Microdrones VSM User Guide
Contents
1. create a port filtering regular expression Expression is case insensitive on Windows 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 6 CONTENTS 1 7 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 7 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 7 3 4 Serial port arbiter Optional e Name2. e Description Absolute or relative to the current directory path to a logging 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 e Example log file C Users John AppData Local UGCS logs vsm ardupilot vsm ardupilot log 1 7 2 3 Maximum single file size Optional e Name log single_max_size size e 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 7 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 7 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
3. necessary to modify it Configuration file location e On Microsoft Windows C Program Files x86 UgCS bin vsm microdrones conf e On GNU Linux etc opt ugcs vsm microdrones conf On Apple OS X Users user name Library Application Support UGCS configuration vsm microdrones conf 1 6 1 Common parameters All VSMs share a common set of configuration file parameters described in Common configuration file parameters Microdrones VSM configuration file prefix is vehicle microdrones Copyright O 2015 Smart Projects Holdings Ltd 4 CONTENTS 1 6 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 microdrones serial_port e Description Serial port configuration for more details see Serial port configuration Default Microdrones serial port communication speed is 38400 baud Example vehicle microdrones serial_port l name coml vehicle microdrones serial_port 1 baud 38400 1 6 3 Model name override By default the VSM sets MD model name for the Microdrones vehicles It can be overriden to more specific name in the VSM configuration Example vehicle microdrones custom my_drone serial_number 1102 vehicle microdrones custom my_drone model_name MD4 200 In this example the model name for the drone with serial number 1102 is overriden to value MD4 200 1 7 Common configuration file par
4. prefix use_serial_arbiter yes no e Description Enable yes or disable 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 7 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 7 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 7 1 7 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 e Example vehicle ardrone detector 1 udp_local_port 14550 1 7 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
5. status to ensure correct mission upload 1 3 Command execution specifics Command Support Notes ARM Partial The command issuing does not turn on motors but allows doing it from RC without battery re inserting It also activates telemetry sending DISARM Partial Does not stop motors but activates uplink channel and deactivates telemetry sending AUTOMODE No MANUALMODE No RETURNHOME No TAKEOFF No Copyright 2015 Smart Projects Holdings Ltd 1 4 Telemetry information specifics 3 LAND No EMERGENCYLAND No 1 4 Telemetry information specifics Nothing specific 1 5 Fail safe actions GPS Lost Action Result Wait Aircraft tries to maintain altitude Land Aircraft slowly decends RC Lost Action Result Wait Aircraft returns home and lands Land Aircraft returns home and lands Return Home Aircraft changes altitude to failsafe ALT 50m and returns home Continue Aircaft continues mission Battery Low Action Result Wait If possible aircraft returns home and lands if not possible slowly decends Land If possible aircraft returns home and lands if not possible slowly decends Return Home If possible aircraft returns home and lands if not possible slowly decends Continue Aircaft continues mission 1 6 Configuration file Default configuration file of the Microdrones VSM suits most needs and it is generally not
6. steps to connect an Microdrones vehicle to the U g CS 1 Microdrones vehicle must be properly configured calibrated and tested using tools and instruction from the official Microdrones web site prior to using it with U g CS U g CS does not support initial configura tion setup and calibration of Microdrones vehicles 2 Turn on the vehicle There are two communication channels in a drone uplink and downlink Uplink channel is connected via USB serial cable plug it in the drone connector you should connect to FC not NC connec tor flat side to the battery see manufacturer manual for detailed explanation and to the computer where VSM is running The uplink channel can be used for mission uploading and commands execution For telemetry reception you need downlink channel which is connected to the downlink wire on the drone bottom You can use manufacturer provided downlink equipment which uses video transmitter sound channel for telemetry data transferring and downlink decoder ground unit Alternatively you can connect your own USB serial cable or radio modem to the downlink wire Before that you should switch the telemetry output to digital mode using a jumper on the drone board see manufacturer manual for the details For initial vehicle set up in U g CS you can connect either uplink or downlink whichever is more convenient for you For all connection options you will have USB serial device on the PC side so proper OS driver for virtual se
7. 1 7 4 4 Remote UDP port Optional e Name prefix detector con index udp_port port number Description Remote UDP port to send outgoing packets to e Example vehicle ardrone detector 1 udp_port 14551 1 7 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
8. Microdrones VSM User Guide UgCS 2 5 242 eS uses ap microdrones com Copyright 2015 Smart Projects Holdings Ltd ii CONTENTS Contents 1 Microdrones VSM User Guide 1 Ta Firstime vehicle CONTSCHON lt lt sc c roa aa a a de de Lt 1 1 2 Mission execution Specifics s coe cro csi ra a RAR 2 1 3 Command execution species 22 4 ec roe eee eae ee 2 1 4 Telemetry information specifics c 3 Lo Faksai CONS ceo La un aa D A SU me Boek Ne nl Une pu 3 LE Comuuraliontle 5 28 he bad bb ah do de ue rt dut bends 3 16 1 COMMON CANARIO LE Lou uit we ee AE ER SAN MMM a eR ods EEE 3 1 6 2 Serial port configuration 4 163 Modellname Overnidg lt o s scere c Roue as a A Bai et E a UE eS 4 1 7 Common configuration file parameters 4 171 WeGS server coniguration 4 LL du due Baba dub Rhone A 4 RE L a CORNUDO dd i LE DE RE PR An EE RS EEE 5 1 249 Serial portcontiguration s o 2 54 eau ee a RE A a a 5 1 7 4 Network connection configuration 6 tes MISSION QUIN BAIN ss ane duree e Mic OES he di eee me 7 2 Disclaimer 7 Copyright 2015 Smart Projects Holdings Ltd 1 Microdrones VSM User Guide 1 1 Microdrones VSM User Guide ES uses qD microdrones com 1 1 First time vehicle connection See Disclaimer Please follow these
9. ameters VSM configuration file is a text file specified via command line argument 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 7 1 UgCS server configuration 1 7 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 7 1 2 Listening port Mandatory Name ucs local_listening_port port number e Description Local TCP port to listen for incoming connections from UgCS server Default is 5556 Example ucs local_listening_port 5556 Copyright 2015 Smart Projects Holdings Ltd 1 7 Common configuration file parameters 5 1 7 2 Logging configuration 1 7 2 1 Level Optional Name log level error warning info debug Description Logging level Default info Example log level debug 1 7 2 2 File path Optional Name log file_path path to a file
10. rial port should be installed Please refer to your communication equipment manufacturer documentation about driver installation instructions 3 Open Vehicles window in U g CS Client and wait until new vehicle appears there automatically Either Uplink or Downlink connection should be available Press Gain control and Edit to select corresponding vehicle profile and change the default vehicle name to be convenient for you Copyright 2015 Smart Projects Holdings Ltd 2 CONTENTS 200 1 55 Vehicles Profile Microdrone md4 200 Profiles ArduCopter 104 Payloads oe Tail number ArduCopter 104 gt Platform ArduPilot fa Profile 3DR ArduCopter Quad Take off point altitude m 1 16 Downlink Yes Configuration Uplink Yes ArduCopter 105 ta Tail number ArduCopter 105 m gt _ Platform ArduPilot fg Profile 3DR ArduCopter Quad Take off point altitude m Downlink Yes Uplink Yes Figure 1 New Microdrones vehicle 4 Repeat steps above for each your Microdrones vehicle Note that if both uplink and downlink are connected only uplink will be active because the Microdrones stops telemetry sending after reception of commands via uplink The downlink can be activated either by issuing A RM command or by disconnecting uplink and re inserting a battery 1 2 Mission execution specifics Please connect You Microdrones vehicle to computer before it reaches twin beep signal or ready for take off
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