U|g|CS getting started · U|g|CS Getting started guide, ... inventory and management of unmanned ... Home location is a point to which the vehicle should return in case some fail

U|g|CS Getting started guide, v.1.2

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U|g|CS getting started

Table of Contents Please Pay Attention!!! ....................................................................................................................................... 4

Installation and system requirements ................................................................................................................ 5

Windows .......................................................................................................................................................... 7

Linux ................................................................................................................................................................ 7

Mac OS ............................................................................................................................................................ 7

Checking the components and running the application ..................................................................................... 7

Windows .......................................................................................................................................................... 7

Mac OS ............................................................................................................................................................ 8

Linux ................................................................................................................................................................ 9

Mission planning ................................................................................................................................................. 9

New route creation ......................................................................................................................................... 9

Route name and vehicle .............................................................................................................................. 9

Payload selection ...................................................................................................................................... 11

Route parameters ..................................................................................................................................... 12

List of routes .............................................................................................................................................. 14

Editing route parameters .......................................................................................................................... 14

Saving the mission ......................................................................................................................................... 16

Editing mission .............................................................................................................................................. 17

Navigation ................................................................................................................................................. 17

Layer of buildings ...................................................................................................................................... 19

Tools and basics of drawing the route ...................................................................................................... 19

Basic waypoints ......................................................................................................................................... 21

Adding, removing, and editing route segments ........................................................................................ 22

Tool parameters ........................................................................................................................................ 23

Multi-selection feature ............................................................................................................................. 25

Log window ................................................................................................................................................... 25

Mission calculation ........................................................................................................................................ 25

Processing errors ....................................................................................................................................... 26

Calculation results ..................................................................................................................................... 27

Elevation profile ........................................................................................................................................ 28

Actions ........................................................................................................................................................... 28


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Adding, removing, and rearranging actions .............................................................................................. 28

Types of actions ......................................................................................................................................... 29

Uploading mission ......................................................................................................................................... 29

Measurement tools ....................................................................................................................................... 30

No flight zones ............................................................................................................................................... 30

Running mission ............................................................................................................................................ 32

Telemetry window .................................................................................................................................... 32

Vehicle models .......................................................................................................................................... 33

Mission replay ............................................................................................................................................... 34

Vehicle list ......................................................................................................................................................... 35

Registering new vehicle................................................................................................................................. 35

Vehicle parameters ....................................................................................................................................... 36

Removing vehicle .......................................................................................................................................... 38

Payload list ........................................................................................................................................................ 39

Adding new payload ...................................................................................................................................... 39

Configuration..................................................................................................................................................... 41

Connections ................................................................................................................................................... 41

VSM ............................................................................................................................................................... 41

Map ............................................................................................................................................................... 41

Tile providers ............................................................................................................................................. 41

No-flight zones .............................................................................................................................................. 42

Screen ............................................................................................................................................................ 42

Resolution ................................................................................................................................................. 42

Language ................................................................................................................................................... 42

Measurement ............................................................................................................................................ 42

Video ............................................................................................................................................................. 42

Vehicle profiles .............................................................................................................................................. 42

About ............................................................................................................................................................. 42

Activation .................................................................................................................................................. 42

Troubleshooting ................................................................................................................................................ 43

Ugcs-client ................................................................................................................................................. 43

The vehicle is very long time flying around one point .............................................................................. 43

Appendix A U|g|CS Community Preview EULA ................................................................................................ 44


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U|g|CS stands for universal ground control software. Universal means that the software is supporting different vehicle and payload manufacturers and provides users with unified environment for mission planning, execution monitoring, inventory and management of unmanned vehicles. Currently - Microdrones, MAVLink compatible UAVs and Mikrokopter are supported, with option to add more by custom development performed by SPH Engineering or by clients themselves through included SDK for third party developers.

U|g|CS architecture consists of three separate layers:

- Human Control Interface (HCI); - Universal Control Server (UCS); - Vehicle Specific Modules (VSM).

HCI provides UI for user operations such as: adjusting vehicle parameters, mission planning, monitoring telemetry and payload data, replaying mission from archive. Vision of HCI is to work on all main PC operating systems (Windows, MacOS, Linux(Ubuntu) and mobile platforms (iOS, Android)

U|g|CS is tested to be stable on Windows, MacOS and Ubuntu 12 and 13.

UCS is an intermediate layer. It contains database, services for HCI and VSM, GIS and routing facilities.

VSM contains adapters for specific vehicles. It translates routes from our universal (vehicle-neutral) protocol to vehicle specific protocols. It knows how to detect vehicle and how to get and transfer to UCS and HCI telemetry data.

For quick and easy way on usage please refer to our video manuals on Youtube http://www.youtube.com/playlist?list=PLRfRuRLHgAaWRJLLbUY7OUJg0LwZEKgtJ

http://www.youtube.com/playlist?list=PLRfRuRLHgAaWRJLLbUY7OUJg0LwZEKgtJ


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Please Pay Attention!!!

1. It is in the responsibility of each user to operate the system safely in order to avoid

harming other people or their legal property or encountering other damages by taking

undue risks.

2. The user must comply with legal regulations for the use of the U[G]CS at each single

location of use.

3. Please make sure that the first waypoint stands not far from the actual take-off location

and there is no significant vertical drop


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Installation and system requirements

There are two deployment modes for all OS:

“Simple deployment” installs all the components on the single computer and runs all components as processes inside user session;

Users with advanced requirements can choose “Advanced deployment” option that allows installation of different components on separate machines and/or running them as separate services.

System requirements for simple installation

OS Windows Mac OS Linux

Operating

system

Windows XP with SP2 or later;

Windows 7 with SP1 or later;

Windows 8*

Mac OS X

Maverick 10.9 or

later*

Ubuntu 12 and 13

(32 bit and 64 bit)

CPU Core 2 Duo or Athlon X2 at 2.4 GHz

Memory 2 GB RAM of memory minimum, 4 GB RAM of memory recommended

Hard drive 2 GB of free space

Graphics

hardware

Graphics card with DirectX 9 level (shader model 2.0) capabilities. Any card

made since 2004 should work.

Network TCP/IPv4 network stack

Screen

resolution Minimum supported screen resolution 1024 x 768

* Please note software was not tested on server versions of Windows and OS X. Windows Vista is not

supported.

http://en.wikipedia.org/wiki/Core_2_Duo

http://en.wikipedia.org/wiki/Athlon_X2

http://en.wikipedia.org/wiki/Random_Access_Memory



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System requirements for advanced installation

Component Ugcs-client UCS VSM Emulator

Operating

system

Windows: Windows XP with SP2 or later; Windows 7 with SP1 or later; Windows 8*

Mac OS: Mac OS X Maverick 10.9 or later*

Linux: Ubuntu 12 and 13 (32 bit and 64 bit)

CPU Core 2 Duo or Athlon X2 at 2.4 GHz 1 GHz processor (Intel Celeron or better)

Memory 1 GB RAM minimum, 2 GB RAM recommended 512 Mb RAM

Hard drive 1 GB free space 256 Mb free space

Graphics

hardware

Graphics card with DirectX

9 level (shader model 2.0)

capabilities. Any card made

since 2004 should work.

VGA capable of 1024x768 screen resolution

Network TCP/IPv4 network stack

Screen

resolution Minimal supported screen resolution 1024 x 768

* Please note that software was not tested on server versions of Windows and OS X. Windows Vista is

not supported.

http://en.wikipedia.org/wiki/Core_2_Duo

http://en.wikipedia.org/wiki/Athlon_X2




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Windows For quick installation follow these steps:

1. Run the installer ugcs-1.2.exe; 2. Press next on every screen; 3. Read license agreement carefully (you can find it at the end of this document).

Linux For linux .deb packages are available on our site ugcs.com.

Mac OS For quick installation follow these steps:

1. Run the installer ugcs-1.2.dmg; 2. Press next on every screen; 3. Read license agreement carefully (you can find it at the end of this document).

Checking the components and running the application

Windows U[g]CS Service manager and U|g|CS client starts automatically after installation. U|g|CS Service manager starts required background processes: universal control server (UCS), vehicle specific modules (VSM) and emulator. Alternatively you can run the service manager by clicking icon on the desktop.

Figure 1. U|g|CS Service manager and U|g|CS client shortcuts

Provided service manager starts properly it can be found in system tray. Please check that all services are running. If some service is stopped it should be launched from the system manager’s menu. Please note “Administrator” privileges are required to run services.

Provided U|g|CS components are installed as Windows Services, there is an option to open “Windows Services” panel through U|g|CS system try icon.


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Figure 2. U|g|CS Service manager menu

Desktop icon launches U|g|CS Client.U|g|CS configuration is done automatically.

Enter user login and password. By default admin/admin. Press “Enter”.

Figure 3. Login window.

Mac OS You can start U[g]CS Service manager and U|g|CS client from the Launchpad. After successful installation the Launchpad has folder UGCS with 2 shortcut.


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Figure 4. Shortcuts in folder UGCS in the Launchpad.

After starting U[g]CS Service manager and U|g|CS client rest is done like in Windows. Please refer to the Windows section for more information.

Linux U|g|CS client is started from terminal “$ ugcs-client” or from desktop shortcut. All server application on Linux start as a service automatically.

Mission planning Mission is a collection of routes and waypoints which defines the altitude, speed, direction and other parameters of flight and behavior of drone and payload during it. Each route or waypoint contains information about geographical properties of the flight and actions to be performed on the particular part of the mission.

Prior a mission is created, please ensure necessary vehicles are. Manuals how to do it for ardrone, ardupilot, microdrones and mikrokopter can be found in folder “UgCS/docs”.

After configuration of vehicles is done mission can be created. As soon as mission has been configured and has been calculated, it can be uploaded to the assigned vehicle(s).

After sending any command from client (such as arm, auto-mode and etc.) begins telemetry recording. Since this moment and until record of the mission is stopped, telemetry values are saved and can be used later for analysis or to replay the mission. If you start mission manually with vehicle control unit (ex. RC controller), it is necessary to ensure that the telemetry recording is enabled.

After the mission is completed you should stop recording manually.

You can start and stop recording telemetry at any time regardless of the status of the mission.

New route creation Once a new mission has been created, software automatically asks to create a route. There can be more than one route in the mission. Route creation consists of three steps.

Route name and vehicle First step is to choose whether to draw the route manually or to import the route from file.


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Figure 5 Route creation mode

Second step is to name the route and specify the vehicle for the route. Please note only registered and properly configured vehicles can be chosen from the list. If the vehicle is not configured, (some parameters remain unspecified) then it is greyed out. In such case missing parameters must be added or another vehicle chosen.


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Figure 6. Route name and drone selection

Payload selection Third step is to specify payload elements attached to the vehicle.

Figure 7. Optional payload selection


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Route parameters Fourth step is to review and set missing parameters of the route. In order to ensure safe execution of the mission and ensure no damage is done to people, UAV or property, it is crucial to understand and review all the parameters before the route is confirmed.

b

a

Figure 8. Fourth step of route creation wizard

Home location is a point to which the vehicle should return in case some fail safe condition is triggered automatically or operator gives command to return home. Fail safe execution conditions usually include emergency situations such as loss of RC or low battery charge level.

Home position can be set explicitly or first waypoint of the route can be set as home location (see fig. 8, a). In that case coordinates can be specified in numerical form, either decimal or in degrees-minutes-seconds (DMS) formats can be used.

Note: To switch to decimal degrees format, click on button. To switch back to the DMS format, click on button.

An alternative and usually more convenient way to set the home position is to point it on the map. Click the button with crosshair icon (fig. 8, b) to use this option. As soon as the map is loaded, location can be defined by dragging with left mouse button and Shift key held at the same time. Pin will appear and change its height depending on the position of the mouse pointer (fig. 9). After the location has been chosen, clicking on OK button takes back to the wizard.


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Figure 9. On-the-map selection of home location

Initial speed parameter defines the speed of the vehicle before the first waypoint is reached. Additionally it defines the default speed for the rest of route’s elements.

Maximum speed is the upper speed limitation of UAV. This value cannot exceed the maximum speed the vehicle can achieve (it is set in vehicle configuration and defined by vehicle manufacturer).

Maximum altitude is the altitude limitation for the route. Note that this altitude changes its type (above mean sea level or above ground) as one changes the altitude type for the route (see below).

Emergency return altitude is the altitude used by the vehicle to return to home position in emergency cases or when the operator recalls it during the mission.

Altitude origin specifies whether altitudes are counted from the mean sea level or from the level of terrain. Usually it is more convenient to specify altitudes relative to the ground level. Please note once the choice is made, all the altitudes specified in the created route are interpreted in chosen type. There is option to change altitude origin afterwards via the route options window.

Trajectory type is a parameter for defining pattern of the route between two waypoints. Choosing the Straight option results in direct line segment between the points whilst the Safe option generally produces two segments, one vertical and one horizontal, as schematically shown below.

Note the behavior of vehicles in different types of trajectories may differ from that described above. For more information about the supported types of trajectories and their adjustment is necessary to look in the manual for the device and in the specifications.


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Figure 10. Safe trajectories

Action on GPS loss, action on RC loss, and action on battery discharge are the pre-defined emergency actions. In all cases to wait or to land the vehicle can be chosen. Return to home position and to continue flight along the route are available provided GPS is operational.

Usually it is required to specify only home position and safe altitude, other parameters have reasonable default values based on known vehicle properties. Still, it should be ensured that defaults are correct. The software will perform checks and will cancel route creation provided there is present incorrectly defined or conflicting values of parameters. Notifications about errors in values are displayed at the bottom of a window, the particular parameter is highlighted.

List of routes List of routes is opened by clicking the Open list button (fig. 11, a) right beside particular mission. Each item on the list shows the route name and name of assigned vehicle. The Remove button (fig. 11, b) lets you exclude specific route from the mission. Be careful when removing routes as route removal cannot be undone.

Figure 11. List of routes

Creating more routes is similar to the creation of the first one. First open the list of existing routes, and then choose the New route… option (fig. 11, c). Please note once assigned to a route same vehicle cannot be assigned to another route of the same mission.

Route selection is done using abovementioned list of routes.

Editing route parameters Route parameters can be modified by clicking the Route options button next to the name of the route (fig. 12, a).


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Figure 12. Current route bar

Route options dialogue (fig. 13). Here you can switch between routes and select any for configuration. Vehicles can be reassigned (fig. 13, a), payloads added/removed (fig. 13, b) and route parameter values changed. Please note if an already-used vehicle is assigned to different route, the original route will no longer have vehicle attached. To correct please assign vehicle to route without one. U|g|CS will give a warning informing that there is no vehicle assigned to particular route (fig. 13, e).

On this window, routes can be selected for removal (fig. 13, c).

c

d

b

a

e

Figure 13. Route options dialogue

Useful option is change of altitude origin (fig. 13, d). It converts all the altitudes regarding the digital elevation model of the area. Locations of all the points are preserved.


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It is not possible to confirm changes made in this dialogue as long as errors remains. U|g|CS informs about errors by displaying a warning message at the bottom of the window (fig. 13, e). Routes requiring attention are marked with exclamation mark.

Saving the mission Missions are not saved each to its own file. All of missions are stored in a single database therefore there is no need to specify a file when saving a mission.

Figure 14. Mission toolbar

Missions are distinguished by name that can be changed. By default, name of new mission consists of mission date and time. To rename the mission, click the mission title and then supply the new name (fig. 14, a). In order to save the mission, click on the Save button (fig. 15, b). Please do not forget to periodically save your progress to avoid data loss.

Following is the functionality of other buttons from this menu:

Calculate / edit button (fig. 14, c) executes calculation of the routes for the mission and displays outcome of calculation. Clicking on it for the second time returns back to the route editing mode (button will change its appearance to ).

Telemetry recording button (fig. 14, d) affects telemetry recording.

Near the right side is located toolbar. Buttons set there depends on vehicle type and autopilot.

Figure 15. Operation toolbar

Upload button (fig.15, a) starts a mission uploading process. It becomes available, when the route is calculated.

Arm/Disarm (fig. 15, c, d) activate/deactivate all systems and makes vehicle ready for the flight.


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Auto/Manual mode (fig.15, b, g) turns vehicle into automatic flight mode/stabilized manual mode.

Return home (fig. 15, e) returns vehicle home.

Land (fig. 15, f) lands vechicle.

Icon ( ) send the following command to the all vehicles (fig. 15, h).

Editing mission Routes in the mission are edited separately. The route currently open for editing is the one selected from the list of routes.

Navigation This chapter describes map usage in order for operator to be able to adjust map view and create route elements.

Note: For full functionality of map, an internet connection is required. Provided there is proxy, its settings should be specified in the U|g|CS configuration.

Moving of the map is done by holding left mouse button and dragging or pressing “arrow keys” on the keyboard. The map will follow mouse movements. Map rotation is accomplished by dragging while holding right mouse button or pressing “ctrl + arrow keys” on the keyboard. To change inclination, drag with central mouse button pressed or press “shift + arrow keys” on the keyboard.

To perform camera rotation without changing its position, hold the Alt key while dragging with right mouse button.

Zooming in and out is done by rotating the mouse wheel. Shift and Ctrl keys are used to speed up or slow down zooming.

Map properties are displayed in the lower part of the screen on the map status bar (fig. 16). The leftmost part shows current coordinates of mouse pointer position. The displayed position corresponds to the point on the ground at which the mouse currently is pointing. This allows to see approximate landscape elevation of some particular point on map and its latitude and longitude.

Figure 16. Map status bar

Map view is constrained. For example, it cannot be zoomed out too far and there is only limited area visible at each moment. To reduce constraints map can be switched to a lower level of details. Larger area becomes visible but it will be shown with less accurate features Current level of map details and buttons to change it are located on the right side of the map status bar.

Compass component shows the direction map is facing. To reset the direction to North, click the compass.

To navigate greater distances on the map 2D map shall be used for more convenient and faster navigation. 2D map is summoned using button in the lower part of the screen. Zooming and navigation on 2D map is done the same way as with 3D map. To move to the desired location, click on it (a marker displayed in


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fig. 17 will appear) afterwards press Go to location. It may take some time to load landscape data for the required territory from the internet.

Figure 17. 2D map window

Moving to another location can be canceled at any time by clicking Cancel (even if terrain data is currently being loaded).

U|g|CS Map supports custom sources of map images. Source can be selected by clicking on the name of current source (Google maps in the fig. 16) and choosing the required source. Available sources are specified in the configuration.

Telemetry component show/hide telemetry window, it switched on by default (fig. 18). Telemetry can be displayed in edit and calculated route mode.


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Figure 18. Telemetry window

Telemetry window mode switcher (fig.18, d) makes window full sized or collapses it to short mode, when only 3 parameters are shown. The default mode is short. It shows battery (fig.18, a), GPS (fig.18, b) and telemetry level (fig.18, c) values, which takes white, orange or red color depending on the charge or reception level.

Once some geographical elements in a route have been created, one can quickly focus the view on the route by clicking the route name. The map will move to the last element of the route (or to the first calculated waypoint in case of processed route).

It is possible to hide the controls to observe the map better. The Minimize / restore button is located at the upper right corner of the screen.

Layer of buildings Provided there are models of buildings loaded into the database then they are placed on the landscape. Rendering of these buildings has significant impact on performance. In case it gets uncomfortable3D objects can be turned off by clicking 3D objects button on the map status bar (fig. 16). Clicking it again will show the buildings.

Tools and basics of drawing the route Route consists of a sequence of elements (route segments). Route segments allows setting waypoints or creating more complex constructions like area or circle. For each segment a geographical object such as point, polygon or building is set. Resulting path is shown after route calculation process has been done. Tool selection is done from the toolbar at the left side of the window. Currently available tools are shown in the fig. 19.

Figure 19. Available tools

Waypoint tool is the default tool. To create new waypoint, press and hold the Shift button while simultaneously dragging up from the ground to the desired height. Therefore, not only location but also required altitude of the waypoint is set in one motion. Later waypoint’s position can be adjusted more precisely. Pin can be dragged by its base to change latitude and longitude. Dragging the pin by its head changes the altitude of the waypoint. Alternatively, coordinates can be corrected in numerical form using the properties window of the waypoint. Multiple waypoints can be drawn in sequence. Each waypoint you draw creates a new route segment connecting particular waypoints.

Circle tool makes the route go around the specified point at required distance. Creating circle is similar to waypoint. To change the radius of the circle, drag the circular part of the pin. Radius can be specified in the properties of circle in numerical format. Like with waypoints, circles can be added to route in sequence.


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Perimeter and area tools are based on polygons and allow to fly along the closed path or to cover an area with required density of flight paths (e.g. for purpose of scanning the area). To create a polygon, hold Shift and click on map where it is intended to have the corners of the polygon. Polygon corner pins can be moved by clicking and holding their bases. Latitude and longitude may also be adjusted by means of editing properties. To close the polygon, set the last pin close to the first one (or drag the last pin close to the first). Polygon must have at least three corners.

Building tool is used to create spiral around the building. This tool works differently from the previous ones. 3D data about the building has to be pre-loaded. When using the tool, just click on the building. It becomes marked and the route segment is added to the route. If there is need to include more than one building on a route it can be done by clicking Choose next button in the properties. Then clicking on another building will add another Building route segment to the route.

Take-off tool is used to mark the take-off position and parameters.

Landing tool is used to mark landing position and parameters.

For complete information on how the tools work (that means, how they produce commands that will be uploaded to vehicles) please see the Tool parameters chapter.

Each tool has its own properties window. All the properties windows look similar. There are two buttons on header row used to select previous and next route segments. On the right side there is Remove segment button. Properties window is divided in three sections. The first displays and allows editing of coordinates and general values of tool. The second one contains parameters specific to chosen tool. The last one contains the list of attached actions and buttons used to create new actions.


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Figure 20. Layout of tool inspector

Basic waypoints Tools except Waypoint are designed to automatically create sequences of waypoints in a more accurate and effective way than it would happen by defining it by hand manually using Waypoint tool. These automatically generated waypoints are further treated in U|g|CS as basic waypoints. Basic waypoints are locations that will be visited by drone. Provided Safe calculation of route has been chosen additional waypoints will be added automatically in-between the basic ones to avoid collisions with obstacles or violation of minimum altitude constraints. For example, see fig. 21. Additional waypoints were produced after setting two base waypoints.


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two basic waypoints (user-defined) additional waypoints to avoid collision

Figure 21. Additional waypoints inserted between the basic ones

The following table presents how each of tools produces basic waypoints:

Tool Basic waypoints

Waypoint Set explicitly by user.

Area scan Generated in places where camera has to make shots.

Perimeter Correspond to vertices of the polygon elevated to the required height.

Circle Set at equal distance from each other to give decent approximation of the circle. Number of basic points may be set by user or are set automatically.

Building Placed at corners of the building to form spiral trajectory.

Adding, removing, and editing route segments By default, route segments are added in order of creation, the next one succeeding the last one created before. To insert a segment between existing two select the segment, and then create the segment as described in the previous section. Each new segment of the route is created after currently selected waypoint. To select a waypoint, click on its pin’s head. To select a circle, click on its head or on its circular part. Polygon is selected by clicking near its contour. To select a segment based on a building, click the marker located above the building.

Note: there are special cases when the inserted segment is created using the same tool as the one currently selected. E.g. if the next segment is required to be a polygon tool, existing polygon has to be closed and finished beforehand. Until then, new polygon corners are added to the unfinished figure, not to the new one.

In case with building tool, it is required to click Choose next button in the properties window to choose the next building; otherwise, clicking on a building will modify current segment and will not produce a new one.


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To continue with adding segments to the end of the route, select the last route segment. Name of the route can be clicked to quickly focus on the last segment.

Note: Click insert new segment route icon ( ) to add new segment as the first one.

When a route segment is selected, you can edit it as if it has been just created: move points, change radius of circle, modify corner points of polygons or change selected building for building tool. Selected segment can be removed by clicking the Remove segment button in the upper left corner of the segment’s properties.

Tool parameters Each tool requires specifying additional parameters which customize the planned path of drone. These parameters are listed in the segment properties window. Some of them have default values; others require manual specification of values. Please ensure meanings of these parameters and always review their values to avoid unexpected results. Parameters without correct values are highlighted. Parameters marked with an asterisk (*) are mandatory, the others are optional.

To edit parameters of the existing route segment, select it as described in the previous section. Parameters can be specified before actual segment of route is created. It is enough to select a tool.

Following table describes parameters for each of the tools.

Tool Parameters

All Flight speed –flight speed of drone for this segment of route. Must not exceed maximum speed specified in properties of the route. Must be positive value.

Avoid obstacles – flag to be set if buildings have to be taken into account when planning the path. Do not uncheck without specific need to do so.

Avoid terrain – flag to be set if path has to satisfy minimum height over terrain condition (the corresponding value is one of vehicle parameters). Do not unset this flag unless necessary.

All except for Waypoint Actions in every waypoint – can be checked to repeat actions attached to the route segment in every basic waypoint generated by the tool.

Area scan Route calculation is performed so that the route points placed at the same height relative to the ground. This height is calculated based on the camera settings and set value GSD.

Note: this tool requires a camera to be selected as a payload. Camera must have properly specified (positive) values of minimum focus distance, maximum focus distance, and crop factor.

Ground resolution (GSD,m) – approximate ground resolution for resulting images (in meters per pixel).

Overlap – ratio of to the overlap in neighbouring frames (either consecutive, or placed in neighbouring rows, see the scheme below).

Direction angle - used to change the direction of the main scanning progress. By


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default, the algorithm calculates a route scan in bounded polygon so that the main course of the scan is performed in the direction of "South-North".

1 2 3

4 5 6

f

f

w

f value specifies overlap, w stands for frame width.

Perimeter Flight height – altitude of flight along perimeter. This altitude is not affected by altitude type fixed for the route.

Number of laps – number of turns drone flies along the perimeter.

Circle Number of laps – number of full turns drone has to make around circle.

Fly clockwise – flag indicates whether drone will fly clockwise (checked) or counterclockwise (unchecked).

Number of approximating points – number of basic waypoints generated. If left blank, this parameter will be automatically determined from a radius of a circle.

Follow terrain – if enabled all generated waypoints have the same altitude from ground (AGL altitudes are equal). If disabled, all the points will have equal AMSL altitudes

Building Minimum height – minimum height of scanning.

Maximum height – maximum height of scanning. If not specified, this value will be automatically derived from height of the building.

Height is above ground level – flag to set if minimum and maximum heights are specified relative to the ground. Provided AMSL heights are required, this option can be disabled.

Scanning step – difference of altitude between successive turns around the building.

Scanning bottom-up – selects whether to start flight from ground or go around building starting from the top of the building.

Gradual rise – enables smooth altitude change along the route. Unchecked it enables each turn around the building to be performed at constant AMSL altitude until transition to next circle.


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gradual rise off gradual rise on

Safe distance – distance between the produced spiral path and the building. Cannot be less than safe distance form obstacle, a parameter set in vehicle configuration.

Multi-selection feature If there is need to change parameter or parameters for a group of route segments at once. Multiple segments can be selected together by clicking on them while holding Ctrl key. Ctrl + “A” select all segments. Properties window will show common parameters of the selected segments. Parameters with different values across the selection are greyed out.

Note: Route segment can be selected by clicking on corresponding pin or on the line connecting it to the next segment. Selected segment is highlighted together with connecting line.

Log window At the bottom of the mission editor is a log window (fig. 17) that displays messages about the status of operations (calculation of the mission, unloading, and changing vehicle modes) and the results of the commands.

Figure 22. Log window

Mission calculation After route has been formed with all segments in place and their parameters are double checked mission is ready for processing.

Calculation process is executed by clicking Calculate button (fig. 14, c). It is recommended to save your mission before. Calculation might take some time. A window is displayed showing progress of the calculation. Calculation can be aborted at any time by clicking Cancel button.

During the calculation process the route is checked for feasibility according predefined rules. First it checks whether figures and parameters are specified correctly. All polygons must be closed and all parameters


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must be correctly specified before proceeding. , Correct parameters must be supplied also for actions attached to the route segments.

To ease error correction for a route message is displayed pointing to incorrect values, before route calculation proceeds. First route segment with invalid parameter is automatically selected. After problem has been fixed, click the Calculate button again. If no more errors are found calculation process will be launched.

Processing errors Common errors for route calculation are provided below:

The starting (ending) point of a route is not passable. The first (last) point of the route has AGL altitude less than minimally required by the vehicle or is inside an obstacle. Modify the first (last) route segment to fix the problem.

The path cannot be found. Please try to set more precise route (for example, add more points). Usually show when landscape configuration is too complex to produce a path. Substitute route segments created using tools with plain waypoints or add/remove additional waypoints.

The location exceeds the maximal altitude specified for the route. One or more points are set too high. Either lower it or change maximal altitude parameter in route options.

The distance between the point and an obstacle (building) is less than the safe distance specified for the vehicle. At least one of the points is too close or inside a building and has to be relocated to the safe distance from the building. If a point is set inside the building temporarily turn off the buildings layer by clicking the 3D objects button to reveal and move the point.

The distance between the point and the ground is less than the safe height specified for the vehicle. At least one of the points is not high enough to satisfy the minimal altitude condition and must be elevated.

The total number of waypoints in the route exceeds the maximum number of waypoints that the vehicle can handle. The route needs to be simplified to achieve less waypoints

To make a route less complex following techniques can be used:

Observe calculated route to find out which route segments produce most dense sequences of waypoints. Then substitute these segments with waypoints (use the Waypoint tool for that).

Sometimes large amount of waypoints is produced to avoid collisions. In such case try placing basic waypoints in a way that takes UAV over less obstacles..

Simply removing certain amount of route segments which are not crucial for the aim of the mission can fix this limitation of UAV.

Of course there is always option to consider use of UAV which supports required amount of waypoints.

Estimated time of flight by route exceeds the maximum flight time specified for the vehicle. The route is too long for endurance of the selected vehicle. Some segments can be removed to make route shorter. Other options include increase of the flight speed or install a battery with larger capacity to UAV (maximum flight time parameter of the vehicle should be updated).

Speed of the vehicle specified for the segment must be greater than zero. Value of speed parameter is expected to be positive digit.


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Speed specified for the segment is higher than the maximum speed specified for the route. Decrease the flight speed parameter for the route segment.

The path cannot be found. Please try to change the location of the basic point(s) or values of parameters. One of the segments of the route cannot produce a path. Particular segment should be modified.

The radius of the circle is too small (less than a meter). Radius of circle has to be meter or more.

The number of approximating points cannot be less than three. Change the Number of approximating points parameter of Circle to be three or more.

The height of the circle’s center is less than the safe height specified for the vehicle. Increase elevation of the circle.

The minimum height is less than the safe height specified for the vehicle. Increase minimum height of the building scan segment.

The minimum height is higher than the max height. Review the Minimum height and Maximum height parameter values of the Building tool. If Maximum height is not specified, make sure that minimum height is less than height of the building.

The scanning step exceeds the difference between maximum and minimum heights. Either decrease the scanning step or increase maximum altitude of building scan mission.

The calculated route will cross other buildings with given values of parameters. This means that there are buildings situated too close to the selected building for a safe path to be found. Increase the Minimum height parameter in order for scanning to begin (or end) higher than the neighbouring buildings. Another option is to change the Safe distance parameter value.

No cameras are assigned to the vehicle. The route has at least one segment created with the Area scan tool, but payload does not contain camera as one of its elements. Attach a camera to the vehicle (using the route options dialogue) or remove Area scan segments.

The value of the crop factor for the assigned camera must be specified and Values of the focal length for the assigned camera must be specified. There is a camera amongst the payload items but its parameters are not specified. Make sure that crop factor and focal lengths are all set to correct values.

Other errors possible errors are described in Troubleshooting chapter.

Calculation results As soon as calculation is done results you are displayed (fig. 23, b). Each route drawn previously will be shown with waypoints prepared for upload to vehicle. Elevation profile showing landscape elevation along the path with proper altitudes of path is shown.

Both absolute and relative altitudes of each generated waypoint can be seen by moving the mouse pointer over the waypoint. Statistics of calculated route are presented above the elevation profile. These are estimated flight duration, route mileage, total number of waypoints and min/max values of AMSL (above the mean sea level) and AGL (above ground level) altitudes of the path. Please ensure that minimum AGL altitude value is sufficient for safe flight.

If there is more than one route in mission, switch between them to observe calculation results.


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To return to editing mode, click the Edit button. Clicking again on the Calculate button will re-calculate only changed segments of the route. Therefore, re-calculations usually takes less time.

Elevation profile

Figure 23. Elevation profile

After successful calculation at the bottom of the screen appear button “elevation profile” (fig. 23, a). Click it for enables/hides windows with the height profile (fig. 23, c) for the calculated mission.

On the elevation profile windows you can see profile heights trajectory (fig. 23, d) and ground level (fig. 23.e). If the route passes over the building, his profile is also displayed in the window. Just displays the number of the WP in the route, the approximate length and duration of the flight.

Actions Each route segment can have a sequence of actions attached to it. Action is a task performed by the vehicle when it passes through the segment or one of its waypoints.

Adding, removing, and rearranging actions To add an action, first select the route segment. Actions are found at the lower part of the segment properties window.

To add an action, click on corresponding button from the list of actions (fig. 24). New action will be added to the list. To change an order of actions use Move up and Move down buttons. Action can be removed from the list by clicking on the Remove button in the upper left corner.

Figure 24. Supported actions


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Types of actions Camera attitude / zoom action allows changing angles of camera pitch, roll, and yaw or setting required zoom level of a camera. Angles can be defined from 0° (inclusively) through 360° (exclusively). Zoom levels are integral positive values.

Camera mode allows turning off camera or choosing one of the modes: “On” for continuous video recording, “Shot” for a single photo or “Shot series” specifies camera to take a sequence of photos with set interval.

Attention: once turned on “shot series” mode will not turn off until action to do so is specified.

Course heading action specifies heading relative to the movement direction. The value must be in range from 0° to 360°.

Point of interest (POI) sets the point of interest for the vehicle to face during the flight. It can be either set by entering latitude, longitude, and altitude in numerical form or by clicking the Crosshair button in the action properties and drawing POI in the same way as waypoints are drawn.. When done with on-the-map editing of the POI, click the crosshair button again;

Panorama action.

Wait action.

Note: Point of interest action does not affect connection between the route segment for which it is set.

Uploading mission If you are satisfied with pre-calculated routes, mission can be uploaded to vehicles. Upload is done by clicking the Upload button. The mission is saved and formed waypoints uploaded to the assigned vehicles.

Figure 25. Uploading process indication

During uploading information upload process progress is shown in the log window (fig. 25). When the route is being uploaded to the vehicle you can see the following message on the log window “Vehicle name: Uploading route “Route name””. Do not interrupt the connection between the computer and the vehicle. It takes longer if route has not been calculated before uploading.

Note: it is strongly advised to calculate routes before initiating the uploading process. This gives opportunity to double check route and ensure safe operation of a vehicle

When the route has been successfully uploaded you can see the following message on the log window “Vehicle name: Route “Route name” successfully uploaded”.

When the upload to the vehicle failed you can see the following message on the log window “Vehicle name: Route “Route name” upload failed”. Error can be caused by malformed path provided route calculation was


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not done before upload attempt. Alternatively, the connection to a vehicle was lost in the middle of the process. Or vehicle did not accept the set of commands. This state is an unrecoverable error that aborts route uploading. In case of error it is recommended to check connection to the vehicle, and calculated path before next upload attempt.

When mission upload completes the mission is ready for execution.

Measurement tools Several tools available to ease mission planning:

Figure 26. Measurement tools

Distance measurement tool allows drawing a line and displays its length.

Area measurement tool allows drawing a polygon and shows the size of the area.

Line of sight tool allows placing a point and finding the distances to all obstacles around that point. The tracing is performed on a horizontal plane.

No flight zones No flight zone is an area forbidden for any flights inside it. It is defined by perimeter (defined by a polygon), floor level (default is the ground level) and the ceiling (default is the infinity). No flight zones are treated like obstacles during route calculations.

No flight zones can be grouped into sets. Each set is reusable and can be reused on different missions. No-flight zone set is mission-wide. Meaning that selecting a bundle for a mission will affect all routes on the mission.

To create a no-flight zone set go to “Configuration -> Map -> No flight zones” and press “Create”. A 2D map will appear. Draw as much polygons as you need1. Adjust altitude limits for every polygon if needed.

1 To draw a polygon hold SHIFT and click on the desired point. To close a polygon drag the last point on the first point.


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Figure 27. No flight zone editor

To use the no flight zone press “No-flight zones…” on the bottom bar and mark desired sets in dialog.

Figure 28. Enable no flight zone on the map

To exclude sets from mission just open the same dialog and de-select unnecessary sets


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Running mission As automatic functions of takeoff, landing or pausing in the midst of a flight are not supported by most of UAVs functionality of suspending / resuming, and stopping the mission is limited.

Running the mission starts recording telemetry and saving values to the database. Mission can be replayed later using saved telemetry data to see how the mission went. During “suspend” state telemetry values are not recorded until the mission resumes. Setting the mission to “completed” stops saving telemetry data.

Usually vehicle reports its state multiple times per second. All reported data is saved to disk. The telemetry data can take a fairly large amount of available space. It is advised to set mission to “Completed” state as soon as possible (e.g. as soon as the last vehicle lands).

Telemetry window When the mission is in progress telemetry window (fig. 29) is shown. Three gauges at the top of the window shows battery charge level, number of GPS satellites visible, and quality of downlink channel. This gauges takes white, orange or red color depending on the charge or reception level quality.

Figure 29. Telemetry window


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Time since update. This value indicates the time elapsed since the last received telemetry values.

Principal values (Battery, GPS, Telemetry). These values indicate the level of the battery voltage, the number of GPS satellites and quality of the signal telemetry.

Control mode. Control mode status - automatic flight mode or manual mode.

Downlink. Downlink connection status.

Uplink. Uplink connection status.

State. State status – Arm (activate all systems and makes vehicle ready for the flight) or Disarm (deactivate all systems and makes vehicle not ready for the flight).

Distance. Distance covered since start of the mission. This value is zero when starting the mission and increases as the vehicle moves. Please note this value is calculated using odometry therefore it is not precise. Disturbances in GPS coordinates will affect the value. This value usually overestimates the real flight distance.

Flight time. Time passed since the mission was launched.

Latitude and longitude. Current latitude and longitude (WGS-84 coordinates) of the vehicle Calculated according GPS coordinates.

Altitude AMSL. Shows current altitude of the vehicle above the mean sea level. This value is based on GPS and / or barometer data.

Altitude AGL. Shows current vehicle altitude above ground level. Accuracy of this value depends on digital elevation model of map for particular region.

Ground level. AMSL of landscape under the current location of the vehicle. Depends on digital elevation model for the region. Landscape elevation is shown in metres above the mean sea level.

Vertical speed. Indication how fast a vehicle is rising or descending. Positive value means increase of AMSL altitude, negative means descending.

Horizontal speed. Shows vehicle speed relative to the ground.

Four elements below the list of values displays current attitude of the vehicle: roll, pitch, and yaw angles and heading.

Note: yaw angle shows angle of rotation of the vehicle around its vertical axis and is usually measured using on-board compass. Heading shows azimuth of the vehicle movement and is not directly related to its attitude.

Vehicle models 3D model of the vehicle can be added to the vehicle properties. The model will be shown above the map in the last known location of the vehicle. Vehicle model is an alternative way of representation for some of the telemetry values, namely the WGS-84 coordinates (latitude, longitude, and AMSL altitude), heading, and yaw. Coordinates affect location of the model. An orange arrow shows yaw angle and a green arrow shows heading direction. Orange arrow shows the direction where ‘front’ side of the vehicle is facing. Green arrow shows direction of movement of the vehicle as long as vehicle is moving.


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heading direction

‘forward’ direction

Figure 30. Vehicle model

To focus on the last known position of the vehicle, click on its name in the route bar. When editing the mission or during mission execution, vehicle models are clickable and as a result route for particular vehicle is selected.

Mission replay Telemetry values recorded during the flight can be re-played to closely resemble actions what happened during actual mission execution. To open the player, first select a mission. Then use calendar to choose a date when the flight took place; to the right of the calendar there is a list of recorded flights. Click Telemetry button next to the required mission. It might take some time to load mission player and data from the recorded mission.

Required route can be selected. Calculated route will be shown. To start the playback, use the Play ( )

button. At any moment playback can be stopped or paused (Stop ( ) or Pause ( ) button).

Playback speed can be adjusted using the vertical slider at the right side of the screen. The lowest position of slider provides normal speed. Speed can be increased by up to eight times. The slider at the bottom of the screen marks the current playback position. Use it for fast forward or rewind to get to the desired moment of the mission.

Note: all the values displayed in the mission player are the recorded values. No real time data is shown or produced.

In case there was no telemetry data received or its flow was interrupted warning message will be shown for particular route. (fig. 31).

Figure 31. End of telemetry message


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Vehicle list

Registering new vehicle New vehicles should be registered in UGCS.

The registration process step-by-step:

1. Connect vehicle to the computer with UGCS. For Microdrones use a Microdrones standard USB-COM converter data cable;

2. Provided drivers (like FTDI) have been installed properly there will be new virtual COM-port connection;

3. Provided vehicle is supported by UGCS (at the moment Microdrones, Microcopter, Ardrone and Ardupilot), VSM should detect new connection and new record in the vehicle list in UGCS client is created. Please refer to troubleshooting options further in this section in case of failure:

Figure 32. Vehicle.

4. Next is to fill vehicle parameters. This can be done manually (field by field) or by selecting from predefined vehicle profile:


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Figure 33. Select vehicle profile

Note: Vehicle registration can fail if VSM do not detect new port for vehicle connection. VSM uses the following default pattern for port searching: /dev/ttyUSB[0-9]+|com[0-9]+ . You can change this pattern in the VSM configuration file that can be found at <UGCS INSTALLATION PATH>\vsm-*\vsm.conf. Please restart VSM after configuration changes.

Vehicle parameters Below you can find the table of parameters that should be filled for the vehicle.

Parameter Description Mandatory

Vehicle name User defined vehicle name Yes

Tail number Former ID field. Tail number of the vehicle Yes

FC Version Flight controller version

NC Version Navigation controller version

Type Vehicle type Yes

Downlink connected Downlink connection status Yes

Uplink connected Uplink connection status Yes

Battery weight Battery weight, kg Yes

Charged battery voltage Battery full charged voltage, V Yes

Reliable battery voltage Reliable battery voltage, V Yes


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Sufficient battery voltage Battery sufficient voltage, V Yes

Discharged battery voltage

Battery zero level, V Yes

Dry take-off weight Dry take-off weight, kg Yes

Maximum take-off weight Maximum allowed weight, kg Yes

Height Vehicle height, m Yes

Length Vehicle length, m Yes

Width Vehicle width, m Yes

Max altitude AMSL Maximum altitude AMSL, m Yes

Safe height over terrain Minimal allowed distance to terrain for the vehicle, m Small vehicles can fly very close but larger ones should fly higher

Yes

Safe distance to obstacle Minimal allowed distance to obstacle for the vehicle, m Yes

Max. horizontal speed Maximum horizontal speed, m/s Yes

Max. vertical speed Maximum vertical speed, m/s Yes

Max. waypoints Maximum supported WP by NC Yes

Max. flight time Maximum flight time in minutes Yes

Wind resistance Maximum allowed wind speed, m/s Yes

Sufficient number of GPS satellites

Number of satellites that provide good accuracy Yes

Reliable number of GPS satellites

Number of satellites enough for launching vehicle Yes

Waypoint acceptance radius

Waypoint acceptance radius: message of what waypoints in route can be reached.

Yes

Fence radius Radio link range radius Yes

Sufficient telemetry level Sufficient telemetry level Yes

Reliable telemetry level Reliable telemetry level Yes

Default climb rate Default climb rate Yes


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Default descent rate Default descent rate Yes

Removing vehicle You can remove vehicle manually from the list by pressing corresponding button.

Figure 34. Remove vehicle.


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Payload list

Adding new payload You can add new payload by creating new card and filling the parameters.

Figure 35. Payload.

Figure 36. Payload parameters (camera).

Figure 37. Payload parameters (data link).


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Here is a table with the parameter meanings:

Parameter Descritption Mandatory

Payload type Payload type Yes

Device type Camera model, number. Set 0 for all camera type. Yes

Max. focal distance

Maximum focal distance, m *

Yes

Min. focal distance

Minimum focal distance, m *

Yes

Weight Camera weight, grams Yes

Power consumption

Electrical power consumption, watts Yes

Sensor width, m Physical sensor width in metric units Yes

Sensor height, m Physical sensor width in metric units Yes

Sensor horizontal resolution, px

Sensor horizontal resolution in pixels Yes

Sensor vertical resolution, px

Sensor vertical resolution in pixels Yes

Frequency, Hz Data link frequency Yes

Picture can be selected from the file system for payload avatar.


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Configuration

Connections Core service section defines HCI and VSM connection to a UCS. By default it points to local instance. In case of multi node deployment network address of UCS can be specified.

Use proxy allows specifying HTTP proxy server. This setting can affect loading of map.

VSM Records for each of VSM servers. By default points to local instances. If you have a dedicated VSM installation and want core services to connect to it, add new record with appropriate host and port fields.

Map Map element properties allows setting default location of the map.

Tile providers You can configure custom providers of map images. There are two kinds of providers currently supported: WMS providers and providers using the Google XYZ addressing system. To edit the list of providers to use, choose Map > Providers from the configuration menu. At the right, the list of registered providers will be shown.

To edit the provider data, click on the corresponding item and choose the Edit option in the upper right corner. Removal is also available.

When editing the provider data, you may set its type (Tiles for the providers using the Google XYZ addressing system, WMS for the WMS providers, Google map, Bing maps). The Version field is only relevant for the WMS providers and specifies the version of the protocol. The URL field contains the template of address from which map images can be downloaded for WMS and Tiles option.

For the WMS providers the URL is just an ordinary HTTP address. Providers who use the Google XYZ addressing, supply URLs in a parameterized form containing tokens {X}, {Y}, and {Z} or {0}, {1}, and {2}. If you have an address at hand containing {X}, {Y}, and {Z} tokens, you must respectively substitute {0}, {1}, and {2} for them preserving the order they are used in.

http://map.host.com/europe/{Z}_{X}_{Y}.jpg http://map.host.com/europe/{2}_{0}_{1}.jpg

For Google maps or Bing maps you can choose type layer of map: satellite or map and you must enter a api key received from the selected provider.

For all data providers you can enable caching card to your local computer by setting a flag “Local cache”. Flag “Enabled” makes the current provider available for use on the screen mission.

To add a new provider, click Map > Providers > Add, then fill out the fields and click Save. Note that any changes made to the list of providers will not affect the application until it is restarted.

Note: There must be at least on provider on the list, otherwise you will not be able to access the map.

GPS allows you to choose external GPS source for UGCS Client. Garmin USB or COM connected GPS with NMEA 0183 data stream is supported at the moment.


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No-flight zones You can create, edit and delete the no flight zones. No-flight zones will be considered when calculating the route.

Clicking on the button “Create” opens a map editor and a tool to create a no-flight zone. More information about no flight zones you can find in carpet “Mission planing” -> “No flight zone”.

Screen

Resolution On this screen you can adjust the window resolution. Changes apply immediately.

Language On this screen you can choose language for the user interface.

Measurement On this screen you can choose measurement system for the user interface.

Video Video settings allows you to manage sources with different types of streams. There are two options:

Network RTP/RTSP/HTTP video stream. In this case input stream URL;

Local stream (from connected video channel or a webcam). Choose stream name from drop down list.

Vehicle profiles You can remove vehicle profiles from database by clicking “Remove” button.

About You can see of version number of UGCS software, information about activation and activate software to Pro version.

Activation For activation you must send “registration key” to [email protected] and get activation code. Paste activation code to same field and click the button “Activate”. After successful activation, activation field disapear and you can see that the software is “Activated”.

mailto:[email protected]


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Troubleshooting In case of any issues with software please report them to [email protected]. Please send us a detailed description of the problem. Please try to provide screenshots and logs together with description of issue – Logs can be found in following location.

Windows - <C:\Users\Username\AppData\Local\UGCS\Logs> directory. This example of the path for Win 7. You can find logs in similar directory in other Windows version. Mac OS - <~/Library/Logs/UGCS> or </Users/Username/Library/Logs> directory.

Linux - </var/opt/ugcs> directory.

Ugcs-client If you are having trouble seeing the client or the client does not run on Windows, please run the client using the shortcut ” U[g]CS client in OpenGL mode” from the Start menu.

The vehicle is very long time flying around one point The most common problem associated with the fact that specified small waypoint acceptance radius or poor accuracy of determination GPS coordinates. A possible solution is to increase the waypoint acceptance radius of the vehicle configuration.

mailto:[email protected]


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Appendix A U|g|CS Community Preview EULA

By downloading, installing, or using the U|g|CS software (the "Product"), or accessing or using any of the content available within the Product, you agree to be bound by the following:

1. Use of the Product. Smart Projects Holdings Ltd grants you a non-exclusive, non-transferable rights for use of U|g|CS software. 2. Restrictions on Use. Unless you have received prior written authorization from Smart Project Holdings Ltd, you must not: (a) copy, translate, modify, or make derivative works of the Content or any part thereof; (b) redistribute, sublicense, rent, publish, sell, assign, lease, market, transfer, or otherwise make the Products or Content available to third parties; (c) reverse engineer, decompile or otherwise attempt to extract the source code of the Product or any part thereof, unless written accept from Smart Project Holdings Ltd is obtained; (d) delete, obscure, or in any manner alter any warning, notice (including but not limited to any copyright or other proprietary rights notice) (f) use the Product as a part of integration with any products, systems, or applications of 3rd parties (g) public review, publishing videos or description of functionality of Product, or any other media or publicity activity regarding the Product is not allowed without prior written accept from Smart Projects Holdings Ltd. 3. Appropriate Conduct; Compliance with Law. You agree that you are responsible for your own conduct and actions of UAV while using the Product, and for any consequences thereof. You agree to use the Product only for purposes that are legal, proper and in accordance with the intended use of the Product described in this document. 4. DISCLAIMER OF WARRANTIES AND LIMITATIONS ON LIABILITY. (a) SMART PROJECTS HOLDINGS LTD MAKE NO REPRESENTATIONS OR WARRANTIES REGARDING THE ACCURACY OR COMPLETENESS OF ANY CONTENT OR FUNCTIONALITY OF THE PRODUCT. (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 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.

5. Trademarks and Copyright. Logo and name of the Product is property of Smart Project Holdings Ltd. U|g|CS software and its contents are intellectual property of Smart Project Holdings Ltd. Software from 3rd parties integrated into U|g|CS software is property of corresponding owner and is used in accordance to a particular licensing terms provided by particular owner.

Documents

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