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U-See User Manual - Table of Contents 1.General System Introduction..............................................................................................4 1.1 Concept of system operation......................................................................................5 2.U-See..................................................................................................................................6 2.1 Introduction..........................................................................
U-See User Manual 2.12.4 Camera Joystick..............................................................................................62 2.12.5 Payload setting window...................................................................................63 2.12.6 Air Data System Settings.................................................................................63 2.12.7 Servos.............................................................................................................64 2.12.
U-See User Manual - General System Introduction 1. General System Introduction Airelectronics has developed a complete solution for both rotary and fixed wing UAVs. The system is composed of: • U-Pilot • U-Ground • U-See U-Pilot takes care of the vehicle from Take-off to Landing. It is completely adaptable to any aircraft including fixed wing, multi-copters and helicopters. U-Pilot is completely capable of following a flight plan with up to 200 points (real time editable).
U-See User Manual - General System Introduction Through U-See, the UAV operator can inspect the current state of the mission and command it in real-time. All the U-Pilot configuration is done by Airelectronics staff so the End User does not have to waste any time setting the internal parameters of the system. 1.1 Concept of system operation The system is made up of a U-Pilot installed in an aircraft connected to the U-Ground through a radio link.
U-See User Manual - U-See 2. U-See 2.1 Introduction U-See is the software the operator will use to monitor and command the mission. All the information displayed by U-See comes from U-Pilot. This way the operator can be sure that the info displayed on the map is the actual information being used on-board for navigation and control. The map engine connects to the Internet and fetches Geo-referenced maps and displays them for you.
U-See User Manual - Software compatibility 2.3.1 Windows Installation To install U-See on Windows follow the steps: – Execute U-See-1.0 Setup.exe (If asked about administrator permissions should be given, say yes) supplied (The version 1.0 may change depending on the software Figure 2: Installation process, step 1 version distributed). Click Yes button. Figure 3: Installation process, step 2 – Click Next> button Document Version 1.
U-See User Manual - Software compatibility Figure 4: Installation process, step 3 – Choose the destination location and click Next> – Click Next> – Wait for the copy of files finish Figure 5: Installation process, step 4 Document Version 1.
U-See User Manual - Software compatibility Figure 6: Installation process, step 5 – Click Finish to complete the installation. 2.4 Units and locale Unit system used for data display is fully configurable through the U-See settings window (see section 2.12.10,U-See settings) Available Units are: • • • • • Distance: • kilometers • Nautical miles (1 nmi = 1852 m) • Statute mile (1 mi = 1609.344 m) Altitude • meters • Feet (1 foot = 0.
U-See User Manual - Units and locale Coordinates and angles are always shown using sexagesimal degrees. However coordinates presentation format can be changed between decimal coordinates format (e.g. 41.880263,-7.3828424) and sexagesimal coordinates format (41°52'48.9468”N 7°22'58.23264W). When necessary to input a decimal quantity, the decimal separator used is “.” (the dot) and also in this document decimal quantities are presented in this way. 2.
U-See User Manual - Map View Figure 7: Example screenshot of U-See. Note different colours for active and standby elements, trail with climb information and the small overlay 2.5.1 On Map icons Home Position: This icon will be placed at U-Ground GPS position, provided U-Ground GPS antenna has sky visibility. Aircraft Position: Depending the type of aircraft, one of these two icons will be placed on map at the reported UPilot position. Future U-See releases will allow icon customization.
U-See User Manual - Map View Flight-plan point: The number in the interior is the flight-plan sequence number. When the autopilot is in flight-plan mode, outer circle is colored in green, if not, blue is used instead. If the point is the current flight-plan destination, a yellow circle will enclose the icon. Destination Point: This point is used to direct the aircraft when not in flight-plan, take-off or landing modes.
U-See User Manual - Map View 2.5.2.1 Optionally available map overlays When operating in moving base mode and the feature is enabled, next to the base position an overlay with information about course and speed of the moving base will be displayed. This information is only available in some U-See versions and this section may not apply to your version 2.5.3 GPWS Information display Ilustración 1: GPWS information display in action GPWS is the acronym for Ground Proximity Warning System.
U-See User Manual - Map View • If Ground clearance is between warning and low altitude level, the grid element will be painted in green. This shows that while there should be not problem at that altitude, terrain is near to be a problem. • If ground clearance is above the low altitude level, the grid element will not be painted to avoid map clutter. Whenever using a Digital Elevation Model it is important to remember that these are models, and models sometimes contain errors or inaccuracies.
U-See User Manual - Map View • Right clicking on the first measurement point and selecting “Distance From” from the context menu • Right clicking on the second measurement point and selecting “Distance To” from the context menu. • Distance between the two points will be presented in the left bottom corner of the map display, right above the scale display. 2.5.4.
U-See User Manual - File Menu 2.6.1.1 “Comms with UAV” Figure 10: Comms with UAV dialog At current version, primary telemetry data has three possible sources: 1. RS232 Telemetry data as supplied by U-Ground. 2. A previous flight recording file. 3. TCP/IP Telemetry received from another computer acting as a relay. Only one source of primary telemetry can be active at a time, and only when connected through RS232 to the paired U-Ground unit commands can be uploaded to the autopilot on the aircraft, i.e.
U-See User Manual - File Menu Figure 11: Communications quality display in main window Only a source of telemetry at a time is possible, so, if RS-232 operation is desired and the Open button is disabled, click on Stop button in the Replay Flight File section or the Disconnect button in the Network section 2.6.1.1.2 Replaying a flight file It is possible to replay an old recorded flight. To do so, click Select File and choose the file to replay in the dialog that will open.
U-See User Manual - File Menu Figure 12: Comms with other systems 2.6.1.2.1 Serial port for export Telemetry data is re-exported using a serial-port. Port Speed, data width, stop bit number and parity are configurable. Said data exported is formatted according to the selected data protocol. Current standard protocols for serial export are: • 2.6.1.2.2 NMEA 0183: Due to limitations in the NMEA protocol, only the current position and altitude is exported with NMEA protocol. Networks → server of data.
U-See User Manual - File Menu 2.6.2 Record Data To access to the record window click record data. on the icon menu on the tool-bar, or go to File→ To record the data from the flight click on Select File and choose a file or create a new one by writing a new name. Once a file is selected, click on start button to start recording the flight in the selected file and stop to finish recording.
U-See User Manual - View Menu: Real time information windows Figure 15: Sensor summary window display. Barometric Correction, GPS state, GPS Channels Signal • Euler Angles and Vertical Speed: Representing the attitude of the vehicle and the vertical speed. • Internal temperatures: Measurement from the internal temperature sensor/sensors in the autopilot. Triple sensor version will have three temperatures, while single sensor version will show only one.
U-See User Manual - View Menu: Real time information windows • EXCESS: Excessive correction detected. If variation since reference was established surpass a threshold correction is discarded as invalid. This may be indicative of ground sensor failure. Please, contact Airelectronics for support in this case. • NOTSET: Barometric altimetry has been never been crossed against GPS measurement in the current autopilot uptime.
U-See User Manual - View Menu: Real time information windows Figure 16: Relative GPS typical appearance This window shows information about the current status of the Relative GPS solution. It will show the baseline distance and the azimuth and elevation of the baseline. Said azimuth and elevation is measured from geographic north and oriented in the Base-Rover direction. Below this, there is indication about the quality of the solution by mean of indication of sigma(σ) value.
U-See User Manual - View Menu: Real time information windows 2.8.3 Video Capture (Optional) Figure 17: Video capture dialog with and withoug advanced options deployed This is an optional feature and may not apply to your U-See version U-See optionally supports opening video devices to show video as acquired by the UAV. Video devices are opened indicating the system integer index. This is a current limitation we are working to remove, and in the future devices will be referred by name.
U-See User Manual - View Menu: Real time information windows 2.8.4 Synthetic View / Artificial Horizon Go to View → Synthetic View to open the real time synthetic 3D vision. The 3D view represents the aircraft surroundings with data provided by the Digital Elevation Model and the landing point location. Additionally to the 3D environment information, the Synthetic View provides a lot of useful real time information through a HUD, such as speed, altitude, course or variometer.
U-See User Manual - View Menu: Real time information windows The 3D visualization can be deactivated in order to use a standard Artificial Horizon just unchecking 3D View on the top of the window. Some HUD features, such as flight director can be switched on and off through its respective checkboxes.
U-See User Manual - View Menu: Real time information windows Alarm Green Orange Red GPS Valid navigation obtained from GPS R-GPS Relative GPS operational IMU Gyro and Accelerometer This state indicates that A failure in the sensor suite has are working properly measurements from made the attitude estimation different sensors are unreliable. inconsistent and the sensor suite is operating in a degraded mode. JOY Connected Joystick receiving data.
U-See User Manual - View Menu: Real time information windows Alarm Green Orange specified Not possible alarm Red DIST UAV is within distances limits ENG Engine is operating within The Engine is limits operational but some operation parameter is in degraded mode. Check engine data window under view → engine data for further info ARL (Auto Return Limits) (Note that Bingo time and COMMs have their own alarm and it is not included in this one.
U-See User Manual - View Menu: Real time information windows Fixed wing modes Reported mode in alarms Meaning MANUAL Manual mode FLYTO Fly to mode ROULETTE Roulette mode RETURN Landing mode: Returning towards the landing field HOLD Landing: Hold a circular pattern to adjust UAV altitude to a proper value for final FINAL Landing: Executing approach FLARE Landing: executing landing flare to touch ground SERVOS Servo adjustment mode.
U-See User Manual - View Menu: Real time information windows Fixed wing modes Reported mode in alarms Meaning Come Above mode: In this mode the UAV will navigate to the vertical of the landing site and start an orbiting upon arrival. SAFE-RET Table 2: Fixed Wing Modes Key. Modes with yellow background and aircraft-specific modes and may be unavailable for your U-See version.
U-See User Manual - View Menu: Real time information windows 2.8.5.2 Surfaces section On the surfaces section there is information about the position and command of the UAV. On the left side the current altitude is displayed into the white square and the commanded altitude is represented by a yellow line. In case the commanded altitude is out of the range displayed at that moment, a yellow arrow appears on the commanded altitude direction.
U-See User Manual - View Menu: Real time information windows Figure 23: Full symbology display. Note that this is an artificially generated image. Some indications are mutually exclusive and won't be displayed at the same time (e.g. yellow triangles in speed and altitude display columns) 2.8.5.3 Alternate Surfaces section Through Settings → Ground Settings a different data presentation option can be selected. The choice will we remembered between application sessions.
U-See User Manual - View Menu: Real time information windows On the right of the artificial horizon the speed is displayed in a box with a sliding band below. Commanded speed is displayed through a yellow horizontal line. On top of both sliding columns an indication of current display unit is shown. On the artificial horizon there is a display of wing bars and a crosshair to allow precise indication of pitch. A green flight director displays current autopilot command.
U-See User Manual - View Menu: Real time information windows 2.8.5.4 Warning about AGL indication AGL information is calculated using the selected Digital Elevation Model (DEM for short). Default DEM used in U-See has global coverage but, in exchange, its accuracy at some points may be lacking. Errors as high as 150 m. can exist. Because of this, we advise to take AGL values with a pinch of salt, and only for broad informational purposes. Never fully trust this values for in-flight planning.
U-See User Manual - View Menu: Real time information windows 2.8.7.1 Electric engine Data Figure 27: Engine data window This menu is divided in two sections: The Engine data displays, in real-time, the Throttle commanded to the engine, the main battery voltage, the amperage consumed by the system and the wattage. As different autopilots have different main battery channel assigments, a drop-down select box is provided to select the proper main battery channel.
U-See User Manual - View Menu: Real time information windows Besides capacity left, there is also a time left estimation. This time estimation is computed using the displayed estimate consumption. The time shown is the estimate to reach 15% of battery capacity left. Old versions of autopilot may not have a time estimation available as they don't transmit all the necessary information for this estimation. The reset button present in this dialog resets the consumption counter held on-board the autopilot.
U-See User Manual - View Menu: Real time information windows • • Temperature: • Critical: Temperature > 200°C • Warning: Temperature < 70°C or Temperature > 180°C Fuel Pressure • Nominal value is 2.5 bar • Critical: Fuel pressure <1.5 bar or Fuel Pressure > 3.5 bar • Warning: Fuel pressure < 2.0 bar or Fuel Pressure > 3.0 bar On the right half of the window, by order, following information is found: • Engine Status. Possible status are: • STOPPED: Engine is not working.
U-See User Manual - View Menu: Real time information windows Figure 30: Vibration frequency Graphs window 2.8.9 Time log Figure 31: Time log dialog problems should they arise. This windows shows current uptime as registered by the autopilot. This is the time that has passed since the power-on of the autopilot. This time is always positive and it is monotonically increasing.
U-See User Manual - Pre-Flight Menu 2.9.1 Checklist The checklist tool allows the user to run a series of pre-flight checks in order to prevent errors during operation. The checklist widget is able to keep in memory up to 5 pre-designed checklists. The checklists are defined in text files and can be provided by Airelectronics or custommade by the client. The checklist main window allows the user to add, remove or run up to 5 checklists.
U-See User Manual - Pre-Flight Menu Figure 34: Checklist completion Figure 33: Checklist question When the checklist is completed, a green tick will appear with a completion message and a finish button to end the checklist process. 2.9.2 Runway This tool is used to define the Runway coordinates and altitude. This coordinates can be entered manually or using the reported GPS position. In both cases the orientation of the runway must be defined by the operator.
U-See User Manual - Pre-Flight Menu While in edit mode, it is possible to hand edit the landing site coordinates, set the landing site to the current aircraft position and it is also possible to select a landing site coordinates by map interaction. When clicking in “Pick from Map” all dialogs will hide leaving only map view and a left click on the map will select those coordinates as landing site. Upon click on the map, the landing site icon should be displayed on the clicked position to confirm selection.
U-See User Manual - Pre-Flight Menu When activating “Save Changes” option the active flight-plan is saved into the non-volatile memory of the autopilot and will be available through power cycling. Flight-plans can also be saved in a “.fp” file using the “Save to a file” option available in the flight-plan editor. Figure 36: Map display during FLY-TO mode with a flight plan ready to activate Document Version 1.
U-See User Manual - Pre-Flight Menu 2.9.4.1 Flightplan Editor Window. Display Mode The flight-plan editor window has three well separated zones: • Header of the window: Gives general information about the current flightplan.
U-See User Manual - Pre-Flight Menu will pick coordinates from the map for Point ID 3 position. This change in behavior is shown on the map with a cursor in crosshair form and a tool-tip reading “Right Click Picks ID Point X” To make changes, edit using the keyboard the coordinates and altitude and click Set. When using the mouse to select coordinates the Set button will be automatically engaged after each click.
U-See User Manual - Pre-Flight Menu 4. Just add following points without worrying about altitude. Note: Flight Plan points are edited one at a time. This way it is easier to upload and download the information and the communications are not overloaded. Note: The Flight Plan points must start on number one. The following flight points must increase its number by one each time.
U-See User Manual - Pre-Flight Menu 2.9.6.2 Use of pattern generator To access pattern generator, select Pre-Flight → Pattern Generator. The pattern geneerator window will open and the right button click on map will change functionality. The basics of the pattern generation is the marking of the desired observation field. This is accomplished by means of right mouse button clicks. Every time a right click is made, a vertex is added to the observation polygon.
U-See User Manual - Pre-Flight Menu AGL information is calculated using a Digital Elevation Model (DEM for short) incorporated into U-See. Default DEM used in U-See has global coverage but, in exchange, its accuracy at some points may be lacking. Errors as high as 150 m. can exist. Because of this, we advise to review carefully the generated flight-plan once it is loaded in the autopilot for proper ground clearance.
U-See User Manual - Command Menu 2.10 Command Menu 2.10.1 Command window To open the Command window click icon or go to Command → Command. The software automatically recognize if the vehicle is fixed wing or rotary wing and will present the proper command window. On the main map screen, all the information regarding the current mode will be shown in green and all the information that the current mode is not using will be shown in blue.
U-See User Manual - Command Menu Note: Each UAV has a flight envelope which restricts flight speed commands to minimum and maximum values. Values out of this restriction are not accepted by the U-Pilot. Flight envelopes may change for each flight mode and are pre-configured by Airelectronics, the end user does not have to worry about it. 2.10.1.2 Normal and ECO flight laws Optionally available for fixed wing vehicles only, it is possible to change the speed and altitude holding strategy.
U-See User Manual - Command Menu In this mode is possible for the Computer Operator to set the commanded orbiting radius, the commanded speed and the commanded altitude. To define new values of altitude, speed or radius it is required to write the new value on the corresponding box and then click Set button. 2.10.1.4.4 Orbiting mode At this flight mode the UAV orbits a the current position, it will use the current point as orbiting point.
U-See User Manual - Command Menu 2.10.1.4.7 Flight Plan mode On this mode the UAV heads one by one different defined points. These points are numbered starting with number one, when the last point is reached the UAV will start the flight plan again from the first point. Each point is defined by its coordinates and by its altitude. It is better to establish the flight plan before the mission start, but it is possible to edit it during the flight.
U-See User Manual - Command Menu 2.10.1.4.13 L-TAKEOFF (Learning Take-Off) Only available for hand-launched aircrafts. Equivalent to normal take-off, but this mode will set the landing site position, elevation and heading to the point and direction in which the operator initially launches the aircraft. This mode may not be available in your software version. 2.10.1.4.14 Come Above Commands a return to the vertical of the landing site and an orbit upon arrival.
U-See User Manual - Command Menu Note: Each UAV has a flight envelope which restricts flight speed commands to be bound between a minimum and maximum value. Values out of this restriction are not accepted by the U-Pilot Autopilot. Flight envelopes may change for each flight mode and are preconfigured by Airelectronics, the end user does not have to worry about it. 2.10.1.6 Available modes for the Rotary Wing UAVs We recommend you to take a look at our “Video Tutorials” section in our web page (www.
U-See User Manual - Command Menu 2.10.1.6.5 Landing mode The UAV changes its mode to landing in three cases: – The Computer Operator clicks on Landing Button. – The Preflight Bingo Time is reached. – There is a Communication failure between the U-Ground and the U-Pilot Autopilot. It is mandatory to properly set the Runway checking its altitude and Heading before taking-off. In case of a communication failure the UAV will automatically go to this point.
U-See User Manual - Command Menu 2.10.2 Camera command window Figure 45: Camera modes dialog In this window you can command the available on-board camera pointing capabilities of U-See. In this window you can command the different modes available for the camera pointing: • Forward: Camera will point directly forward. No change in orientation is permitted • Manual: The camera can be adjusted to whatever Pan and Tilt you wish through the text editing boxes.
U-See User Manual - Command Menu • Lateral: Special mode for one-axis roll mounted cameras. This mode keeps a fixed angle with the horizon and enables stable observation of a on-ground point while in orbiting with a considerably lighter and simpler camera setup. Besides, you can command the zoom level of the camera through the slider. 2.10.3 Landing Control window (Optional) Figure 46: Landing Control window Designed for fixed wing landing operation, this window won't be available.
U-See User Manual - Command Menu 2.10.4 Command Aux Surfaces U-pilot has its own algorithms to control the flaps and spoilers during the take-off and landing. There is also a U-Pilot available configuration in witch flaps are controlled manually by the operator, in that case the flaps must be controlled using the Command Aux Surfaces window on Command → Command Aux Surfaces. On that windows there are tree possible flap positions to be chosen by the operator at any time.
U-See User Manual - Command Menu If you wish to know if your autopilot supports this additional feature, please check your autopilot version or contact us. 2.11 Post-Flight Menu This menu contain options to analyze the data collected from an actual flight. The operations contained in this section do not require communication to a U-Pilot 2.11.1 Record Data → .txt Figure 49: Recorded data->.
U-See User Manual - Post-Flight Menu Data Units Pitch [Degrees] Roll [Degrees] Yaw [Degrees] Commanded Pitch [Degrees] Commanded Roll [Degrees] Commanded Yaw [Degrees] ADC Channel 1 [Volts] ADC Channel 2 [Volts] ADC Channel 3 [Volts] ADC Channel 4 [Volts] Altitude [meters] latitude [Degrees] longitude [Degrees] IAS [km/h] Ground Speed [km/h] Commanded IAS [km/h] Commanded Altitude [m] Speed North [km/h] Speed East [km/h] Speed Down [km/h] Table 5: Data exported for
U-See User Manual - Post-Flight Menu Data Units Aircraft Pitch [Degrees] Aircraft Roll [Degrees] Aircraft Yaw [Degrees] Aircraft Latitude [Degrees] Aircraft Longitude [Degrees] Aircraft Altitude [Meters] Camera Pan [Degrees] Camera Tilt [Degrees] Camera normalized [0-1] pointing vector in horizontal frame. North component. Camera normalized [0-1] pointing vector in horizontal frame. East component. Camera normalized [0-1] pointing vector in horizontal frame. Down component.
U-See User Manual - Settings Menu 2.12 Settings Menu Under settings menu, options regarding U-See preferences, customization and hardware setup are available. 2.12.1 Gains adjustment (Optional) This is an optional feature, so this section may not apply to your U-See version Some versions of U-See expose a limited amount of parameters for end-user adjustment. The adjustment of these parameters is done through this section of the software.
U-See User Manual - Settings Menu • Relative: Values that do not need to change sign will be adjusted as a percentage to increase or decrease over current value. Figure 51: Relative Mode change Figure 52: Absolute mode Below every parameter a short description of the parameter effect and its unit will be shown. To make the parameters change permanent settings → save settings has to be used. If a mistake is made, it is possible to power-cycle the autopilot to undo it.
U-See User Manual - Settings Menu Figure 53: Manual trim window 2.12.4 Camera Joystick Figure 54: Joystick settings window This dialog allows configuration and operation of a HID compatible joystick for camera control and operation. Joystick used for control can be selected and opened 21, besides configuration of the axis and buttons used for functionality. Current status of joystick is shown through drawn schematics.
U-See User Manual - Settings Menu Also adjustable, the sensitivity of the normal, fast and slow movement. Test should be made while on ground to assure this settings suite your application or preferences regarding camera movement. 2.12.5 Payload setting window Figure 55: Payload configuration Camera installation type can be adjusted with this dialog.
U-See User Manual - Settings Menu Figure 56: Air Data System settings window With the 'Sync Barometric Altimeter & GPS' button in the 'Altimeter' section, the system altitude is adjusted to reflect precisely the instantaneous GPS altitude at that moment. The system corrects its barometric altitude using information from the navigation fix as an input, however, if GPS initial navigation fix is of poor quality, a wrong barometric altitude correction may be introduced into the system.
U-See User Manual - Settings Menu This attained through the use of the servos window, accessed by means of settings → servos menu entry. This servo adjusmtent window has a top drop down control that selects which servo is being configured. At every moment, the proper channels for the current connected aircraft will be shown. Below the drop-down menu to select servo, the window is divided in two zones.
U-See User Manual - Settings Menu 4. In case of using a digital servo (300 Hz command signal frequency) tick Digital check box and click Set button. 5. Click 'Set min' to move the servo to its predefined minimum position and change the value on the box to move the servo to a new position. 6. In case the servo is not moving on the desired direction tick on Inverted check box and click Set button. 7. Repeat the step 5, for neutral and maximum positions. 8. Press Set button to record the three values. 9.
U-See User Manual - Settings Menu 5. Command Max position in pan servo (Camera should look the right) 6. Measure the angle between the line of sight of the camera and the forward orientation. 7. Command neutral in Pan servo 8. Command minimum position in tilt servo (Camera should be looking down) 9. Measure the angle between the line of sight of the camera and the forward orientation. 10. Command maximum position in tilt servo (Camera should be looking up) 11. Command neutral in tilt servo. 12.
U-See User Manual - Settings Menu 2.12.9 Magnetometer Calibration The performance of the magnetometer will greatly depend on its installation location. A magnetometer relies on the earth’s magnetic field to provide heading. Any distortions of earth magnetic field by other sources such as a UAV massive iron components should be compensated for in order to determine an accurate heading.
U-See User Manual - Settings Menu 2.12.10 U-See settings Under this menu entry are grouped all the options that affect the behaviour of the U-See program and are not strictly associated with an UAV. Available settings are grouped in four main categories. One by one description will be given hereafter 2.12.10.1 Alarms & Warnings Figure 61: Alarms & Warnings Alarms & Warning section allow to change and fine-tune the behavior of the U-See Alarm system.
U-See User Manual - Settings Menu 2.12.10.2 Data Presentation Customization of data presentation in State window is also allowed through this dialog, a drop-drown menu allows the selection of data presentation mode shown in the surfaces window (see Section 2.8.5 State ). Also in this section, is the selection of preferred units for every magnitude. See 2.4 Units and locale for the accurate definition of available units.
U-See User Manual - Settings Menu Through this dialog the source for terrain elevation in the software can be established. It will affect all software terrain related displays. To add a source, click on the button “New Layer”. The valid sources for elevation data are: • IGN-ASC files: Spanish specific version of widely availabel ASC format, as published by national geographic institute. • GeoTiff Source: Geo-referenced Tiff files. • DTED Source: Standard elevation format.
U-See User Manual - Settings Menu • MM is minute at start of recording • SS is seconds at start of recording. 2.12.11 Auto align sensors It may occur, after a significant time in operation since manufacturing, that U-Pilot MEMs sensors may have experienced zero drift. This dialog accounts for such possibility and allows to reset the zero reference for your autopilot. Figure 63: Sensors Auto Alignment window Sensors alignment requires the UAV to be still and with the less vibration the better.
U-See User Manual - Settings Menu Appendix A Matlab script for data analysis This script will load data file and present some interesting figures. %% -------------- Start of file -----------clear all data=load('Y:\Path_to_Data\datafile.
U-See User Manual - Settings Menu hold on; grid on; axis equal; plot (Longitude,Latitude); title ('Position 2D'); figure hold on; grid on; title ('Speed'); plot (IAS); plot (GroundSpeed,'r'); legend ('IAS [km/h]','GroundSpeed [km/h]'); figure hold on; grid on; title ('Speed in Horizontal axis'); plot (VNorth,'r'); plot (VEast,'g'); legend ('Speed North [km/h]','Speed East [km/h]'); figure hold on title ('Vertical speed'); grid on; plot (VDown./3.
U-See User Manual - Settings Menu Appendix B Matlab script for pointing camera coordinates This script will load data file and present some interesting figures. %% -------------- Start of file -----------clear all data=load('Y:\Path_to_Data\datafile.
U-See User Manual - Settings Menu plot(camera_horizontal_East,'go') plot(camera_horizontal_Down,'ro') grid on;legend('Camera North','Camera East','Camera Down') figure plot(pointed_altitude) hold on plot(pointed_altitude,'o') grid on;legend('Pointed Altitude') %% -------------- End of file ------------ Document Version 1.
U-See User Manual - Appendix C Change log This annex describes changes introduced to this document. Date Changes • • • • • • • • • • • • • 2015/02/20 • • • • • • • • • • • • • • • • • Document version 1.25 New cover graphics Added indications in the document that MacOS X is now considered a secondtier OS Updated information related maximum number of flightplan points to reflect the current autopilot limit: 200 points Added description of multiple map theme support.
U-See User Manual Date 2014/05/19 Changes • • • • • • Version of document up to 1.22 Introduced a change log table Updated fixed wing command mode window snapshot Added a description of CATARM mode. Updated the servo adjustment window documentation to describe new appearance and functionality in latest version. Updated payload settings window to reflect inclusion of CONTROP protocol support If you need a previous info@airelectronics.es version of documentation, Document Version 1.
