Ardupilot VSM User Guide
Contents
1. Command Support Notes ARM Yes Arms vehicle DISARM Yes Disarms vehicle AUTOMODE Yes Sets Auto flight mode MANUALMODE Yes Sets Loiter flight mode RETURNHOME Yes Vehicle will return to launch location regardless of home location set in mission TAKEOFF No LAND Yes EMERGENCYLAND No 1 4 Command shading UGCS Client can show command buttons in different shades You can always press all buttons disregarding of shade Highlighted buttons suggest recommended commands depending on vehicle current status Command shading State Button highlighted Button shaded Armed DISARM AUTOMODE ARM MANUALMODE LAND RETURNHOME Disarmed ARM DISARM AUTOMODE MANUALMODE LAND RETURNHOME 1 5 Telemetry information specifics Nothing specific 1 6 Fail safe actions GPS Lost Action Result Wait Aircraft tries to maintain altitude Land Aircraft lands even if in loiter mode RC Lost Action Result Wait Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Land Aircraft lands even if in loiter mode Return Home Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Continue Aircaft continues mission Battery Low Action Result Wait Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Copyright O 2015 Smart Projects Holdings Ltd CONTENTS2. Land Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Return Home Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Continue Aircaft continues mission 1 7 Waypoint turn types There are 2 different routing planning modes for Ardupilot autopilots Straight waypoint and Spline waypoint You can choose turn type for each Waypoint Circle Perimeter The default turn mode in the system is Straight type Straight Waypoints Oho we 2 we aL Straight gt Spline Spline Waypoints Oso tS wer WP 1 Spline gt Straight efo p ofo Figure 2 Turn type Turn type Support Notes Straight Yes The vehicle will fly a straight line to the location specified as a lat lon and altitude Spline Yes The vehicle will fly to the location specified as a lat lon and altitude but when executed the vehicle will fly smooth paths both vertically and horizontally instead of straight lines You can find more information about turning mode and supporting autopilots on the site https github com diydrones apm_planner issues 274 http copter ardupilot com wiki mission command list spline waypoint 1 8 Configuration file Default configuration file of the Ardupilot VSM suits most needs and it is generally not necessary to modify it Configuration file location Copyright
3. 2015 Smart Projects Holdings Ltd 1 8 Configuration file 5 e On Microsoft Windows C Program Files x86 UgCS bin vsm ardupilot conf e On GNU Linux etc opt ugcs vsm ardupilot conf On Apple OS X Users user name Library Application Support UGCS configuration vsm ardupilot conf 1 8 1 Common parameters All VSMs share a common set of configuration file parameters described in Common configuration file parameters Ardupilot VSM configuration file prefix is vehicle ardupilot 1 8 2 Serial port configuration Mandatory At least one serial port should be configured otherwise VSM will not try to connect to the vehicle e Name vehicle ardupilot serial_port e Description Serial port configuration for more details see Serial port configuration Default Ardupilot serial port communication speed is 57600 bps Example vehicle ardupilot serial_port l name coml vehicle ardupilot serial_port l baud 57600 1 8 3 Model name and serial number override Optional e Name vehicle ardupilot custom name system_id system id Name vehicle ardupilot custom name model_name model name e Name vehicle ardupilot custom name serial_number serial number e Description In UgCS each vehicle is identified by a unique combination of model name and serial number represented as text strings By default Ardupilot vehicles are identified with a model name Ardupilot and serial number equal with the Mavlink sys
4. config of the VSM application Example config etc opt ugcs vsm ardupilot conf Each configuration parameter is defined as a line in the configuration file with the following structure namel name2 nameX value where name1 name2 nameX are arbitrary names separated by dots to divide a variable into logical blocks and a value which can be a number value or a text string depending on the context See below the description about common VSM configuration parameters 1 9 1 UgCS server configuration 1 9 1 1 Listening address Mandatory Name ucs local_listening_address IP address e Description Local TCP address to listen for incoming connections from UgCS server Specify 0 0 0 0 to listen from all local addresses Example ucs local_listening_address 0 0 0 0 1 9 1 2 Listening port Mandatory e Name ucs local_listening_port port number e Description Local TCP port to listen for incoming connections from UgCS server Default is 5556 e Example ucs local_listening_port 5556 Copyright O 2015 Smart Projects Holdings Ltd 1 9 Common configuration file parameters 7 1 9 2 Logging configuration 1 9 2 1 Level Optional Name log level error warning info debug Description Logging level Default info Example log level debug 1 9 2 2 File path Optional Name log file_path path to a file e Description Absolute or relative to the current directory path to a logging
5. User Guide 1 Ardupilot VSM User Guide CO uses JAPM 1 1 First time vehicle connection See Disclaimer Please follow these steps to connect an Ardupilot vehicle to the UgCS 1 Ardupilot vehicle must be properly configured calibrated and tested using tools and instruction from the official Ardupilot web site prior to using it with UgCS UgCS does not support initial configuration setup and calibration of Ardupilot driven vehicles If more than one Ardupilot vehicle is planned to be used with UgCS it must be ensured that each vehicle has a unique system id as defined by the parameter SYSID_THISMAV otherwise UgCS will not be able to distinguish between different vehicles and it will not be possible to operate vehicles normally To change the parameter please use the official Ardupilot configuration software like Mission Planner Turn on the vehicle and plug in the radio modem paired with the vehicle or direct USB cable from the Ardupi lot board to the computer where VSM is running UgCS uses serial ports for communication with Ardupilot vehicles Standard communication devices like 3DR radio modems and their analogs and direct USB con nections are supported as long as OS driver for virtual serial port is installed and serial port is successfully created Please refer to your communication equipment manufacturer documentation about driver installation instructions Open Vehicles window in UgCS Client and wait until new vehi
6. no serial port access arbitration between VSMs running on the same machine It is recommended to have it enabled to avoid situation when multiple VSMs try to open the same port simultaneously Default yes e Example vehicle ardupilot serial_port use_serial_arbiter no 1 9 4 Network connection configuration Optional VSM which communicates with vehicles via network should define at least one network connection otherwise VSM will not try to connect to vehicles prefix is unique for each VSM 1 9 4 1 Local IP address for UDP Optional Name prefix detector con index udp_local_address IP address Description Local IP address to listen for incoming UDP packets on Specify 0 0 0 0 if you want to listen on all local addresses Example vehicle ardrone detector 1 udp_local_address 0 0 0 0 Copyright 2015 Smart Projects Holdings Ltd 2 Disclaimer 9 1 9 4 2 Local UDP port Optional e Name prefix detector con index udp_local_port port number e Description Local UDP port to listen for incoming packets on Example vehicle ardrone detector 1 udp_local_port 14550 1 9 4 3 Remote IP address for UDP Optional e Name prefix detector con index udp_address IP address Description Remote IP address to send outgoing UDP packets to e Example vehicle ardrone detector 1 udp_address 192 168 1 1 1 9 4 4 Remote UDP port Optional e Name prefix detector con index udp
7. Ardupilot VSM User Guide UgCS 2 5 242 eS uses Copyright 2015 Smart Projects Holdings Ltd ii CONTENTS Contents 1 Ardupilot VSM User Guide 1 1a Firstime vehicle CONTSCHON 4 24 2804 e065 date LAN Bb eee RE a Lt 1 1 2 Mission execution Specifics s coe cro csi ra a aaa OR RA US a RR ee EDR 2 1 3 Command execution specifies lt 22 4 ec roe ee ee eae ed 3 14 Command shading oseo e pose coc go bone dog De we A ee ee es 3 1 5 Telenietry informeaton species se s i a a AA 3 16 Faisal acions s coco cc 4658 bb eee he LE BEES ede dre dut d n 3 VE WAYPOINT Ypes erce due ae ne pbg a Be eR A e Bo Pe ee e OR Ge OR a 4 LE COMO iE coas D s bei ma de EUR Due anim ve PA fun ed ee a eee Ra 4 1 8 1 Common paraneiers ox 4 e moa e dou a ab es a A D UE de 5 1 82 Serlal POM COnNQUPANOM s s esi 4e cc on dance Rue de ne ip a 5 1 8 3 Model name and serial number override 5 1 8 4 Camera control parameters ee 6 1 9 Common configuration file parameters 6 141 UgCS server configuro lt lt ee pue Lai dou go mue he 6 182 Legging Connora s s 26 La a Ee ere AA ee nt eS 7 193 SSAlbOt SOMIQUANOM 4 2 42 pe se ane RAR ak Lau ee Re ane 7 1 9 4 Network connection configuration 8 185 MISSION MBA o e LL DL de eed bee be PNG eee BEDE at 9 2 Disclaimer 9 Copyright 2015 Smart Projects Holdings Ltd 1 Ardupilot VSM
8. _ port port number Description Remote UDP port to send outgoing packets to Example vehicle ardrone detector 1 udp_port 14551 1 9 5 Mission dump path Optional e Name prefix mission_dump_ path path to a file Description File to dump all generated missions to Timestamp is appended to the name Delete the entry to disable mission dumping All directories in the path to a file should be already created Example vehicle ardupilot mission_dump_path C tmp ardupilot_dump 2 Disclaimer DISCLAIMER OF WARRANTIES AND LIMITATIONS ON LIABILITY a SMART PROJECTS HOLDINGS LTD MAKE NO REPRESENTATIONS OR WARRANTIES REGARDING T HE ACCURACY OR COMPLETENESS OF ANY CONTENT OR FUNCTIONALITY OF THE PRODUCT AND ITS DOCUMENTATION b SMART PROJECTS HOLDINGS LTD DISCLAIM ALL WARRANTIES IN CONNECTION WITH THE PRODUCT AND WILL NOT BE LIABLE FOR ANY DAMAGE OR LOSS RESULTING FROM YOUR USE OF THE PRODUCT INCLUDING BUT NOT LIMITED TO INJURY OR DEATH OF USER OR ANY THIRD PERSONS OR DAMAGE TO PROPERTY c THE SOFTWARE IS SUPPLIED AS IS WITH NO WARRANTIES AND CAN BE USED ONLY AT USERS OWN RISK Copyright O 2015 Smart Projects Holdings Ltd
9. cle appears there automatically Both Uplink and Downlink connections should be available Press Gain control and Editto select corresponding vehicle profile and change the default vehicle name to be convenient for you ARDUPILOTMEGA 1 35 G ol Release contol Edit Remove Release control Tail number ArduCopter 101 Platform ArduPilot Vehicles q Profile 3DR ArduCopter Quad Take off point altitude m 1 16 Downlink Yes Profiles Uplink Yes Payloads ArduCopter 103 es Tail number ArduCopter 103 gt Platform ArduPilot 69 Profile 3DR ArduCopter Quad Configuration Take off point altitude m Downlink Yes Uplink Yes ArduCopter 104 es Tail number ArduCopter 104 Platform ArduPilot e Profile 3DR ArduCopter Quad Take off point altitude m 1 16 Figure 1 New Ardupilot vehicle Copyright O 2015 Smart Projects Holdings Ltd 2 CONTENTS Vehicle profile needs to be assigned to allow mission planning with this vehicle Image needs to be assigned to see vehicle location on the map 5 Repeat steps above for each your Ardupilot vehicle Supported vehicle types Copters Supported Ardupilot firmware versions e 3 0 3 1 x 3 2 x recommended Supported hardware platforms e APM Pixhawk Note Pixhawk with PX4 autopilot is not supported 1 2 Mission execution specifics Mission action support Flight plan element action Support Notes Change speed Partial Changing of flig
10. file Logging is disabled if logging file is not defined File should be writable Backslash should be escaped with a backslash Example log file var opt ugcs log vsm ardupilot vsm ardupilot log Example log file C Users John AppData Local UGCS logs vsm ardupilot vsm ardupilot log 1 9 2 3 Maximum single file size Optional e Name log single_max_size size Description Maximum size of a single log file When maximum size is exceeded existing file is renamed by adding a time stamp and logging is continued into the empty file size should be defined as a number postfixed by a case insensitive multiplier Gb G Gbyte Gbytes for Giga bytes Mb M Mbyte Mbytes for Mega bytes Kb K Kbyte Kbytes for Kilo bytes no postfix for bytes Default 100 Mb Example log single_max_size 500 Mb 1 9 3 Serial port configuration Optional VSM which communicates with vehicles via serial ports should define at least one serial port otherwise VSM will not try to connect to the vehicles Port name and baud rate should be both defined prefix is unique for each VSM 1 9 3 1 Port name Optional Name prefix port index name regular expression e Description Ports which should be used to connect to the vehicles by given VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Expression is case insensitive on W
11. ht speed during the mission is currently broken for Ardupilot due to firmware bugs Panorama Partial Only clock wise movement is supported due to Ardupilot firmware bug UgCS provides correct angle values according to Mavlink specification Set camera mode Partial Only photo mode is supported Set camera by time Partial First shot delay parameter is not supported Set camera by distance Partial Only Distance parameter is supported Camera control For using camera you should set up necessary parameters in ArduPilot native software according to your hardware configuration See also Camera control parameters e VSM configuration should match your copter configuration See ArduCopter manual for details For example in MissionPlanner the camera set up can be done in Initial setup page Optional hardware Camera gimbal Shutter section Select the channel your shutter is connected to and set other parameters depending on your shutter control hardware Home Location Warning Home location set via mission is ignored by Ardupilot Ardupilot will always override home location with current position at the time of arming When RETURN_HOME command is issued from UgCS Client or RC transmitter vehicle will return to launch location regardless of home location set in mission Copyright O 2015 Smart Projects Holdings Ltd 1 3 Command execution specifics 1 3 Command execution specifics
12. indows port index is a arbitrary port indexing name e Example vehicle ardupilot serial_port 1 name dev ttyUSB 0 9 com 0 9 e Example vehicle ardupilot serial_port 2 name com42 Copyright 2015 Smart Projects Holdings Ltd 8 CONTENTS 1 9 3 2 Port baud rate Optional e Name prefix port index baud baud index baud Description Baud rate for port opening baud index is an optional arbitrary name used when it is necessary to open the same serial port using multiple baud rates port index is an arbitrary port indexing name e Example vehicle ardupilot serial_port 1 baud 1 9600 e Example vehicle ardupilot serial_port 1 baud 2 57600 e Example vehicle ardupilot serial_port 2 baud 38400 1 9 3 3 Excluded port name Optional Name prefix exclude exclude index regular expression Description Ports which should not be used for vehicle access by this VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Filter is case insensitive on Windows exclude index is a arbitrary indexing name used when more than one exclude names are defined e Example vehicle ardupilot serial_port exclude 1 dev ttyS e Example vehicle ardupilot serial_port exclude com1 1 9 3 4 Serial port arbiter Optional e Name prefix use_serial_arbiter yes no e Description Enable yes or disable
13. tem id read from the vehicle It can be overridden by these parameters where name is an arbitrary vehicle name system id is the original Mavlink system id which should be overridden model name is a new model name to be visible to the UgCS serial number is a new serial number to be visible to the UgCS Example vehicle ardupilot custom my_drone system_id 2 vehicle ardupilot custom my_drone model_name ArducopterQuad vehicle ardupilot custom my_drone serial_number 123456 Copyright 2015 Smart Projects Holdings Ltd 6 CONTENTS 1 8 4 Camera control parameters Mandatory Read Ardupilot manual about camera triggering configuration to understand these parameters It is assumed that the vehicle is configured in servo mode not relay for camera triggering e Name vehicle ardupilot camera_servo_idx e Description Index of the servo to use for camera triggering Example vehicle ardupilot camera_servo_idx 8 e Name vehicle ardupilot camera_servo_pwm e Description PWM value to set for camera triggering servo when taking photo Example vehicle ardupilot camera_servo_pwm 1900 e Name vehicle ardupilot camera_servo_time Description Time to hold camera servo at the specified PWM when triggering single photo in seconds Example vehicle ardupilot camera_servo_time 1 0 1 9 Common configuration file parameters VSM configuration file is a text file specified via command line argument
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