Software User Manual
Contents
1. tennant 39 FIGURES STIEK CONFIGURATION m 39 FIGUR dos FNL So Ei leeren 39 FIGURE 56 CAMERA DISPLAY CONFIGURATION eeeeeeeeeenn enne nennen nennen nnn nnne nnne sre a s 40 FIGURE 57 TERRAIN PROFILE CONFIGURATION enne nnn nennen nnne nnne nnns 40 FIGURE 353 MISSION TOOLBAR fmm 41 FIGURE 59 WAYPOINT PARAMETERS nennen nen 42 HIGUREDD POLY GON CREATION een 42 FISURE 61 MN O ON E 43 FIGURE GA MAPPING MISSION E 43 FIGUPREODS MAPPING CREATION HE 43 FIGURE 64 MAPPING PARAMETERS seen ee 44 FIGURE 65 MAPPING MISSION ccccccsccsccsccsececeecceecsecseceeceeeeeeeeeseeseeseeeeceeeeseseesaeseeceeceeceseseeseeaeceeeness 44 EIGURE 66 SIDE RANE ee 45 FIGUIRE G 7 VERONTE PAINEL E 45 FIGURE 68 LOC TJOLBA essen 47 FIGURE6I REPORT INFORMATION are een 47 FIGURE 70 POST FLIGHT TOOLBAR ur 48 aic 71 DATA EE ee 48 S EMBENTION E LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P wT I P E pag 4 53 TABLET SETUP TOOLBAR ee 9 TABLE 2 SETUP TABS ee een eee 9 TABLE S VERONTE PIPE PREFERENCE S E 9 TABLE T SETUP VERONTE M 11 TABLE S SETUP CONNEC HONS P kr en arae each 12 TABLE G SETUP Re ACTUATOR EN 14 TABLE 7 ACTUATOR CONFIGURATION EE 15 TABLES CN KE Leg DEVICE le IR 15 TABLES SETUP DEVICES MAGNETO NAVIGATION ea a RE ERPE ES a 18 TABLE JO SETUP DEVICES DYNAMIC PRESSURE zuiassssiet sess cto eoa aMM Una opu Lo ek 18 TABLE 11 SETUP DEVICES STATIC PRESSURE cn een ac 19 TABLE T22. LEROMTE cod P i P E pag 4 2 Gauge Display Veronte SUM v1 3 6_2 docx 38 53 Configure drag and drop displays for each telemetry variable and place it at any place on the screen GAUGE v Speed SELECTED AIR BAR LABEL RADIAL CHART Decimals m s v Scale Medium Ground speed Ground speed Down Min 00 Max 80 0 Opacity 80 Ground speed East A Degrees 270 Ranges Ground speed North BEES Offset 225 Guidance Acceleration X body gt 100 H amp Guidance Acceleration Y body gt 00 u A Guidance Acceleration Z body Guidance Attitude Pitch Guidance Attitude Roll Guidance Attitude Yaw Guidance banking Guidance down velocity Guidance east velocity Figure 51 Gauge Configuration In order to setup a gauge select the variable to display from the available in the system and configure the display layout examples Speed m s Altitude 0 0 m Altitude 0 0 km Altitude 0 0 ft Layout and colours are highly configurable some gauge Be bd Rea Gen 4 3 Primary Flight Display Primary flight display layout is highly configurable in colours and size User can select the 2D and 3D visualization modes plus to display actuators and control channels PFD PFD SELECTED AIR Width 400 0 Indicators v Control surfaces Bn Height 400 0 wi Pitch wi Allerons Control 2 Color Sky B wl Roll v Elevator Control 0 Color Ground v Rudder Control 3 wl Compass v 3D Figure 52 PFD Configu
3. C M J U Desired Right Acceleration Y body axis Right Acceleration Y body axis Desired Bottom Acceleration Z body axis UJ N Acceleration Bottom Z body axis Desired RPM RPM 40 48 Control Output u1 u9 51 Time since hardware start up Longitude Latitude WGS84 Elevation Height Over The Ellipsoid GS Ground Speed North GS Ground Speed East 57 GS Ground Speed Down Sensor IAS Indicated Air Speed Angle Of Attack AoA Sideslip 6 IE Accelerometer X body axis Accelerometer Y body axis Accelerometer Z body axis Gyroscope X body axis Gyroscope Y body axis Gyroscope Z body axis 6 JI Magnetometer X body axis Magnetometer Y body axis Magnetometer Z body axis JI 0 Power Input 71 Analog Input Pitot Dynamic Pressure Barometric Static Pressure Internal Temperature 94 105 PWM 1 12 108 Radar AGL Above Ground Level Height 109 Radar Ground Speed Up 112 127 Stick Input r1 r16 128 143 Stick Input y1 y16 150 Used Memory Space 151 Free Memory Space 180 189 Clock 1 10 S EMBENTION J U r1 T E cod Veronte SUM v1 3 6_2 docx E pag 51 53 Jg E 190 Desired GS Ground Speed North 191 Desired GS Ground Speed East 192 Desired GS Ground Speed Down 193 Front GS Ground Speed 194 Lateral GS Ground Speed 195 Desired Front GS Ground Speed 196 Desired Lateral GS Ground Speed GPS ECEF Position X GPS ECE
4. LVAR UVAR BIT L EQ LIMIT Type of the data of the impute variable CUSTOM Number of the variable on Veronte autopilot 1 2 6 1000 etc See Appendix 1 Convert the unit of the output variable 17 rad to 9C Text to describe the data Airspeed Knots S EMBENTION D P i P E pag 36 53 LJ e A C m T ES cod Veronte SUM v1 3 6_2 docx 4 WORKSPACE CONFIGURATION Workspace settings allow user to customize any information to be displayed on the screen for monitoring the operation Custom workspaces can be created set any workspace as default in order to open it automatically on system start Telemetry toolbar is shown below EEDI E Figure 46 Telemetry Toolbar lea Select the workspace to be displayed or create a new one LS E For saving current telemetry configuration Lock Configured displays can be moved freely and resized along the screen Press lock to avoid display free movement l ae AL Display or hide workspace elements eis Displays any configurable fields Table 22 Telemetry Toolbar When creating a new workspace the following options are available Empty Creates an empty workspace Creates a copy of an existing workspace and permits user to edit it Creates a new workspace by merging any existing workspace Table 23 Workspace Creation The following display items are configurable e Map Configure map display items and create extra pop up maps e Gauge Select the variabl
5. P i P E pag 19 53 Enable Radar Altimeter Altitude Error 1 0E 4 Vertical speed error 1 0E 4 Maximum angle 0 08 726646 Figure 24 Setup Devices Radar Altimeter GPS Configure GPS sensor options only for advanced users Meas Rate 250 0 ms e Baudrate 115200 bps SBAS wf Automatic Message rate Position Mavigat Speed GPS Time Time p Raw SV Status 250 ms 205 250 ms 250 ms DISABL DIEABL DISABL Figure 25 Setup Devices GPS Static Pressure Configure static pressure sensor use on the system Custom setting Square error De 10000 0 Decimation 10 Figure 26 Setup Devices Static Pressure Choose the static sensor pressure use on the system e Disabled Do not use static pressure sensor for navigation e Custom Settings Use sensor with custom settings Type e Autocalibrated Variance Use sensor with automatic settings Square Error Sensor error Decimation Sensor decimation Table 11 Setup Devices Static Pressure 3 2 3 4 Stick Test Stick For each stick channel configured user can set continuous movement commands to be performed For configuring the stick select the wave type and enter the requested parameters S EMBENTION a LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 20 53 Channels VV VV Minimun 6 Maximun 100 Period 10 s Show on the checklist Figure 27 Test Stick Configuration Con
6. ROURE 4 COMPATIBIUT MODE E 7 FIGURE EE EISE UM 9 FIGURE 5 VERONTE PIPE PREFERENCES use er ae 10 AGURE J VERON PE FIPE E IN E 10 WEE S SETUP E EE 11 FIGURE 9 SEIUP VERONIE EUSTON ae ea EEE 11 FIGURE 10 SETUP VERDINTE POSITION en nah 11 FIGURE 11 SETUP VERONTE ADVANCED ORIENTATION anna aan 12 FIGURE 12 SETUP VERONTE e ell ent KE 12 FIGURE 13 SETUP DEVICES FREQUENCY EE 13 FIGURE T4 E Ae Ee RT e 14 FIGURE FS SIGN CONVENTION EE 14 FIG RE 15 SERDP DEVICE SENCO DE R een 15 S EMBENTION db LJ ES FE C ri T ES cod Veronte SUM v1 3 6_2 docx D P I P E pag 3 53 FIGURE 17 ENCODER CONFIGURATION WIZARD esses nnne nnne nnn nnne nnn nnns 16 FIGURE IS SETUP DEVICES SENSOR ENCODER sein 16 FIGURE 19 MAGNETOMETER CALIBRATION PROCEDURE eese 17 FIGURE 20 MAGNETOMETER CALIBRATION VALUES esses nnne nnne nnns 17 FIGURE 21 SETUP DEVICES MAGNETO NAVIGATION eren nnn nnne nnns 17 FIGURE 22 SETUP DEVICES VARCONSUMER gern ee mean 18 FIGURE 23 SETUP DEVICES DYNAMIC PRESSURE eeeeeeeeeeenenn enne nnn nnne nnns senis 18 FIGURE 24 SETUP DEVICES RADAR ALTIMETER anne 19 FIGURE 75 SETUPSSDEVICES SIS een eier T 19 FIGURE 265 elle ECH ERR EE 19 FIGURE Z STEST STICSCONERGURATIOR ET 20 FIGURE 28 STICK CONFIGURATION s eeseeeeeeenn enne nn nnn nnne nnn nnne nenne nes esses ease senses senses 20 FIGURE 29 VIRTUAL STICK CONFIGURATION ae ae AXE E NETUS RES 21 FIGURE 3D G
7. hf VV ZA LoiDes Appro Dest er Flare tt lt gt Figure 67 Veronte Panel Current phase is marked in green select one of the blue phases to change to phase manually In order to change phases all required checklist elements must be completed In order to enter a phase there are two options By clicking on the phase name the system will enter on the phase with the preconfigured parameters click on the settings button on the right for entering to the flight phase changing the phase parameters The view icon enables the visualization of the phase on the screen Phase parameters can also be configured on the control tab on the setup menu Dependencies between phases and automatic phase transitions are configured on the automations panel During the operation the following actions can be performed e Flight monitoring Flight data can be monitored on the control station using telemetry displays Telemetry display configuration can be edited during the flight e Edit mission Mission can be edited prior or during the flight e Change phase Phases permit to set the vehicle configuration to a specific performance Click on a phase to initiate this phase S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 46 53 e Activate manual assisted manual modes By pressing the preconfigured joystick button or selecting manual in Veronte panel it is possible to control the aircraft in manual m
8. Data Export 8 2 Tour Flight data can be played on Veronte Pipe permitting to display all available flight information as done during the flight In order to play a tour select the date and mark the Veronte Autopilot information to be played flight data available will be shown on the timeline S EMBENTION JEROMTE P i P E K 9 APPENDIX 1 cod pag Veronte SUM v1 3 6 2 docx 49 53 The number ID of the most important variables of the Veronte autopilot and their description are shown in the following table Desired IAS Indicated Air Speed 1 IAS Indicated Air Speed Desired TAS True Air Speed TAS True Air Speed Desired GS Ground Speed GS Ground Speed Desired Heading JI Heading Desired Flight Path Angle Flight Path Angle 10 Desired Bank Bank EA 1 12 Desired Yaw lt z IE EA UJ a 14 Desired Pitch 15 Pitch 16 Desired Roll RVAR 18 Desired Along Track Position Error 19 Along Track Position Error Desired Cross Track Error 21 Cross Track Error Desired Vertical Error Vertical Error MSL Height Above Mean Sea Level Altitude AGL Above Ground Level Height Desired Roll Rate Roll Rate N 7 Desired Pitch Rate Pitch Rate Desired Yaw Rate 31 Yaw Rate Desired Forward Acceleration X body axis Forward Acceleration X body axis S EMBENTION gt u T E cod Veronte SUM v1 3 6_2 docx E pag 50 53 Jg
9. Magneto z S EMBENTION Ch LJ e A C MN T E cod Veronte SUM v1 3 6_2 docx D P i P E pag 17 53 In order to start calibration press on the Start Calibration button so the system can capture magnetometer data During the calibration the system must be oriented in all possible directions so enough data can be captured Once enough data has been captured Compute Data sets the calibration The procedure for acquiring enough data for performing the calibration is e Hold the platform with your hands on the Y axis and rotate it parallel to ground e While the platform is rotating rotate also yourself so the platform turns in two axes simultaneously e Turn the platform 90 degrees within your hands and repeat the operation Yaw 1 s t K KT OKT Schan Figure 19 magnetometer calibration procedure Once three circles have been drawn on the screen captured data will be enough for saving the calibration data The following image shows an example of the calibration result Start calibration bias X 0 20702584814227595 k X 0 586923625767523 bias Y _0 12203297925805784 KY 0 2973864362346599 bias 2 0304061118583464 KZ 036988663216152706 Precalibrate X 0 16959064 Y 0 39181286 Z 0 14473654 Actual calibrates X 0 16959064 Y 0 39181286 Z 0 14473684 New calibrate X 0 09799161 Y 0 3247512 Z 0 5023342 Figure 20 magnetometer calibration values Magneto Navigation Enable or disable magneto for navigation
10. Settings It is every common to find an automatic mode where all the dynamics are controlled by the autopilot Likewise the manual mode is completely controlled by the remote controller rc To change any of this options click on the cell you would like to change and the next option will be set 3 2 6 Navigation Navigation parameters are configured on navigation tab Being possible to configure accelerometers gyroscopes sensor measuring filters angular speed estimation filters state vectors and wind influence Acelerometer Qnfb 306 4 3 0E 4 3 0E 4 Qdfb 1 0E 9 1 0E 9 1 0E 9 Gyroscope Qnwb 30g 3 0E 6 3 0E 6 Qdwb 1 0E 10 1 0E 10 1 0E 10 Sensor measuring f lter DOE 2 9552082E 19 7 701362E 4 0 00236828 0 0055608423 0 010993266 0 019022346 225 0 029590061 Initial rains covariance 3 2 7 Automation Angular speed stimation filter 0 00340965 0 0032283673 0 0030505117 0 0028760831 0 0027050814 0 0025375069 ADD Figure 40 Navigation parameters State Vector A 1 Wind Acceleration intensity Estimation Uncertainty Automation configuration permits to set actions to be performed under predefined detected events S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 30 53 pur2lo TDhat e EBENE A ER u Photo Confirmatior ype event v deszcmb Events Actions Phases nTmmM Takeoff WISE woclkStart sar Hebe wpClkSt
11. UVar Input variable for the encoder RVar Output variable for the encoder data Table 8 Setup Devices Encoder S EMBENTION K The calibration wizard can also be used for calibrating encoders Follow the described steps for performing the calibration LJ e A C AN T E cod Veronte SUM v1 3 6_2 docx P i P E pag 16 53 Variables f Test Minimum Move the encoder and verify that the following value is updated Move the angle to its minimum value User variable 16bits v User variable 32bits v ME d Angle Encoder Value Previous Medium Maximun Finish Offset 513 Move the angle to its mean value Move the angle to its maximum value Angle Encoder value Encoder Value Encoder Value 0 Point 0 20 0 Point 1 0 0 Point 2 20 0 Previous Previous Previous Finish Figure 17 Encoder Configuration Wizard Magneto Calibration Magnetometer calibration should be performed once Veronte has been installed on the platform so the magnetic field during the operation is similar to the one measured during the calibration bias x kx Start calibration bias y ky 1 S Precalibrate X Y Z Actual calibrate X Y Z New calibrate X Y Z Figure 18 Setup Devices Sensor Encoder A Note Before initiating the calibration make sure that the following variables are active on telemetry Setup variables telemetry data link Magneto x Magneto y
12. actuators On this panel it is possible to set actuator position for ach control signal output permitting to configure the maximum and minimum values and custom performance S EMBENTION K LIES i P Te Ie T Ix Lad FJ I Le T Te LI Start up 0 0 0 419 5 2 00 0 000 5 54 30 0 419 5 16 00 oe Zn CH iii ica L CO ln c3 Pulse E amp in c Ln 3j RONTE cod Veronte SUM v1 3 6_2 docx E pag 14 53 em U1 aa Lal U2 oo 10 U3 oa 141 5 Add Lu Ls I iti Ln m j n TZ u u oe WIR KEN VO Ki Figure 14 Setup Devices Actuators Refers to each actuator on the system e Mark the checkbox and move the bar in order to move the connected actuator Refers to the control channels configured on the system Each control channel can be linked to multiple actuators When moving a control channel bar check boxed servos will move StartUp Enter servo startup value preferred position on system initialization S amp Pulse Draw as many points as needed in order to setup servo limits assigning system pulse value to an actuator position s Table 6 Setup Devices Actuators Actuator position is given as an S parameter which refers to the control variable associated to the actuator Default units given are Control surfaces aileron rudder Angle in radians Motor Value between O and 1 where 1 is max power and O is the point where the motor sta
13. F Position y GPS ECEF Position z GPS Velocity North GPS Velocity East 207 GPS Velocity Down Desired MSL Height Above Mean Sea Level Altitude Desired AGL Above Ground Level Height 210 Desired WGS84 Elevation Height Over The Ellipsoid 211 Velocity X body axis 212 Velocity Y body axis 213 Velocity Z body axis 214 GPS Accuracy 215 GPS Time of Week 216 Estimated Dynamic Pressure 217 Barometric Pressure at Sea Level QNH Stick Input u1 u9 Stick Input d1 d9 272 Longitudinal Forward Load Factor X body axis 273 Lateral Right Load Factor Y body axis 274 Vertical Bottom Load Factor Z body axis 275 Desired Longitudinal Forward Load Factor X body axis 276 Desired Lateral Right Load Factor Y body axis 277 Desired Vertical Bottom Load Factor Z body axis 278 RX Datalink Error Rate 279 TX Datalink Error Rate Accelerometer bias X body axis Accelerometer bias Y body axis Accelerometer bias Z body axis Gyroscope bias X body axis Gyroscope bias Y body axis 297 Gyroscope bias Z body axis S EMBENTION LIES J U u T ES cod Veronte SUM v1 3 6_2 docx E pag 52 53 Jg E 300 331 Actuator Output s1 32 400 431 Distance to Object of Interest 1 32 800 Wind Velocity North Wind Velocity East Wind Velocity Down 804 Wind Velocity North Estimation Covariance 900 999 X plane simulation variables 1000 1099 Custom Variable 1 single pr
14. Figure 2 Veronte PipeV13 6 O X Figure 2 Interface gt 1 Main display gt 5 Mission gt 2 Menu gt 6 Telemetry displays gt 3 Veronte Panel gt 7 Side panel gt 4 Veronte position Each section has the following functions gt 1 Main Display Displays a selectable background map or a plain colour together with most important mission data gt 2 Menu e User Manage user preferences Setup Configure Pipe and Veronte autopilot Workspace Select the way flight information is displayed Mission Create and edit missions Log View operation data log and introduce custom events Post Flight Tools for recorded data analysis License Manage license preferences Help Shows help information available 3 Veronte Panel Veronte information and telecommand buttons 4 Veronte Position Veronte location on map 5 Mission Defined mission on Veronte VV V WV 6 Telemetry Configurable drag amp drop flight information displays gt 7 Side Panel Shows linked Veronte information Menu items are displayed as toolbars which can be pinned to the top bar or moved freely along the screen S EMBENTION Ww LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 7 53 2 INSTALLATION 2 1 Veronte Pipe installation To install Veronte Pipe just execute Veronte Pipe exe and follow the indications 2 2 Upgrade Veronte checks for updates on system start up A setup wizard will be d
15. H Cparams Enter sensor parameters for calibration Calibrate Start calibration Required prior to Stand By Table 21 Preconfigured Checklist 3 2 10 HIL Refer to the HIL Simulator manual in order to configure XPlane parameters for simulation 3 3 Tunnel UDP The tunnel UDP allows the user to send data from Veronte autopilot to an external program or application The system uses the User Datagram Protocol UDP 3 3 1 UDP Tunnel menu UDP Tunnel menu allows the user to select the IP and Port number to send the data from Veronte UDPT unnel 127 0 0 1 Figure 45 UDP Tunnel Config 3 3 2 UDP Tunnel file Inside the folder containing Veronte Pipe the user can find the file sa tudp by following the following path resources UDPTunnel sa tudp In this file we have several options to configure the data sent and format Next each of the parts of the file is explained Head User specified the head of UDP packet amp HEAD 0201000000 LVARS User can include JavaScript code to previously LO false LO ul 1 RVAR 1008 gt 60 manage Veronte data ul 1 RVAR 1008 lt 70 HOFFSET Position data in bytes specified within the UDP package S EMBENTION VERVAR UNIT DESC cod Veronte SUM v1 3 6_2 docx pag 35 53 Factor to multiply the input data Factor to add to the input data Type of the data of the output variable Address of the autopilot Microcontroller unit Normally O RVAR
16. ION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 8 53 2 3 PC connection Veronte unit on the control station must be connected to the same network than the pc running Veronte Pipe In order to establish communications with Veronte PC network interface IP must be in the same range than Veronte IP can be changed in adapter settings in the Windows control panel it must be set to IP 192 168 137 XXX where XXX can be any number selected by user except from 106 Once the IP has been changed network interface must be selected in Veronte Pipe preferences S EMBENTION LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx i P E pag 9 53 3 SETUP In order to configure Veronte Pipe or any Veronte device use the setup toolbar Veronte Setup dialog can be opened on the main menu dert E vo m E Ea Tunnel UDP A Figure 5 Setup Toolbar Displays configurable fields Open Veronte configurations Units connected to the PC will automatically be opened Select Veronte configuration to edit Ex ome Close an opened Veronte configuration Si Discard Discard all changes S se Save all modified data E import Import a configuration form disk B Export configuration on Veronte to disk Open X Plane configuration Refer to the HIL Simulator manual in order to configure Ech the HIL parameters Select configuration of tunnel UDP User can select IP and Port to send d
17. NTE w Enable Virtual Stick Input Variable T Update Frequency Custom variable 32bits ni MS l Output w Enable Initial Channel at destination 1 Port 0 UAM L Min preiod 0 0 Delta Remote EE MCL Max period 0 0 Enable Initial Channel at destination 1 Port 0 UAM L Min preiod 0 0 Delta MEU Max period Figure 29 Virtual Stick Configuration 3 2 3 5 Micro GPIO Manager Enable or disable ports at microprocessor level Enabled Mame Port PWM 1 0 PWM 2 5 m PWM 3 4 PWM 4 6 PWM 5 5 PWM 6 10 Disabled A MDRB d MCLKXB A MCLKRB MFSXB A MFSRB Figure 30 GPIO Manager S EMBENTION cod P i P E pag Veronte SUM v1 3 6_2 docx 21 53 K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P pP E pag 22 53 3 2 3 6 Others Radio Configure radio settings Payload Configure connected payload settings T3 n i y var ir Rvar disabled Base ta gimbal SE 0 0 LN g sch gt i al i nnm Var 2 ERE Base to gimbal Z go Figure 31 Payload configuration Sets relationships between variables and gimbal control 3 2 4 Control User can configure platform control parameters for setting the unmanned system performance during the operation AX Caution Only for experienced users On the left side of the Control interface user can enter as many control phases as needed A control phase refers to a set of specific control parameters
18. PIO E E 21 FIGURE S1 PAYLOAD CONFIGURATION E 22 CUR 2 RU C ONER O Mc M 22 FOURE Ri 9 VIR CTAR c 26 FIGUR ESP BED vis c pauieeese 26 FIGURE 35 PID ELEMENTS 27 FIGURE A EI POM M 28 FIGURE 37 FIXED VALUE SEITIINGR cccccsecsecceecsecseceeceeceeeeseseesseeaeeseceeceeessesaeseesseceeeeeeeeeaeeaeeeeeness 28 FIGURE 38 ARCADE MODE SETTINGS san a Eee Lan 28 ROURE cuneis RN EE 29 FIGURE 40 NAVIGATION PARAMETERS une Rf E bordi Ren iQUbfS pattes 29 FIGURES AUTOMATION DISPLAY EN 30 FIGURE 42 VARIABLE NAME CUSTOMIZATION eese nnn nnne nnne nnne nennen nnns 31 OUREA 3 SELDP TELE METE Ve ee tuna ean bun OR ee een 33 FISURE calce dioi H 33 FIGURE 45 UDP TUNNEL CONFIG utis et cows auod gakh Urge x an SUD YMUPA EEN 34 FIGURES TELE NET RY VEER 36 BUR EN ARS EEN EE 37 FIGURE 48 BACKGROUND IMAGE EXAMPLE aan RI eege 37 FIGURE 49 BACKGROUND IMAGE POSITIONING eese nnne nennen nnn nnns 37 FIGURE 50 BACKGROUND IMAGE MANAGER A 37 FIGURE 51 GAUGE CONFIGURATION eere nn nnn nnn nnn nnn nennen nnns snas sensere is 38 FIGURE S2 PFD CONFIGURATION un sea 38 FOURE A E M
19. SETUP SNE 22 TAGLE B eR 8 ME 23 TABLE 12 CONTROL TIPE ea ee Be A E e ER REE 26 TABLE 15 PID CONTROL STATUS E 26 PABLE TO PID ELEMEN qi nee era 27 TABLE 17 AUTOMATION ACTIONS sastechscsechesQoautestdocencseaneuancbuadeansetenudanbdowedeiesnaunenteegenosesmautanedevseaseuencteabueues 30 TABLE 18 AUTOMATION ACTIVATION EVEN LIS sn Eege EE 30 TABLE 19 TELEMETRY CONFIGURATION un ennen ennen ennen ennen ennen rn rss ennen renses 32 TABLE 20 CHECKLIST CONFIGURATION E 33 TABLE 21 PRECONFIGURED CHECKLIST EE 34 TABLE A TELEMETRY TOOLBAR rs 36 TABLE 23 WORKSPACE CREATION sue ciiautsationasbo situent impie TENE Celer Ticnu E beg Pa S usi ca FOR EV be Dbasiuter tance ue ii 36 TABLE 24 STICK CONFIGURATION na 39 TABLE 25 MISSION TOOLBAR d euere 41 TABLE 26 WAYPOINT een 42 1ABLE 22 PO od RHGET Eeer 48 Acronyms HUM Hardware User Manual ID identification S PFD Primary Flight Display REC mea Remotely Piloted Aircraft SUM Software User Manu srs Software Requirements Specifications UAV we Waypoint O S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P l P E pag 5 53 1 OVERVIEW 1 1 System Overview Veronte Pipe is the software designed for operating any Veronte powered platform Users achieve a combination of easy to use application real time response and firstly safe operations It has been developed using software standard model of IEEE STD 830 1998 Recommended Pr
20. actice for Software Requirements Specifications SRS and STANAG 4671 documentation subpart about UAV Control Stations adapted to Veronte system Supported operations include Telemetry View real time on board UAV metrics such as sensors actuators and control states Telecommand Support for all synchronous operator control commands that can be sent to the flight segment e g operational mode switch mission management payload control and so on Mission design Configure missions with waypoint definition payload target definition and coverage analysis Mission analysis Rebuild all recorded data from a previous flight and generate plots and reports Configuration Edit RPAS settings such as servo trim interface port management and SO On Multiple Users One or more operators can work simultaneously Veronte powered systems have two main elements air and ground segments a gt LJe rmcornTrrY e m Eo m Figure 1 Veronte System Overview Veronte Air includes any necessary element to communicate with ground segment take flight measures control the aircraft and control the payload Veronte Ground redirects stick and PC data to the air segment and manages bidirectional communications between Veronte Pipe and Veronte Air S EMBENTION oa Ww LJ e A C AN T e cod Veronte SUM v1 3 6_2 docx P i P E pag 6 53 1 2 Veronte Pipe Interface Workspace on Veronte Pipe is distributed as shown on
21. alue of the maximum minimum value from the ones on the input variables constants ADC channel 12 Actuator Output s16 Constant value 0 0 Wrap ADC channel 13 Task High Output variable is wrapped to keep value between upper and down limits ADC channel 3 ADC channel 14 ADC channel 15 3 2 8 2 Telemetry Telemetry controls permits to configure data to be stored or transmitted on the system There are 4 main items that can be configured within this panel Data Link Configures the variables to send throughout the datalink channel Log Sets the variables to be stored on system Log User Log User Log for custom applications Fast Lo Saves data at the maximum frequency available on the system Recording time depends B on the selected variables Table 19 Telemetry Configuration Configuration display permits to enable the desired variables for each telemetry file and to set the maximum and minimum values together with precision for each one S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P P E pag 33 53 Enabled Name Compress Minimum Maximus Decma On board time Ground speed v 10 0 1000 0 suidance ground speed ov 1 1000 1 Indicated air speed A 10 0 1000 0 i Guidance Indicated air speed A 10 0 1000 0 1 Longitudinal horizontal velocity vw 1000 0 1000 0 1 Latera horizontal ve vi 1 1009 1 Disabled apture A er AN B RX et No ready to flight Uvar disabled User varia
22. and columns to control output US matrix is the inverse matrix to SU it can be automatically completed once the SU has been set by clicking on Set inv US Veronte position within the aircraft must be entered by clicking in one axis and selecting the Veronte axis that corresponds to this direction Veronte and GPS antenna distance to mass centre must also be entered Orientation Advanced Distance to mass center Figure 10 Setup Veronte Position S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 12 53 Orientation v Advanced Advanced orientation configuration is also X Aircraft 0 0 10 0 0 X Board possible Y Aircraft 1 0 0 0 0 0 Y Board Z Aircraft 0 0 0 0 1 0 Z Board Figure 11 Setup Veronte Advanced orientation 3 2 2 Connections Connection tab permits to configure I O ports on Veronte by selecting the devices connected to each port and configuring the communications parameters 13 LE ANM 00000000 OOO 3 Output 3 VvOOOOOOOOOOOOQ 14 X 25 PWM GPIO Frequency 49 99 Hz v Mode time v Figure 12 Setup Veronte Connections For each connector pin on Veronte user is able to configure the following System outputs configurable as PWM or GPIO with following parameters e PWM Frequency Control frequency Mode time duty cicle fixed Min Max output limits RS232 port configuration Radi
23. and configure magnetometer parameters Enable Magneto Use 2D hd Decimation 10 Error A 0 005 Gauss Y 0 005 Gauss 0 005 Gauss Figure 21 Setup Devices Magneto Navigation S EMBENTION K RONTE 1 P E Veronte SUM v1 3 6 2 docx 18 53 cod pag LIES Choose angles for magnetometer use 2D Only use horizontal measure for navigation 3D Use 3 measures for navigation Magnetometer decimation Error Magnetometer error Table 9 Setup Devices Magneto Navigation Varconsumer ECAP Configure Varconsumer connected on the digital input in Veronte Verante ID MCU Port Time between messages 1 0 Figure 22 Setup Devices Varconsumer Dynamic Pressure Configure dynamic pressure sensor input in Veronte Custom setting Square error Da 10000 0 Decimation l Minimum pressure 18 0 Pitot Orientation X Y Z 1 0 0 0 0 0 Figure 23 Setup Devices Dynamic Pressure Choose the dynamic sensor pressure use on the system Disabled Do not use dynamic pressure sensor for navigation Custom Settings Use sensor with custom settings Autocalibrated Variance Use sensor with automatic settings Type Square Error Decimation Min Pressure Pitot Orientation Table 10 Setup Devices Dynamic Pressure Radar Altimeter Radaraltimeter settings ask for compatible radaraltimeter options S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx
24. ase controller parameters can be set for each control channel defined on Veronte Configuration Each one of them having the following status options ot Disables the PID controller On oo Enables the PID controller Fixed Sets the control parameters to a fixed value Table 15 PID Control Status PID Settings When configuring a PID up to three control loops can be configured select on the combo box the desired option PD 3 Guidance Dal Guidance Attitude Heading roll rate Rall Heading Attitude Roll rate Roll Figure 33 PID Architecture For setting PID variables select the variable to set and a list with available options will be displayed For setting the PID parameters click on the grey boxes and the PID diagram will be shown Pitching Name Rolling Thrusting Rolling Mode On 2 AD 3 Guidanc Guidance Se Guidance Attitude Heading roll rate Roll Heading Attitude Roll rate Rall Figure 34 PID Diagram For each block it is possible to configure the PID 77 EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P A P E pag 27 53 User variable 32bits 03 RPM 1 5 0 Figure 35 PID elements Set Point Measure e Invert Change error sign e Wrap Wrap to pi rt n It is used in some angular variables radians for avoiding numerical errors on the r to rt change and keep continuity of the error signal Proportional gain Discrete filter parame
25. ata from Tunnel UDP Veronte Pipe Table 1 Setup Toolbar Configurable items are distributed on tabs the following structure is followed Veronte autopilot EE modes marose nam moses ara wer varanen OOOO Table 2 Setup Tabs Veronte Pipe Veronte Pipe preferences Units Configure unit preferences Table 3 Veronte Pipe Preferences S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 10 53 3 1 Veronte Pipe 3 1 1 Preferences Veronte Pipe preferences permit to configure general application parameters User must select the PC network interface used for interfacing with Veronte systems Network Interface Realtek PCle FE Family Controller Local IP Address 192 168 0 103 Local Subnet Mask 255 255 255 0 Multicast IP 739 0 0 1 Port 12345 UI 5cale u ay ALERT AUDIOCLIP Play Change Default Ug Play Change Default ui Play Change Default uz Play Change Default u3 Play Change Default uz Play Change Default US Play Change Default UG Play Change Default Li Flay Change Default Ua Play Change Default us Play Change Default Figure 6 Veronte Pipe Preferences IU Scale permits to set the interface scale for adapting the application screen to the screen size on the system Alert Audioclips is used for managing audio files used on the application It can be associated to system alerts on the Workspace configuration 3 1 2 Units There are multiple syste
26. ble 16bits 18 Figure 43 Setup Telemetry 3 2 9 Checklist A checklist is configurable for each flight phase This checklist will be displayed on the Veronte Panel and must be completed prior to exiting from a phase Precalibrate v Name Check gravity center Check pressure sensors value Check gravity center Check propeller is tight enough but moves None Check trim servos motor start amp rotation Obliged to change phase IF STICK remove motor bat put MANUAL ge m IF STICK move sticks and check PWMs value Show on ly first IF STICK put motor bat and check controls Configure calibration parameters Calibrate New Element Add Figure 44 Checklist Any custom test can be introduced to the checklist for performing customized checks there are other system checks that can be included by selecting it form the combo box displayed Main configurable items are described below Phase Select the phase on which the checklist will be shown Nm Enter the checklist item name System checks Select from the combo box preconfigured checklist elements Obliged to change phase Select if required for phase change Show only first Select for showing the checklist only once Table 20 Checklist Configuration S EMBENTION K LJ e A C m T ES cod Veronte SUM v1 3 6_2 docx P l P E pag 34 53 There are some preconfigured checklist items Atmosphere Calibrate static pressure for altitude estimation QN
27. cod Veronte SUM v1 3 6_2 docx pag 1 53 JEROMTE P P E Software User Manual Veronte Pipe V1 3 6 A EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P P E pag 2 53 Table of Contents UN ot ATTEN 5 UN S ov 2 E Bi EN een ee er ee een 5 1 2 VERONTE PIPE INTER FACE ee ee i cationem tance ERE Rug ee erden 6 Z INSTALLATION 7 2 1 VERONTE PIPE INSTALLATION asus a SEENEN BEA 7 PENES G RADE EEN 7 23 POCONNECHONS EE 8 3 SETUP 9 SN ddr ONE PIPE EE 10 3 2 VERONTE AUTO E e WE 11 s s EN RUINIS IBN DI EE 34 4 WORKSPACE CONFIGURATION cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccecccccscccceccecs 36 AEA IE a 36 ZA GUN ED Ro RET 38 23 PRIMARY FLIGHT DISPLAY RU 38 AN MIL dE 39 Sm e EG 39 A VE I MENU 40 5 IBICIIMIE T rer 41 a Le WAYPOINT CREATION RR T bonus ore de hen 41 5 22 MAPPING TOOL EE 43 D OPERATION eT E 45 7 LOG a 47 8 POST HCH NEEN 48 NN RB AT cora Io EE 48 MANI MM 48 CO APPENDIX e EE 49 Figures and Tables FIGURE 1 VERONTE SYSTEM OVERVIEW EE 5 PAOURE INTER E 6 FIGORESFEOMPATEB Eege 7
28. defined for a concrete operation step take off waypoint route hover Control parameters will be defined for each phase user will be able to set automatic phase switch on automation display or use manual switch on Veronte Panel Guidance Loop Arcade Climbing Period 0 0 Hold Sr of mil ac WIZ LoiDes Flare Eng OFF Envelope Desired AGL Above Ground Level Height None Time Ramp time Slope Ramp rate Constant value 160 0 Desired IAS Indicated Air Speed None Time Ramp time Slope Ramp rate Constant value 25 0 New Phase Desired Heading Figure 32 Setup Control For each phase user must configure three main elements Guidance Select guidance type and main parameters Set control loops Configure arcade mode for assisted manual control Table 12 Setup Control S EMBENTION K LJ e A C m T ES cod Veronte SUM v1 3 6_2 docx P l P E pag 23 53 3 2 4 1 Guidance In order to configure the guidance the following parameters must be entered name Set a custom name for the control phase to be displayed on Veronte Panel Enter a control step period for the control phase Select the guidance type from available described below Change When No Change is selected control parameters on phase entering will be maintained Table 13 Guidance Settings For each guidance type the following parameters are configurable Hold Maintain certain variables on the s
29. e requested parameters so the mission can automatically be generated S EMBENTION LJ e FA C u T ES cod Veronte SUM v1 3 6_2 docx P l P E pag 44 53 Photogrammetry Aircraft Camera Timer Width resolution Speed m s IAS Y Height resolution 8 Atitude AGL m e Faca length mm Width sensor mm Image Height sensor mm GSD Forward overlap 23b e _ Sideward overlap w e Time Photo Create Figure 64 Mapping Parameters Click on crate and the mission will be generated Figure 65 Mapping Mission Once the mapping mission has been generated the complete mission or the selected part can be included to the mission on Veronte Select if the mission must be added to the existing mission selected on the mission toolbar or if it must be overwritten and press Accept to save it S EMBENTION D P i P E pag 45 53 LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx 6 OPERATION Once both Veronte units the one on the control station and the one onboard are configured and the mission has been loaded to the aircraft the system is ready to start the mission A list with linked Veronte units is displayed on the side panel This display shows information and warnings U Tierra 192 168 137 106 U Veronte 1 GPS Navigation down GPS Raw down System not ready to start Stick error Figure 66 Side Panel Click on any Veronte to display Veronte Panel it permits to control any telecommand actions
30. e to be displayed and configure the appearance e Cam Configure displayable information on cam e PFD Configure Primary Flight Display preferences e Stick Configure virtual sticks for manual control Each display it permits to select the Veronte unit information to be displayed Choose Selected to display telemetry information from selected Veronte To select one Veronte unit click on it at Veronte panel or side panel 4 1 Map Display Map widget permits to configure the background map select from the available list for setting the main window map S EMBENTION K Google Satellite Google Terrain Google Street Bing Satellite Bing Street Open Street Map Cycle Open Street Map Map Quest Ovi Satellite Ovi Street Figure 47 Map Settings 4 1 1 Custom Background Maps LEROMTE ge P i P E pag Veronte SUM v1 3 6_2 docx 37 53 Custom maps can be displayed in Veronte Pipe It permits to include as many images as desired that will be displayed over the map Figure 48 Background image example In order to insert an image within the map just drag the image and drop it on the map A popup window will be displayed to position the image within the map Click on save to go to the image manager where image coordinates can be entered manually nn H z d Nyd A v a H D ee en 5 294 Yow lol J j S EMBENTION Figure 50 Background image manager K
31. ecision 1 100 No selected variable No code value GPS navigation code Fdr not writing code Ready to fly code File system code Georeference code CAN A RX code IE 0 CAN B RX code IE 1 CAP A code IE 2 CAP B code 13 SCI A code 14 SCI B code 15 SCI C code 6 McBSP Multichannel buffer code IE 7 Stick receive watchdog X E 8 CAN A TX code 19 CAN B TX code 20 31 SERVO 1 12 code EKF Cholesky inverse code EKF Inverse condition number code System general start up BIT code Power A BIT code Power B BIT code Task O real time error Task 1 real time error Task 2 real time error Task 3 real time error Task 4 real time error 67 Calibration step not completed yet 1000 1999 User bit S EMBENTION C r1 T E cod Veronte SUM v1 3 6_2 docx P E pag 53 53 D o A S EMBENTION
32. figured parameters can be shown on the checklist in order to test the system prior to change flight phase To activate the automatic movement use the activation button on the virtual stick configured on the workspace Stick Configure stick parameters for manual and assisted manual system control Raw channels to servo transformation matrix Offset after applying transformation to servos Mask servos 1 oU 25 M O P o IT 02 w Enabl Overwr X 414 U 25 M 15 P 0 Tin L0 Enabl wl Overwr X 4 24 U 0 M O Pa 0 UD 0 0 Enabl Overwr X Add Figure 28 Stick Configuration Use the raw channels to servo transformation matrix in order to make virtual servo missing and for customizing servo outputs Offset value will be added to output once the transformation is performed Click on Mask Servos in order to disable the stick control over those actuators It is possible to set multiple joystick inputs with the respective priority from top to bottom UAV MCU amp Port refers to the Veronte unit where servo is connected time is the time without reception to change to the following input Enable enables receiving data from that stick and overwrite permits to have multiple inputs for different channels Virtual Stick Configure virtual sticks on the system select an input variable containing the stick data and select the Veronte unit destination to control S EMBENTION LEROMNM
33. isplayed in order to guide the user on the update process For manual updates follow the indications below AX Caution Although newer versions are usually compatible with older ones when upgrading the system updates must be done in the correct order It is mandatory to update Veronte Pipe on first instance Veronte Onboard second and last one should be the Veronte on the Control Station Otherwise part of the system could become unreachable AX Caution Never turn off Veronte during the update process It could cause irreversible damage to the unit After installing las Veronte Pipe version Veronte units on the side bar will be displayed as follows and Veronte compatibility alert will be displayed Compatibility Mode Veronte in compatibility mode Veronte version is not compatible with this Veronte Pipe Update the Veronte to version v1 3 6 or use Pipe v1 4 0 Select an option to exit compatibility mode Update Figure 3 Compatibility mode In order to perform the update click on update and press select the update file The upload process will start AX Caution During the update the system will reboot so never perform an File CAUsersyyeaxDesktopyw200 update j i i update during an operation Veronte File Version vL4 0 v1 3 2 Device Veronte w200 update PN V300MEZE V300MEZE Address 1 MCU 0 Installing Please wait Do not disconnect Veronte Cancel Figure 4 Compatibility mode S EMBENT
34. itch BZ Hold Attitude Pitch rate LoiDes Pitch Appro Figure 36 Copy Option Fixed Settings When fixed mode is selected the following diagram is displayed Output transition from output value when phase starts to a new fixed value EE Ven d Ip i i Figure 37 Fixed Value Settings Three values must be entered the remaining time in the starting conditions the transition time and the variable final value 3 2 4 3 Arcade Mode Settings Arcade mode permits to have a simplified manual flight mode The stick movements actuate directly over the control variables instead for a user friendly aircraft control Parameters are configured for each phase by setting values available when Show Arcade is selected Guidance Attitude Pitch m 2 5 Integral Guidance Attitude Roll T 25 Integral Guidance Indicated air speed T 3 0 Integral Figure 38 Arcade Mode Settings User can enter the affected control variables and the gain for each one Select Integral for continuous variable value increase on joystick hold or leave it unchecked for resetting the control variable value after joystick release S EMBENTION K 3 2 5 Modes LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P IE pag 29 53 In this section users can select the controller for every mode The main idea is to set who is controlling the platform dynamics The interface options are Pitching Thrusting Rolling arcade q arcade q Figure 39 Mode
35. m variables defined Veronte arranged in categories For each category user can set as many custom units as desired by entering the corresponding conversion formula adding multiple points on the graph Velocity Length Angle Custom Temperature Symbol Custom Acceleration Magnetic fiux density Potential difference Current Pressure Time Angular velocity Volumetric flow rate D X 10 y 10 Custom type E Percentage Transfer Rate Custom Figure 7 Veronte Pipe Units S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 11 53 3 2 Veronte Autopilot 3 2 1 Veronte Introduce Veronte identification and platform layout Part Number Introduce Veronte part number Aircraft name Veronte unique identification number for datalink management 3 character ID for the platform Select platform type Table 4 Setup Veronte Once platform type is selected layout must be entered so the system can be configured Figure 8 Setup Veronte For advanced platform configuration it is also possible to select custom type US and SU matrix should be entered for configuring control output to actuators input US Set inv SU Edit SU _ Set inv US Edit Figure 9 Setup Veronte Custom S refers to actuators and U to control channels output Set the actuator to control output in order to customize platform control On the SU matrix rows refer to actuators
36. nimum altitude 300 mr Orientation D Left to right Right to left Figure 57 Terrain profile configuration S EMBENTION K LJ e A C m T ES cod Veronte SUM v1 3 6_2 docx P I P E pag 41 53 5 FLIGHT PLAN For operation planning the mission toolbar must be used Load Select mission to edit Seectmiesontoedt Ede Jess Mamm pame SSS IESSE I MCCENUTTTTTCT NN EN EE l Regutararea Draw regular areas on the map for association with polygon events Circular Area Draw circular areas on the map for association with polygon events Bi Jee Table 25 Mission Toolbar 5 1 Waypoint Creation Use the Add WP tool and press on the map for creating waypoints a display will appear for entering custom parameters S EMBENTION D P i P E pag 42 53 LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx e Absolute Relative Latitude 0 668617 rad mm Longitude 0 005422862 rad mm wese4 500 m MSL 0 23738437637059207 m AGL 0 23738437637059207 mr Fly Mode Fly over Events Actions Go land when achieved First waypoint Start taking photos Stop taking photos Figure 59 Waypoint Parameters e Absolute Fixed GPS position e Relative Relative position to a predefined interest point Position GPS coordinates press map to select on map e WGSS84 Altitude over the ellipsoid e MSL Mean Sea Level altitude e AGL Above Ground Level Fly mode Waypoint achie
37. nt First waypoint to WLine Line attraction w Whine Force the platform to follow the desired track Higher v values means lower Banking turn attraction Banking turn Desired platform backing on turn S EMBENTION Ww Hover P i Maintain position and attitude Position Enter position and altitude for the hover centre Yaw Yaw control Current Maintain current yaw Fixed Set fxed yaw value Heading Maintain current heading Position Point to a fixed position Limit rate Maximum yaw rate Yaw Desired Yaw Hspeed Speed control Limits Set maximum acceleration and deceleration limits Cruise Set cruise speed WP Reach Set speed on waypoint reach LERONMNTE cod E Pag Current Coordinates Longitude Latitude Current Altitude Altitude wess4 00 MSL Made Limit rate Absolute Relative East North ws 00 MSL w Set limit acceleration Acceleration Deceleratian wl Set speed Waypoint reach Type S EMBENTION Veronte SUM v1 3 6_2 docx 25 53 K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 26 53 Runway Enter runway parameters for landing Longitude 1 Longitude 2 1 amp 2 Runway limits Latitude 1 Latitude Z Line attraction Force the platform to follow the desired track Higher values means lower attraction Line Attraction Table 14 Control Type 3 2 4 2 Loop On each ph
38. nter requested information to generate the report I IT Create PDF Pilot Reference Clouds LZ Lan T Wind n NT Path C Users jea Desktop Pipe output rou Open PDF after creating S EMBENTION Figure 69 Report Information K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 48 53 6 POST FLIGHT Once the mission is finished the operator can download telemetry data from Veronte to perform a virtual tour Use the post flight toolbar 2015 05 08 a De Le EE 09 52 10 00 10 08 10 15 10 24 10 32 i i 1 i 1 v W 0 J ER Figure 70 Post Flight Toolbar n Play Pause Manage tour play Time Control the time progress O jew Download Veronte files and export data Table 27 Post Flight Toolbar nr 5 05 08 2015 05 08 2015 05 08 2015 05 08 2015 05 08 2015 05 08 8 05 2015 EB 8 1 Data export Flight data stored in Veronte Pipe is saved at a low frequency in order to improve the tour accuracy it is possible to download the information on the autopilot by using the download button This panel permits also to erase data from both Veronte Autopilot and the system Select the Veronte unit for data downloading and choose the flight files to be download Right panel will show file download progress Download uav W200 Download list 1980 01 10 05 17 23 RR X W200 2015 05 08 09 57 10 2015 05 08 09 57 10 STR T3 Figure 71
39. o External datalink radio Tunnel Bidirectional tunnel GPS External GPS receiver Magnetometer External magnetometer connection Transponder Transponder connection Capture Input capture Digital Input Stick PPM stick Tunnel Input tunnel RPM External RPM sensor Varconsumer Any device to be linked to a system variable Analog input Selectable values Linked system variable Measure Sensivity x Vin Offset Bound error Link system error to input data Choose alarm and limit values Table 5 Setup Connections S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P l P E pag 13 53 3 2 3 Devices Devices panel permits to configure any device payload sensors connected to Veronte and the internal Veronte ones 3 2 3 1 Veronte Frequenccy Working frequencies on Veronte Autopilot Initial Standby Frequency OS 1000 0 Hz 1000 0 Hz Ohz Max 10 kH 30hz Max 10 kHz Low 30 3 Hz 30 3 Hz High 200 0 Hz 200 0 Hz Super high 300 0 Hz 200 0 Hz T Figure 13 Setup Devices Frequency o Operative System working frequency Low Low priority tasks mainly for telemetry other operations me Working frequency for GNC tasks Super High Sensor capture and high priority tasks frequency Note keep same frequencies on initial and stand by as this distinction is being removed on future versions 3 2 3 2 Control Actuators Calibration interface for connected
40. ode Once the manual mode is deactivated it will continue in automatic mode continuing with preconfigured route e Abort mission Go Home button can be configured to appear in the Veronte panel It can be configured on the automations panel S EMBENTION a P i 7 LOG P JEROMTE Veronte SUM v1 3 6_2 docx 47 53 cod pag Log toolbar shows recorded events and permits to introduce custom events to be saved Introduce event information and press enter to record it on the log Oe LI 405 Time 10 11 33 10 11 34 10 11 34 10 20 44 10 20 44 10 20 45 10 20 45 10 20 48 10 20 48 10 37 21 13771 LH e k k k k k k L k k Uav Board 0 14 44 5 0 14 45 8 0 14 45 9 0 24 03 7 0 24 03 8 0 24 04 7 0 24 04 9 0 44 08 1 0 24 08 1 0 40 56 1 0 40 56 4 Figure 68 State Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uav W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Log Toolbar Event Servo 2 ok Servo 1 satured Servo 1 ok Servo 1 satured Servo 1 ok Servo 1 satured Servo 1 ok Servo 2 satured Servo 2 ok Servo 2 satured Servo 2 ok Record button permits to stop capturing log information By clicking on REC a new log saving will start It is possible to generate a PDF reports containing saved log information Click on the Report icon and e
41. op TPhoto On board v e ms mim e Ans Add entry to the log on board New Automation Figure 41 Automation Display Automations are a combination of events and actions All actions will be performed on event triggering Each event on the list will individually activate the associated actions Event groups permit to execute actions only once various events have been triggered When confirmation is active a pop up window will be displayed before action takes place so user can cancel it Type permits to select if once the event is triggered it remains as active event or if it is needed that all events take place at the same place to activate the action condition Phases where automation is active must be entered for avoiding automations to take place on undesired phases Following actions are available Phase Change fight phase Onboard log Record onboard information Table 17 Automation Actions Activation events are Waypoint Execute actions on waypoint arrival Polygon Execute actions when inside or outside a defined area Timer Select a preconfigured timer Variable Select a variable value Configure a button to be displayed on Veronte panel Enter a phase Table 18 Automation Activation Events alarm Select system fail detector S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P I P E pag 31 53 3 2 8 Variables 3 2 8 1 System Variables Names Enter custom va
42. ration S EMBENTION Save LJ e A C AN T e cod Veronte SUM v1 3 6_2 docx il P E pag 39 53 K Some PFD display configurationas are shown as an example Figure 53 PFD Examples 4 4 Stick Virtual sticks can also be created for manually control the control channels from the computer Following setup options are available Select the scale to show on the stick Select the channel to control with the stick When selected the stick automatically returns to middle position on stick release Table 24 Stick Configuration Configuration panel and drag and drop stick are shown below STICK x U Veronte 1 Scale Value 100 Channel stick 2 Return v Channel stick 3 New Figure 54 Stick Configuration Figure 55 Stick Display 4 5 Cam Cam display permits to configure a camera view on Veronte Video source can be configured as an input device Video capturer or as a network source S EMBENT ION K LERONMNTE cod Veronte SUM v1 3 6_2 docx P i P E pag 40 53 URL Device URL Ee 800 0 x 600 0 hel Figure 56 Camera display configuration 4 6 Terrain Terrain display shows the terrain profile on the platform direction Visualization configuration options are as follows Width pixels 600 0 Ground Color Hr Height pixels 300 0 UAV Color BN Horizontal scale 1000 0 m Vertical scale w Auto scale Maximum altitudel 10000 Mi
43. riable names for predefined variables on the system Click on table and enter custom name for variable Default name Custom name Default unit Acceleration Bottom Z body Acceleration down Accelaration m s Accelerometer X body axis Acceleration forward Accelaration m s Accelerometer Y body axis Acceleration right Accelaration m s Accelerometer Z body axis Accelaration m s Accelerometer Z body axis Angular Velocity rad s Figure 42 Variable name customization Operations It is possible to configure custom operations to be performed in Veronte by selecting the input and output variables and operation parameters IIR ADC channel 13 Task Mane IIR digital filter enter the parameters for filtering the H z b 0 b 1 z 3 b nb b nb z variable value 7 a 0 aft z 6 a na afna z Mane FXY ny ADC channel 13 Task High FXY matrix complete the table for setting an output BURG eee value according to two input ones ADC channel 15 Table ADC channel 14 a ADC channel S EMBENTION ww LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P ll P E pag 32 53 Linear Expresion DEET ADC channel 13 Output variable acquires the value of the sume of input variables multiplied for a Constant value 0 0 constant value Constant value 0 0 Constant value 0 0 Max Min ADC channel 13 Task High Output variable takes the v
44. rts the moving For O motor position it is recommended to set a 596 signal margin in order to make sure that the motor fully stops in all configurations Actuator positions must be given according to the international aeronautical sign convention Pitching Rolling Figure 15 Sign Convention S EMBENTION K LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P l P E pag 15 53 Example an elevator down position will generate a positive pitch so the elevator is considered positive on down position Main actuators rules Table 7 Actuator Configuration AN Note Maximum and minimum values must be set according to physical actuator limits Configured limits will never be exceeded by the system in any flight mode 3 2 3 3 Sensors Encoder Configure connected encoders on Veronte draw as many points as needed in order to correlate the encoder input data on Veronte to the desired value on system offer 0 Input none Wizard ISE E Lar Output none 0 0 00 8 10 00 15 15 00 30 50 00 inm i E Or 7 nn IS E 1 r IVE nn ta E Eh Ch 7 E Zn nm J 5 J db 12 5 Ei 17 5 20 0 22 5 Zb FLE 30 0 42 5 Figure 16 Setup Devices Encoder offset The entire graph will be displaced the offset value Graph Draw as many points as required for calibrating encoder performance points e Encoder RAW Real encoder captured data Encoder Calibration S value corresponding to the encoder data
45. ter Derivative time parameter Derivative Constant value added to output Inverse integral time parameter Integral Anti windup parameter Output bounds Output Table 16 PID Elements Output values for PID controller refer to virtual control channels units must coincide with servo trim configuration settings PID diagram represents the following PID model K proportional gain Ta T Integrator time 1 C Kp ee Si DF z Ta Derivative time N Derivative filter constant For the derivation and integration models Trapezoidal and Backward Euler models have been integrated T z 1 TZ IF ND Fan 2 737 1 ND u where T is the is the time constant on a first order FPB When ND is set to O the FPB is disabled S EMBENTION K K Sampling time has already been integrated K l LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P 1 P E pag 28 53 Initial block permits to invert the input signal or apply a wrapper it is used for angles to be maintained between 180 On the output block it is possible to set the maximum and minimum values for the variable Exporting PIDs to other phases Once it is considered that the PID is tuned the user can easily export that PID in order to use it in other phases To do so just select Copy by right clicking on the desired PID and select the suitable phases Copy idi Climbing Guidance Pursuit Attitude Guidance ig PC SSC Desc P
46. vement mode Events Waypoint events configured on automations mark to activate event on reach WP actions configured on automations mark to start action on reach Table 26 Waypoint For moving waypoints drag it to the desired position For editing other parameters double click will display editable fields For regular polygon drawing select the polygon tool and enter the number of desired waypoints then click on the map for drawing d Figure 60 Polygon Creation S EMBENTION Ch LJ e R C MN T E cod Veronte SUM v1 3 6_2 docx D P l P E pag 43 53 After the waypoints have been created it can be joined creating the desired route with the link tool Latitude 37 978365 d Longitude 1 0708344 Altitude 500 0 y Lj Range 30 0 Figure 61 Mission AN Note Each waypoint can have multiple entries but just one output 5 2 Mapping Tool Mapping tool permits to draw a polygon on the map and configure camera parameters in order to automatically generate a mapping mission Select the mapping tool and a display will be shown in order to create a new mission or select one mapping mission already created Mission mission mapl Add to mission Overnwrite mission Figure 62 Mapping Mission 1 For creating a new mission select the desired area for mapping L sROrI I 5281 m 1 E u gt e hi lar hinos o Redroso zi Figure 63 Mapping Creation Enter th
47. ystem Desired AGL Above Ground Level Height Time Ramp tima Slope Ramp rate Ewma TAL None Set variable value Time Set a time tamp between an input and an output variable Desired IAS Indicated Air Speed Slope Set a ramp rate for changing form input variable to output va riable Constant value 25 0 Ewma Exponential rate form input to output variable enter tau parameter Constant value 160 0 Time Rami tima Slope Ramp rate Ewma TAL S EMBENTION K Loiter LJ e FE C m T ES cod Veronte SUM v1 3 6_2 docx P i P E pag 24 53 Cup e EN urrent Coordinates Select loitering parameters L S l and coordinates to perform l the manoeuvre Longitude Position Enter position and Latitude altitude for the loitering centre Current Altitude Radius Set loitering radius Line attraction Force the platform to follow the desired track Higher values means lower attraction Tgfpac Altitude change rate Advance h v Parameter for setting the guidance form tangent to line attraction WGS84 0 0 Line attractian Circle Circular loiter Eclipse Eclipse loiter Rotation angle in radians Param eccentricity 0 1 Rose Rose loiter Rotation angle in radians Param number of petals advance h advance v Type Circ Ellipse Rose Rotation Param Clockwise Counterclockwise Auto Way Select the waypoint to go on phase entering and control parameters wl Waypoint Waypoi
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