UgCS Quick Setup

UgCS Set up and Mission Planning

This document outlines the UgCS application, focusing on the basics of downloading the application with Ardupilot support, creating a mission, setting up a profile for IF1200A and using basic terrain following.

Startup

Download the UgCS application from their website. Ensure Ardupilot support is selected from the initial checkbox menu to download the correct VSM file for later use. UgCS is a paid subscription service and you must have an activation key in order to upload a mission to a vehicle.

Connecting to the Vehicle

• Using the Herelink as a hotspot, the computer can connect to the powered up vehicle for telemetry and planning.

  • Connect the computer to the hotspot and open UgCS.

• Using the RFD900, the computer can connect to the powered up vehicle for telemetry and planning.

  • Connect the RFD900 USB to the computer and open UgCS.

Setting up a Profile

UgCS requires a profile to be set up for the IF1200A.

STEPS	ACTIONS	INFO
1	Open the hamburger menu at the top left, open the Main Menu and select Profiles.
2	At the top of the menu, select Create New, enter IF1200A as the name, select Ardupilot Platform
3	Use this chart to input the profile information.

First Connection

Upon first connection, if set up correctly, UgCS will create a new Vehicle for the Ardupilot vehicle using the profile created above. The default name will be APM-1 and can be re-named in the main menu, vehicles section.

Adding a New Route

STEPS	ACTIONS	INFO
1	To add a new route, select the + icon in the top left.
2	you can create a route from scratch or by using a .kml or .json file. Follow the steps in the application if uploading a file and make sure the correct vehicle profile is selected.
3	When creating a route from scratch, ensure the failsafes and speed parameters are set.
4	Select the flight speed, turn type and altitude mode to meet your requirements.

NOTE

Ensure the WPNAV_SPEED vehicle parameter is set to accommodate the automated flight speed you wish to fly.

Make sure the route is unlocked in order to edit.

5	To create an area scan, select the area scan option from the left menu and double click the map to add boundary points.
6	When you are done setting the boundaries, hit the enter button to process the path into waypoints.
7	UgCS has a 3D view that allows you to see the path and will attempt to follow the basic terrain .dem models to the best of its ability. The boundaries can be adjusted using the + icons to set new boundary vertices.
8	Adjust your altitude, side distance, direction angle and overshoot to fit your requirements.
9	Using the Photogrammetry tool option allows you to create a profile for your camera to generate the flight plan. Note: You will need to create and save a profile with all of your camera information for image and sensor height and width in order to use this function.
10	UgCS will automatically process the flight path and show any errors it has when creating the plan.
11	Select Show Elevation from the parameters to visualize the altitude on a graph and see the estimated values for distance covered, AMSL/AGL altitude, mission duration and waypoint count.

Rangefinder Altitude Mode

UgCS supports flying using a rangefinder for active terrain following. A first waypoint set to AGL altitude must be added in order to enter rangefinder altitude mode.

NOTE

If using rangefinder at a low altitude (<5M), test flight characteristics to get comfortable with ACFT performance and use a slow flight speed at or below 1m/s while being prepared to immediately regain manual vehicle control if needed. Rangefinder tolerances can be adjusted depending on where the rangefinder sits on the ACFT. If not set correctly, these values can cause slight altitude discrepancies.

Active Terrain Following

In order to prepare an active Terrain Following mission, you must set your first waypoint in AGL altitude mode before starting rangefinder altitude mode. Set your first waypoint ~5M above the altitude of your desired rangefinder mission and give the ACFT a slight lead-in to descend to the desired altitude.

NOTE

Always fly with a clear line of sight to the area you are covering and be prepared to take manual vehicle control by pressing the A button (Loiter Mode) on the Herelink or flipping the switch on the JETI remote.

LiDAR Calibrations

Using UgCS, LiDAR calibration can be automated and added to the flight path. Typically these patterns vary depending on the type of LiDAR but usually include:

1. A straight line path between 6m/s and 10m/s

2. Reverse flight straight line path at the same speed

3. 90-degree yaw rotation

4. Repeat or a variation of figure 8 patterns at 6m/s

NOTE

Calibration will be more accurate to your needs by flying the ACFT manually, during automated flight, the vehicle may fly in an undesirable yaw direction if the waypoints are not set to hold direction or accommodate the time it takes for direction changes to fully complete.

Patterns

The pattern feature can be used to add a figure 8 for LiDAR calibration.

Yaw Behavior Changes

To fly in a backwards direction for calibration, a Change Yaw command must be given to hold the orientation desired. Standard yaw behavior is to face the next waypoint, the parameter WP_YAW_BEHAVIOR is used to change this action.

Starting Your Mission

Uploading to the ACFT

STEP	ACTION
1	Begin by powering on the vehicle, it will need a GPS signal in order to upload the mission directly. Missions can be planned on the computer separately and are typically uploaded to the ACFT in the field at the time of flight.
2	With the vehicle powered on and telemetry connected, you will see the Upload command on the right side of the screen. Upload your mission and wait for the prompt at the bottom right to indicate the route has been successfully uploaded to the vehicle. Make sure you have the correct route selected that you are attempting to upload to the ACFT.

Starting a Mission

Always take off manually before starting the mission. DO NOT start a mission from the buttons unless the vehicle has established a stable hover under pilot control. Use the buttons on the right side of the screen to continue your mission. You will see the telemetry in real time as the ACFT follows its programmed route.