video configuration in video service properties file 71 Wieren ACO E 71 Be 72 TOUDE SOO Te 74 UL Fea Sho 6 EN 74 The Vehicle Is Flying around One Point for a LONG Time 74 Appendix A End User License Agreemeht ancreuse yeeved so uatsboistanevevedarsnedsbenwetseinactasetsaveateinaces 75 U g CS User manual v 2 5 eS uges U g CS stands for Universal Ground Control Software The software is
79. se to the selected building for a safe path to be found Increase the Minimum height parameter in order for scanning to begin or end higher than the neighbouring buildings Another option is to change the Safe distance parameter value 37 U g CS User manual v 2 5 CS uges 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 37 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 gen
80. t telemetry Figure 64 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 64 a It is also possible to save many different layouts To do so click on the drop down menu next to the layout name Figure 64 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 57 U g CS User manual v 2 5 Uges Vehicle List Registering a New Vehicle New vehicles should be registered in U g CS The registration process step by step is as follows 1 To register a new vehicle connect your vehicle to U g CS and ensure that the VSM for that vehicle type is running For more information on specific vehicle workflows please refer to our manuals How to do this for ArDrone Ardupilot DJI Naza M V2 A2 Wookong m Microdrones and Mikrokopter can be found in folder UgCS docs 2 Provided that the vehicle is supported by U g CS at the moment Microdrones Mikrokopter DJI Naza M V2 DJI A2 DJI Wookong M ArDrone 2 a
81. t the connection between the computer and the vehicle 43 U g CS User manual v 2 5 eS uges When the route has been successfully uploaded you can see the following message on the log window Vehicle name Route Route name successfully uploaded If the upload to the vehicle fails you can see the following message on the log window Vehicle name Route Route name upload failed Error can be caused by a malformed path if the route calculation was not completed before the upload attempt Alternatively the connection to a vehicle was lost in the middle of the process or the vehicle did not accept the set of commands This state is an unrecoverable error that aborts route uploading In case of error it is recommended to check the connection to the vehicle and the calculated path before the next upload attempt When a route is planned for a vehicle profile which has differences from the profile for the current vehicle during route uploading a window is displayed with several options Cancel Copy and Set profile The Cancel button aborts the upload and returns to the route editor to continue work The Copy button copies the current route to the new instance with the default current vehicle profile which is now selected for the vehicle The Set profile button returns you to the route editor and you can select a new vehicle profile for the current vehicle When mission upload is co
82. 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 db Disclaimers The Licensor does not and cannot make any express or implied warrantees guarantees certification assurances or representations of similar nature or effect Undertaking whether by law civil or common custom usage or otherwise with respect to the usability performance of the Software for any purpose or to the fitness or reliability of the Software or any results obtained from the Use of the Software and or for non infringement of third party rights integration satisfactory quality or fitness for any particular purpose The End User understands and is aware that the Use including the interfacing of the Software in conjunction with other Third Party software or hardware without the prior consent or authorization of the Third Party may be deemed to be unlawful or illegal in particular jurisdictions and or may be in breach of the rights conditions or rules of the third party on whose platform services equipment hardware or software or otherwise the Software is Used interfaced with or otherwise applied to or Used in conjunction with and therefore it shall be the responsibility of the End User to ensure that its use of the Software is lawful and not in breach of any third party rights or other applicable laws in some jurisdictions
83. 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 of the route on the tooltip Figure 37 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 38 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 Set camera mode Set camera by time Set camera by distance Set camera attitude zoom Figure 38 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 s
84. tines You should alter port searching patterns for VSMs to exclude ports that you use for microADSB devices see note in Registering a New Vehicle In the event such device hangs for any other reason simply unplug it then plug it back in 54 U g CS User manual v 2 5 Uges Telemetry Player 2015 06 09 15 13 37 Telemetry EmuCopter 101 Battery 12 52 V 97 GPS 9 Telemetry 100 _EmuCopter 101 cy ar e e 56 59 18 58 N 24 09 25 57 JD Elevation2m Eye altitude 1 12 km Figure 60 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 60 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 60 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 60 c It might take some time to load the mission player and the recorded data Above the section with the reco
85. titude from which the NFZ begins For instance if set at 50 m flying at 40 m inside the NFZ will be allowed but flying at an altitude of 55 m will not By default this parameter is set to 0 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 47 U g CS User manual v 2 5 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 48 Note Your application should be activated to do this refer par License xample route Vehicle profile Quadcopter Emulator w Home location Altitude mode O 1st waypoint Bs Set explicitly O Above ground Re Above sea level Latitude EE O trajectory type Longitude M O straign sate Altitude above ground level m Action on loss of GPS C Wait PET PY Aerodrome zones J Custom zones Initial speed m s Action on loss of RC Maximum speed m s wait A amp Home O Continue Maximum altitude above ground m 120 00 Action on battery discha
86. to be simplified to have less waypoints 36 U g CS User manual v 2 5 Lues 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 substitute these segments with waypoints use the Waypoint tool for that Sometimes a large amount of waypoints is produced to avoid collisions In such cases try placing basic waypoints in a way that takes the UAV over less obstacles Simply removing a certain amount of route segments which are not crucial for the aim of the mission can fix this limitation of the UAV Of course there is always the option to consider the use of an UAV which supports the required amount of waypoints Estimated time of flight by route exceeds the maximum flight time specified for the vehicle Please reduce the length of the route The route is too long for the endurance of the selected vehicle Some segments can be removed to make route shorter Other options include an increase of the flight speed or installing a battery with a larger capacity maximum flight time parameter of the vehicle should be updated For more information about how to update vehicle profile parameters please see the Edit Vehicle Profile section Speed of the vehicle specified for the segment must be greater than zero The value of the speed parameter is expected to be a positive digit Speed specified for the segment is higher than the
87. ttings are required may be left untouched for first flights 8 BB VigICs Client _ Mission New route p o Sample route Quadcopter Emulator Home location EI ist waypoint E Get explict Latitude Longitude Altitude above ground level m v Aerodrome zones Vv Custom zones Initial speed m s Maximum speed m s Maximum altitude above ground m 120 00 Emergency return altitude above ground m 16 05 30 EmuCopter 101 Telemetry level is too low 14 53 50 EmuCopter 101 Telemetry level is too low 14 21 02 EmuCopter 101 Telemetry level is too low EmuCopter 101 search places EmuCopter 101 2 60 V 100 Altitude mode 1 100 Above ground Above sea level Trajectory type C Straight Action on loss of GPS J Wait Land Action on loss of RC D Wait Ge Home a Land a J Continue Action on battery discharge D Wait Home a KL Land edit Figure 8 Route settings Click OK and now it is time to place the first waypoints 12 U g CS User manual v 2 5 CS uses 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 BB ua Client Menu Mission Playe S Sample route A EmuCopter 101 Sa Quadcopter Emulator gt In 1 1 Take off Latitude EmuCopter 101 Longitude 24 04 25 46 E SN Battery 12 60 V 100 SCH Altitude above ground level m G
88. 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 75 U g CS User manual v 2 5 eS uges right of use as set forth herein terminable in accordance with the terms of this Agreement You shall maintain all copies of the Software and all related documentation in confidence and in a manner that the Software and all related documentation are not publicly accessible and that only those that need access to Software are able to access it 4 Term and Termination The Licensor may terminate this Agreement upon the breach by You of any of its terms Any termination of this Agreement shall also terminate the License granted hereunder Upon termination of this Agreement for any reason You agree to destroy or remove from all computers hard drives networks and other storage media all copies of the Software and at the request of
89. v 2 5 CS uses The End User agrees to defend indemnify and hold harmless the Licensor from any claims disputes suits proceedings losses liabilities damages costs and expenses including without limitation reasonable legal court and attorneys fees made against or incurred by the Licensor arising out of claims suits or proceedings based on allegations alleging that a the Use of the Software by the End User infringes upon any third party s intellectual property rights or otherwise violates any law statute ordinance or regulation The End User agrees to indemnify in full to the Licensor for any resulting consequential direct or indirect damages costs and expenses finally awarded to a third party 6 Limitation of Liability Notwithstanding anything stated herein to the contrary the Licensor s cumulative liability to you or any third party for any loss cost or damage resulting from any claims demands or actions arising out of or relating to this Agreement shall not exceed the license fees actually paid to the Licensor hereunder if any In no event shall the Licensor be liable for any indirect incidental consequential special or exemplary damages or lost profits even if the Licensor has been advised of the possibility of such damages 7 Governing Law This Agreement shall be governed by and construed in accordance with the English law and the United Kingdom Courts shall have the exclusive jurisdiction over all disputes relati
90. vehicle to the list and selecting it its telemetry window Figure 15 f command history window Figure 15 h and command list Figure 15 g can be seen Each vehicle provides its own set of commands 18 U g CS User manual v 2 5 Je 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 15 Mission workspace Multiple vehicles can be added To select more vehicles click on the Add Vehicle button Figure 15 c The button to create a route is located below it Figure 15 b When the vehicle is selected the telemetry window Figure 15 f and the vehicle event log Figure 15 h will appear on the screen See more about it in the Editing Mission and Log Window paragraphs The current coordinates of the cursor are displayed in the lower right corner Figure 15 i Buttons for measurement tools Figure 15 e and No flight zones Figure 15 j are placed at the left border refer par The menu bar is located at the top of the window Figure 15 a It contains a set of basic parameters and buttons Figure 17 Cache terrain
91. 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 d 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 77 U g CS User manual v 2 5 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 and additions which may become available from the Li

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