USER GUIDE Software Version 3.
Swath XL Software Version 3.00 Copyrights © 1999 Midwest Technologies Illinois, LLC. All rights reserved. No part of this document or the computer programs described in it may be reproduced, copied, photocopied, translated or reduced in any form or by any means, electronic or machine readable, recording or otherwise, without prior written consent from Midwest Technologies.
Swath XL Software Version 3.00 Table of Contents Chapter 1 - Introduction to Swath XL ............................................................................. 1-1 Welcome to Swath XL ................................................................................................... 1-2 What’s New in Version 3.00...................................................................................... 1-3 Swath XL Installation Instructions ...................................................................
Swath XL Software Version 3.00 Chapter 3 - Real-Time Guidance ..................................................................................... 3-1 About the Guidance Application .................................................................................. 3-2 Starting Guidance for the First Time ......................................................................... 3-2 Guidance Setup ..............................................................................................................
Swath XL Software Version 3.00 Nav 2 Point Real-Time Scenarios ............................................................................... 4-26 Mapping a Field Boundary ...................................................................................... 4-26 Lightbar Index ............................................................................................................. 4-39 Chapter 4 Notes.....................................................................................................
Swath XL Software Version 3.
Chapter 1 - Introduction to Swath XL Simple, straight forward guidance and mapping. Software Version 3.
Swath XL Software Version 3.00 Welcome to Swath XL Swath XL is a GPS driven swath guidance and mapping system. The Swath XL system comes complete with lightbar, interface cable and smartpad. Some Swath XL system kits include a PCMCIA data card and Fieldware - Tools office software. Swath Guidance The Swath XL guidance software allows an operator to perform product application or other field operations, while receiving guidance information from the lightbar.
Swath XL Software Version 3.00 the following: • Chapter 1, Introduction to Swath XL, contains a product overview and instructions for installing the Swath XL hardware. • Chapter 2, Software Overview, gives a description of the entire Swath XL software suite and instructions on how to setup and configure the Swath XL Smartpad and software. • Chapter 3, Real-Time Guidance, describes Swath XL real-time guidance and mapping software.
Swath XL Software Version 3.00 Swath XL Installation Instructions Unpacking Your System Open the shipping box and examine the contents for any signs of damage. Please notify the shipper and MID-TECH Customer Support of any damage to the shipping box or its contents. Make sure you have received all items that you purchased with the Swath XL System. Contents may vary depending on what you ordered. Table 1-1 lists the standard components that should arrive with your Swath XL system.
Swath XL Software Version 3.00 of the spray boom. Figure 1-1: Mounting the GPS Antenna Swath XL Lightbar The lightbar should be located within the operator’s field of view while under normal driving conditions. The lightbar can be mounted on the vehicle cab dash or ceiling. The lightbar is weather proof and can be mounted to the exterior of a vehicle. Exterior mounting may require additional lengths of cable. Measure this distance prior to permanent installation.
Swath XL Software Version 3.00 arms reach of the operator and out of harms way.
Swath XL Software Version 3.00 System Specifications and Requirements Swath XL Lightbar • ABS/Polycarbonate alloy construction, • Dimensions: 16" W x 3" H x 3" D (405 mm x 76 mm x 76 mm), • Weight: 8 oz. (.22 Kg.), • Molded cables with weatherproof connectors, • High-lumen red, yellow, and green LEDs, • 8 character, high-intensity alpha-numeric LED display.
Swath XL Software Version 3.00 • Voltage: 3.3 V and 5.0 V, • ATA hard drives are not supported, • Linear flash cards are not supported, • SRAM cards are not supported. MID-TECH can not guarantee data integrity if the optional ATA Flash storage card or compatible card is not used with the Swath XL system. Not all PCMCIA cards are created equal.
Swath XL Software Version 3.00 PCMCIA Flash Data Card Instructions Inserting the PC Card The following instructions describe the basic procedure for inserting the optional 30MB ATA Flash Data card into the Smartpad: • With power off, locate the PC card socket on the right hand side of the Smartpad, see Figure 1-4. • Insert the PC card into the PC card socket. Make sure that the PC card logo is facing out. Slide the card along the guide slots until it makes contact with the Smartpad expansion socket.
Swath XL Software Version 3.00 Storing Data on the PC Card If you purchase the optional PCMCIA ATA flash data card with the Swath XL product, you are able to store As Applied, Boundary and Map data to the card. The PC card must be installed in the Smartpad card slot during the real-time guidance process. No data is stored internal to the Smartpad. In order for the Swath XL software to recognize the PC card, the card must be inserted into the Smartpad prior to turning the unit on.
Swath XL Software Version 3.00 Fieldware/Swath XL File Types The Swath XL software can store and view three different types of files, GMF, RCD and BND, all described below in more detail. These file types are also compatible with the MID-TECH Fieldware software suite. That means data collected using the Swath XL product can also be used in the Fieldware software suite. You can also use any RCD, BND or GMF file that was created using the Fieldware software suite with the Swath XL product.
Swath XL Software Version 3.00 BND The primary purpose of the BND file is to contain the boundary data for a particular field. Perimeter data stored in a BND file can be viewed as a background map in several of the other Fieldware software applications. Boundary files can be created and appended in Swath XL, Fieldware-Mapper, Fieldware-Guide and Fieldware-ARM applications.
Swath XL Software Version 3.
Swath XL Software Version 3.
Chapter 2 - Software Overview An introduction to Using Swath XL software. Software Version 3.
Swath XL Software Version 3.00 Swath XL Software Overview The Swath XL software suite is made up of a Main Launcher and two software applications (programs), Guidance and Nav2Pt. Each application can be broken down into two main components, Setup and Real-Time Mapping. Each of these components is described in more detail in following chapters. Figure 2-10 shows a flow diagram of the Swath XL software suite. All menus and menu items can be accessed and changed using the six keys located on the Smartpad.
Swath XL Software Version 3.00 Operating Swath XL Software The Swath XL software is designed to be both easy and intuitive to use. Once an initial setup process is completed, starting up and running a Swath XL software application can require as few as three key-strokes. The rest of this section describes the Swath XL software and how to operate it. Reading the rest of this section is highly recommended. Smartpad Keys There are six keys located on the Smartpad front panel.
Swath XL Software Version 3.00 Info Bar Located at the bottom of every menu page and dialog box is an Info Bar. The purpose of the Info Bar is to provide a brief description of the highlighted menu item or current setting displayed in a dialog box. . Current menu page name. (Setup Menu) Menu Items Highlighted menu item using the up and down arrow keys Key code box showing which keys are available for use. Info Bar displaying brief description of the highlighted menu item.
Swath XL Software Version 3.00 Current setting displayed. Description of the displayed setting. Figure 2-3: Pick Dialog Box Example Dialog cell with current value displayed.
Swath XL Software Version 3.00 First Time Setup Process The first time you start up the Smartpad, you should also make sure that the current date and time are set correctly, see “Set Date and Time” on page 2-26 for more details. Power Unit On Connect the Smartpad to the Smartpad interface Cable, see Figure 2-5, and apply 12 VDC power. It is not necessary to have the lightbar or GPS receiver connected and running to change any of the settings. Power the unit up by pressing the On switch.
Swath XL Software Version 3.00 Swath XL Main Launcher The Main Launcher is the first menu page you see after powering up the Smartpad, Figure 2-6. This is the top menu page and from here you can launch an application (Guidance or Nav2Pt), access system level setup parameters, and run diagnostic tools and utilities. See Figure 2-7 for an overview of the entire Swath XL software suite. Each submenu is discussed in greater detail below.
Swath XL Software Version 3.00 Launching an Application From the Main Launcher, the user can start (launch) a Swath XL software application. In version 3.00 there are two software applications: Guidance and Nav2Pt. To launch an application, highlight the desired application name, using the up and down arrow keys on the Smartpad keypad, and then press enter. The main application menu appears.
Swath XL Software Version 3.00 Main Setup The Main Launcher Setup Menu, Figure 2-11, contains all setup parameters that are common to both Guidance and Nav2Pt. There are four setup menu items found in the Main Setup; System, Smartpad, GPS Receiver, and Communications. Figure 2-10 shows the flow diagram for the Main Setup.
Swath XL Software Version 3.00 System Setup System Setup defines certain system parameters that affect the entire Swath XL software suite. There are two System Setup menu items; Unit and Language, see Table 2-1. To access the System menu page, highlight the Setup menu item in the Main menu page and press . This takes you to the Setup menu page, see Figure 2-11 (right side). Within the Setup Menu select the System menu item using the arrow keys . Press to enter the System menu page.
Swath XL Software Version 3.00 Unit The Unit menu item defines the Swath XL measurement system. There are two choices; US and Metric. The unit set in this menu field affects the entire Swath XL software suite. To change the System Unit, highlight the Unit menu item and press the desired unit setting using the arrow keys . The System Unit dialog box appears. Select . Once the desired unit is selected, press to return to the Sys- tem setup menu, see Figure 2-12.
Swath XL Software Version 3.00 Language The Language menu item defines the user language that is used through out the entire Swath XL software suite. All languages available to the Swath XL software suite are stored in the Support folder on the PCMCIA Card. To change the System Language; highlight the Language menu item and press . The System Language dialog box appears.
Swath XL Software Version 3.00 Smartpad Setup Smartpad Setup defines all parameters associated with the Smartpad. There are two Smartpad Setup menu items; Display Brightness and Display Backlight. Smartpad Setup default values are listed in Table 2-3. To access the Smartpad menu page, highlight the Setup menu item in the Main menu page and press . This takes you to the Setup menu page, see Figure 2-14 (right side). Within the Setup Menu, select the Smartpad menu item using the arrow keys .
Swath XL Software Version 3.00 Display Brightness The Display Brightness setting allows you to set the Smartpad display brightness. The available settings are 1 through 10, where 10 is the brightest setting. To change the Display Brightness setting, highlight the Brightness menu item and press dialog box appears. Select the desired Brightness setting using the arrow keys level is selected, press . Once the desired brightness to return to the Smartpad setup menu, see Figure 2-15.
Swath XL Software Version 3.00 Display Backlight The Display Backlight setting controls the Smartpad display backlight. This menu item can be set to On or Off. To change the Display Backlight setting, highlight the Backlight menu item and press dialog box appears. Select the desired setting using the arrow keys . The Display Backlight . Once the desired setting is selected, press to return to the Smartpad setup menu, see Figure 2-16.
Swath XL Software Version 3.00 GPS Receiver GPS Receiver setup defines DGPS Type Accuracy. GPS Receiver Setup default values are listed in Table 2-5. To access the GPS Receiver menu page, highlight the Setup menu item in the Main menu page and press . This takes you to the Setup menu page, see Figure 2-17 (Left side). Within the Setup menu, select the GPS Receiver menu item using the arrow keys . Press to enter the GPS Receiver menu page.
Swath XL Software Version 3.00 DGPS Type The DGPS Type defines the type and accuracy of the DGPS source used with your GPS Receiver. This setting defines which set of vehicle dynamic parameters should be used in guidance and point navigation. To change the DGPS Type, highlight the DGPS Type menu item and press Select the desired setting using the arrow keys . The DGPS Type dialog box appears. . Once the desired setting is selected, press to return to the GPS Receiver setup menu, see Figure 2-18.
Swath XL Software Version 3.00 Communications Setup The Communications Setup menu defines the Smartpad GPS serial port parameters. There are four menu items associated with this menu page, Baud rate, Data Bits, Stop Bits, and Parity, see Table 2-7. To access the Communications menu page, highlight the Setup menu item in the Main menu page and press . This takes you to the Setup menu page, see Figure 2-19 (right side). Within the Setup Menu select the Communications menu item using the arrow keys .
Swath XL Software Version 3.00 Port Baud Rate The Baud Rate menu item sets the GPS port baud rate on the Smartpad, see Table 2-8. To change the Baud Rate setting, highlight the Baud Rate menu item and press appears. Select the desired setting using the arrow keys . The Port Baud Rate dialog box . Once the desired setting is selected, press to return to the Communications setup menu, see Figure 2-20.
Swath XL Software Version 3.00 Port Data Bits The Data Bits menu item sets the GPS port Data Bits on the Smartpad, see Table 2-9. To change the Data Bits setting, highlight the Data Bits menu item and press appears. Select the desired setting using the arrow keys . The Port Data Bits dialog box . Once the desired setting is selected, press return to the Communications setup menu, see Figure 2-21.
Swath XL Software Version 3.00 Port Stop Bits The Stop Bits menu item sets the GPS port Stop Bits on the Smartpad. There are no options for this menu item and therefore it cannot be changed, see Figure 2-22.
Swath XL Software Version 3.00 Port Parity The Parity menu item sets the GPS port Parity on the Smartpad, see Table 2-10. To change the Parity setting, highlight the Parity menu item and press the desired setting using the arrow keys . The Port Parity dialog box appears. Select . Once the desired setting is selected, press to return to the Com- munications setup menu, see Figure 2-23. Figure 2-23: The Port Parity Menu Item Setting Description None Sets the Smartpad GPS serial port parity to None.
Swath XL Software Version 3.00 Swath XL Tools Swath XL comes with a set of hardware diagnostic tools that comes in handy when trouble shooting a GPS receiver or Swath XL lightbar. You can also set the system clock. To access the Tools menu page, highlight the Tools menu item in the Main Launcher menu page and press . This takes you to the Tools menu page, see Figure 2-24. Once in the Tools menu page, you can enter any of the Tools menu items by highlighting the desired menu item and pressing .
Swath XL Software Version 3.00 Receiver Status The Receiver Status tool allows you to quickly determine if your GPS receiver is operating properly. A Status window displays easy to understand text information about the operating status of your GPS receiver. The Serial Data Sample window displays the current raw position string coming from the GPS receiver. The Last Position window displays the current position (Latitude, Longitude) in decimal degrees.
Swath XL Software Version 3.00 Lightbar Test The Lightbar Test diagnostic allows the users to determine if the Smartpad is communicating with the lightbar. The Lightbar Test diagnostic can also be used to determine if any of the guidance LEDs or LEDs in the text display are not working properly. To run the lightbar test program, highlight the Lightbar Test menu item using the keys. Once highlighted press . This automatically starts the lightbar test program.
Swath XL Software Version 3.00 Set Date and Time You may need to set the date and time on the Smartpad. Several features related to the Swath XL software depends on the current date and time. All data file creation is tagged with a date and time stamp. The auto-file name feature also uses the current date to create the file name. Therefore it is important that the Smartpad date and time are correct.
Swath XL Software Version 3.00 Clock The Clock program turns your lightbar into a clock by displaying the time in the text display window on the lightbar. The time displayed is based on the system time. To display time on your lightbar, highlight the Clock menu item using the keys. Once highlighted press This automatically displays the time on your lightbar. To exit the Clock program, press the key. Figure 2-28: The Clock Utility 2-27 Chapter 2 - Software Overview Swath XL Tools .
Swath XL Software Version 3.
Chapter 3 - Real-Time Guidance Mapping product application in real-time using guidance. Software Version 3.
Swath XL Software Version 3.00 About the Guidance Application Using the lightbar, the GuideLine Guidance function provides the operator with clear and intuitive steering assistance as well as real-time application information. The operator can select between three different guidance modes: Parallel, Curved, and Center Pivot. Using Swath XL you can map field boundaries while applying products around the headlands and perform guidance in almost any weather and visibility conditions.
Swath XL Software Version 3.00 Guidance Setup Guidance setup allows the user to set up several parameters that pertain to guidance functionality. There are six guidance related menu items: Swath Width, Look Ahead, Pattern, Direction to Swath, Distance to Swath, and Status Detect, see Figure 3-2 and Table 3-1. To access the Guidance menu page, highlight the Setup menu item in the Main Menu page and press . This takes you to the Setup menu page, see Figure 3-1.
Swath XL Software Version 3.00 Figure 3-2: Guidance Setup Flow Diagram Setting Name Default Value Change at 1st Time Start Up Swath Width 0.0 Required Look Ahead 2.0 s Optional Pattern Parallel Optional Direction to Swath None Recommended Distance to Swath 0.0 ft.
Swath XL Software Version 3.00 Swath Width The guidance parameter Swath Width is the distance between guidelines. This width is typically determined by the vehicle swath width or spread area, see Figure 3-3. Setting the swath width slightly smaller than the actual width reduces skips. Setting the swath width slightly larger than the actual swath width reduces overlap. Figure 3-3: Example of Swath Width To change the Swath Width value, highlight the Swath Width menu item and press appears.
Swath XL Software Version 3.00 Look Ahead The Look Ahead value is the number of seconds ahead of the vehicle you would like the Swath XL software to calculate the cross track error. Based on the vehicles speed and trajectory and this look ahead value, Swath XL can determine where the vehicle will be with respect to the current guideline. This setting will vary based on the vehicle operators driving ability and preference. This value is only used with the guidance pattern Parallel.
Swath XL Software Version 3.00 Pattern The Pattern menu item defines a guidance pattern that best fits the user’s field. There are three patterns available; Parallel, Headland, and Circle Pivot. To change the Pattern setting, highlight the Pattern menu item and press the desired pattern using the arrow keys . The Pattern dialog box appears. Select .
Swath XL Software Version 3.00 Headland The Headland pattern allows the user to use both curved guidance and straight line (A-B) guidance. Typically this pattern is used when the operator wants to make several headland passes around the edge of the field and have guidance along the headlands after the first pass.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Direction to Swath The guidance parameters, Direction to Swath and Distance to Swath, are used to define the spatial relationship between the GPS antenna and the product delivery location. Examples of a product delivery location would be the boom on a sprayer or the spinner box on a fertilizer spreader. The position of the swath with respect to the GPS antenna is used to accurately create an As Applied map.
Swath XL Software Version 3.00 Distance to Swath The guidance parameters, Distance to Swath and Direction to Swath, are used to define the spatial relationship between the GPS antenna and the product delivery location. Examples of a product delivery location would be the boom on a sprayer or the spinner box on a fertilizer spreader. The position of the swath with respect to the GPS antenna is used to accurately create an As Applied map.
Swath XL Software Version 3.00 Status Detect The Status Detect menu item is used to auto detect vehicle boom status. When Status Detect is properly implemented, Swath XL detects whether product delivery is on or off based on the vehicles master boom switch. This eliminates the need to press the Spray On and Spray Off software button in the Swath XL software during guidance. This is accomplished by connecting the status detect wires to vehicle the boom control switch.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Lightbar Setup The Lightbar Setup menu is accessed from the Main Menu Launcher Setup item. There are nine lightbar menu items associated with the Lightbar Setup process: Drive Sensitivity, Display Mode, Alarm, Hazard Range, Parallel Message 1, Parallel Message 2, Parallel Message 3, Curved Message, and LED Brightness, see Figure 3-17. To access the Lightbar menu page, highlight the Setup menu item in the Main menu page and press .
Swath XL Software Version 3.00 Figure 3-17: Lightbar Setup Flow Diagram Setting Name Default Value Change at 1st Time Start up Drive Sensitivity 1.5 ft. Optional Display Mode Swath Optional Alarm All Optional Hazard Range 200 ft.
Swath XL Software Version 3.00 Drive Sensitivity The Lightbar Menu item, Drive Sensitivity, allows you to set the distance you would like a single light on the Swath XL lightbar to represent. If a value of 1.5 feet is entered, then each light on the lightbar will be equal to 1.5 feet. This allows you to quickly determine how far off the guideline you are.
Swath XL Software Version 3.00 Display Mode The Lightbar Display Mode setting defines how the user interprets the row of LEDs located on the lightbar. The center stack of Green LEDs can represent either the current guideline or the vehicle, see Table 3-4. To change the Display Mode setting, highlight the Display Mode menu item and press box appears. Select the desired setting using the arrow keys . The Display Mode dialog .
Swath XL Software Version 3.00 Moving LED represents the vehicle position. Center LED stack equals current guideline. Figure 3-21: Swath Display Mode Moving LED represents the current guideline. Center LED stack represents the vehicle.
Swath XL Software Version 3.00 Alarm The Alarm menu configures operator warnings that can be shown on the lightbar text display when approaching premapped hazards and previously applied areas. Alarm settings are Off, Applied Area, Hazard, and All. Each feature is described below in more detail, see Table 3-5. This menu item is used in conjunction with the Hazard Range menu item found on page 3-21. Hazard Range is used to define how far in advance of the hazard you are notified.
Swath XL Software Version 3.00 tus detect connected and spray is on, the Alarm in the SmartPad also sounds.
Swath XL Software Version 3.00 Hazard Range The Hazard Range menu item is the distance prior to an impending Hazard the operator wants to be notified. This distance value is set for Hazard detection only. A distance of 100 ft. (30 m) is the minimum setting for this menu item. This menu item should be used in conjunction with the Alarm menu item found on page 3-19. To change the Hazard Range setting, highlight the Hazard Range menu item and press box appears.
Swath XL Software Version 3.00 Parallel MSG 1 The Lightbar setup menu item Parallel MSG 1 allows the user to select from a set of predetermined guidance information messages. These messages are displayed in the lightbar text window during guidance operations. A maximum of three messages can be displayed. During a guidance application, the lightbar cycles through these three user defined messages. See Table 3-6 for a list of available messages.
Swath XL Software Version 3.00 Parallel MSG 2 The Lightbar setup menu item Parallel MSG 2 allows the user to select from a set of predetermined guidance information messages. These messages are displayed in the lightbar text window during guidance operations. A maximum of three messages can be displayed. During a guidance application, the lightbar cycles through these three user defined messages. See Table 3-7 for a list of available messages.
Swath XL Software Version 3.00 Parallel MSG 3 The Lightbar setup menu item Parallel MSG 3 allows the user to select from a set of predetermined guidance information messages. These messages are displayed in the lightbar text window during guidance operations. A maximum of three messages can be displayed. During a guidance application, the lightbar cycles through these three user defined messages. See Table 3-8 for a list of available messages.
Swath XL Software Version 3.00 Curved MSG The Lightbar setup menu item Curved MSG allows the user to select from a set of predetermined guidance information messages. This message is displayed in the lightbar text window during curved guidance operations only. This message is activated when the Headland or Circle Pivot guidance pattern is selected. See Table 3-9 for a list of available messages. To change the Curved MSG setting, highlight the Curved MSG menu item and press box appears.
Swath XL Software Version 3.00 LED Brightness The Lightbar LED Brightness menu item sets the brightness level of the LEDs on the lightbar. There are 10 settings, 1 - 10. Setting 1 is the dimmest and setting 10 is the brightest. To change the LED Brightness level, highlight the LED Brightness menu item and press dialog box appears. Select the desired level using the arrow keys . Once the desired level is selected, press to return to the Lightbar setup menu, see Figure 3-31.
Swath XL Software Version 3.00 Data Setup The Data Setup menu page contains menu items that allow you to set up how you would like to create and store data during the real - time portion of Swath XL. There are three menu items under data; As Applied, Boundary, and Map Objects, see Figure 3-33 and Table 3-10. All of these menu fields directly affect how fast the you can start guidance.
Swath XL Software Version 3.
Swath XL Software Version 3.00 As Applied The As Applied menu item determines whether As Applied data is stored to the PC card during the real time guidance process. If this is set to No, then no As Applied data is stored. If set to Yes then As Applied data is stored to the PC card. As Applied data is not stored internally in the Smartpad. In order to properly store As Applied data, you must have the PCMCIA data card installed in the Smartpad PC card slot during the real time guidance process.
Swath XL Software Version 3.00 Boundary The Boundary menu item allows you to indicate whether you want to Show or create a field boundary. An existing boundary can be displayed in the background of the guidance view page. Field boundaries can also be created while applying product to the headland area of a field, see Table 3-10. To change the Boundary setting, highlight the Boundary menu item and press appears. Select the desired setting using the arrow keys . The Field Boundary dialog box .
Swath XL Software Version 3.00 Map Object The Map Object menu item provides the ability to map points in the field during the real-time guidance process. There is a selection of several point types, or select Off, see Table 3-13. For object selections, named point and named hazard, you are prompted for the object name once the Start Guidance menu item is pressed. To change the Map Object setting, highlight the Map Object menu item and press appears. Select the desired setting using the arrow keys .
Swath XL Software Version 3.00 Data Examples The following is a series of data storing examples using the menu items described in the Data menu section. Example 1: All Data Menu Items Set to OFF This example describes how to start guidance with no As Applied data or boundary file information and no mapping objects on the go, Figure 3-37. Therefore when the Start Guidance menu item is selected the software goes directly in to the real-time guidance process.
Swath XL Software Version 3.00 Example 2: Store As Applied Data Only This example describes how to store As Applied data. There is no boundary mapping or object mapping. Figure 3-39 shows how the Data menu is setup for Example 2. From the Data menu press to return to the Main Menu. Figure 3-39: Store As Applied Data Only Once in the Main menu and the Start Guidance menu item is pressed using , the Swath XL software does not go directly to the real time page.
Swath XL Software Version 3.00 results in a unique file name every time a file is created. The New File option allows you to enter your own file name using the and keys. The Existing file option allows you to select any existing As Applied files that are listed in the As Applied File dialog box. Figure 3-41 shows the existing file named My Field.rcd. To select the existing file, My Field, highlight the file name using the key and then press to accept it.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Figure 3-44: Selecting an Existing Boundary File to Show in the Background Example 4: Setting up the Point and Hazard Mapping Objects This example describes how to setup Swath XL to map point objects while running guidance. Refer to “Map Object” on page 3-31 for a detailed description of what type of objects can be selected and how to select an object in the Data menu. In this example, a Named Point was selected in the Data menu, as shown in Figure 3-45.
Swath XL Software Version 3.00 Figure 3-46: Start Guidance Menu with a Mapping Object Menu Items The Map File menu item defines the file where the mapping object Named Point is stored. This file can be created, or an existing file name can be selected, see Figure 3-47. Figure 3-47: Selecting a Map File Name The Object Name menu item is where you enter the name of the Named Point mapping object Figure 3-48.
Swath XL Software Version 3.00 Figure 3-48: Entering the Point Object Name Once the Map File and Object name is selected, highlight the GO menu item and press ance process. to start the real-time guid- This example also describes the Map Object selection Named Hazard. All menus are essentially identical. If the user had selected either the Point or Hazard map object, the Object Name menu item described above would not have appeared in any of the menus.
Swath XL Software Version 3.00 About the Real-Time Guidance Process Once you have the Swath XL software correctly setup, the next step is to start up the real-time guidance process. The real-time component of Swath XL is where you are actually out in the field running guidance with the Swath XL Lightbar and Smartpad. At this stage you should have a DGPS receiver connected to the Smartpad and running properly.
Swath XL Software Version 3.00 on the Smartpad. To select or activate a highlighted button in the button bar press the key on the Smartpad. The bottom of the view page contains the information window. Various information about the current real-time process is displayed in this window. There is a specific Information button located in the button bar. When this button is either highlighted or pressed, information such as total area applied is displayed.
Swath XL Software Version 3.00 Swath XL View Page Buttons Button Description The Mark A button used with the Parallel pattern. This button is pressed to mark the first end point of the initial guideline. The Mark B button used with the Parallel pattern. This button is pressed to mark the end point of the initial guideline. The Mark A button used with the Circle Pivot pattern. This button is pressed to mark the first end point of the initial guideline. The Mark B button used with the Circle Pivot pattern.
Swath XL Software Version 3.00 Button Description The Map Field Boundary On button. When this button is displayed, the field boundary is being mapped and stored to file. When pressed, this button changes to the Map Field Boundary Off button. The Map Field Boundary Off button. When this button is displayed, the field boundary is not being mapped. When pressed, this button changes to the Map Field Boundary On button. The Point button. This is the point map object.
Swath XL Software Version 3.00 Figure 3-51: North Up View COG View In the COG view, the vehicle position is 1/3 up and centered in the width of the view portion of the real-time page and the ground (map) moves beneath the vehicle. The direction of the vehicle is always to the top of the view. Figure 3-52 is the same scenario as in Figure 3-51, now in the COG view. It shows the vehicle navigating to Sample Point # 12. In this figure the operator is headed directly towards the point.
Swath XL Software Version 3.00 The Parallel Pattern Option This section describes how to run swath guidance when the Parallel pattern option is selected. The first step is to establish the initial A-B guideline. This initial baseline is used to calculate all other guidelines parallel to it. It is assumed that the Swath XL setup described in Chapter 2 is complete and the Guidance Setup Pattern option selected is Parallel. Mark Point A To mark the initial point A, begin driving along the first swath path.
Swath XL Software Version 3.00 to the guideline point B button and the lightbar displays the MARK B message. Mark Point B The next step is to establish guideline point B. To establish guideline point B highlight the B button in the button bar and press . The B point is displayed in the view page. This establishes the initial swath baseline. Figure 3-55 shows the initial baseline with the A and B points.
Swath XL Software Version 3.00 Exiting Real-Time Guidance You can exit the real-time guidance process at any time. To exit the real-time process, press on the Smartpad. This automatically highlights the exit button in the button bar. Once the exit button is highlighted, press returns you to the Swath XL Main menu page, see Figure 3-57. Figure 3-57: Exiting Real-Time Swath Guidance Chapter 3 - Real-Time Guidance The Parallel Pattern Option 3-46 .
Swath XL Software Version 3.00 The Headland Pattern Option This section describes how to run swath guidance when the Headland guidance pattern option is selected. The Headland option is selected when the operator wants to drive several circuits around the field boundary and be guided around all circuits that occur after the first circuit. Once several headland circuits have been completed, the operator has the choice of switching, in real-time, to Parallel mode.
Swath XL Software Version 3.00 Figure 3-59: Vehicle Completing First Headland Circuit Figure 3-60 shows the operator being guided along side the initial headland circuit. The lightbar automatically supplies guidance information (right side of figure). For more details on how to interpret curved guidance information on the lightbar see “Lightbar Curved Guidance Graphics” on page 3-58. Figure 3-61 and Figure 3-78 shows the operator continuing to drive around the second headland circuit.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Switching from Curved to Straight-line A-B Guidance Once the operator has completed the desired number of headland circuits, two circuits in our current example, he can switch to straight-line A-B guidance and apply the remainder of the field with that pattern. To switch from curved guidance to straight-line guidance press the curved guidance button. This button is always the top button in the button bar. Once pressed this button switches to the straight-line A-B button.
Swath XL Software Version 3.00 Figure 3-64: Product Application using Straight-line Parallel Guidance. Figure 3-65 shows the completed field. Notice there are several areas of the field where the operator turned spray off to avoid double application on previously applied areas. Figure 3-65: Completed Field Application Using Headland Pattern.
Swath XL Software Version 3.00 The Circle Pivot Pattern Option This section describes how to run swath guidance when the Circle Pivot guidance pattern option is selected. The Circle Pivot option is selected when the operator wants to apply product in a center pivot field while being guided along a circular guideline that matches the center pivot radius. The Circle Pivot mode operates very similar to the Parallel mode.
Swath XL Software Version 3.00 Figure 3-67: Marking Point A Marking Point B Once point A is marked the operator should drive along the pivot circle until they feel they have described the circle as well as possible. The Mark A button has changed to Mark B button, see Figure 3-68. The Swath software does not allow the user to mark point B within 12 seconds of marking point A. After 12 seconds, the Mark B button becomes active and the operator can mark point B anytime after.
Swath XL Software Version 3.00 Figure 3-69: Driving Along a Pivot Wheel Track with Circle Guideline In Figure 3-70 the operator has completed driving the headlands. Next the operator lines up to drive the first swath to the inside of the headlands. Circle Pivot mode works very similar to Parallel mode, the software automatically draws and guides the vehicle along the closest circle guideline, see Figure 3-71.
Swath XL Software Version 3.00 Figure 3-71: Applying Along the First Interior Swath. Figure 3-72 shows the Swath XL real-time view page and lightbar. When applying in Circle Pivot mode, the lightbar displays the curved vehicle path in the text display (top section of lightbar) and cross track error information is conveyed via the cross track LEDs. For more information on the curved vehicle path see section “Lightbar Curved Guidance Graphics” on page 3-58.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Viewing Data in Fieldware Map Manager Some Swath XL system kits include Fieldware Tools for your office computer or laptop. You can use the Fieldware Map Manager tool to view your application As Applied maps. Figure 3-75 shows the As Applied map of the center pivot application used in this example. To view your As Applied maps you must copy your record files (RCD) from the PC card to you desktop or laptop computer.
Swath XL Software Version 3.00 Lightbar Curved Guidance Graphics Swath XL’s two curved guidance techniques employ a lightbar text display graphic that aids the operator when navigating parallel to a curved swath. The X-Track LED functionality that is employed in Parallel mode is also employed when driving curved guidance. A projected swath-path graphic is displayed in the text display area of the lightbar, see Figure 3-76. This projected path is made up of four horizontal bars.
Swath XL Software Version 3.00 Applied Area Detection Swath XL software allows you to detect when the vehicle enters a previously applied area. You can also setup Swath XL to notify you when you are approaching a previously marked hazard, see “Hazard Detection” on page 3-67. To use applied area detection the Lightbar Setup - Alarm menu field must be setup prior to starting guidance. See Chapter 2 - Lightbar Setup section of this User Guide for more details on how to set up this menu field.
Swath XL Software Version 3.00 Figure 3-79: Inside a Previously Applied Area Detecting Neighboring Swath Applied area detection will notify the user if the vehicle crosses into a previously applied neighboring swath. Figure 3-80 shows an Applied Area Overlap example. The vehicle can overlap up to 25% of the Swath Width with out being notified.
Swath XL Software Version 3.00 Creating a Field Boundary Swath XL allows you to create a map of the field boundary while applying product around the perimeter of the field. If you want to create a field boundary map, you must setup Swath XL to do so. For more information on field boundary setup, review Chapter 2 Data Setup. A field boundary can be created in all three guidance options: Parallel, Headland, and Circle Pivot.
Swath XL Software Version 3.00 Typically you also want to apply product and establish the initial guideline while driving the field perimeter. Figure 383 shows the vehicle creating the field boundary while establishing the initial guideline and applying product. Notice that the Map Boundary button has changed states. If the is pressed now, Swath XL stops mapping the field boundary.
Swath XL Software Version 3.00 Mapping Points and Hazards Mapping points and hazards during the real-time guidance process is another feature of the Swath XL product. For more information on how to setup Swath XL to map points and hazards, see Chapter 2, Data Setup. There are four types of mapping objects that you can select from: Point, Named Point, Hazard, and Named Hazard. Each of these object types are described in more detail below.
Swath XL Software Version 3.00 Figure 3-86: Marked Point in the View Page Marking a Named Point The map object Named Point allows you to mark a named point at the vehicle location. A Named Point is the same as the Point object except that the name of the point is entered when starting guidance. When Swath XL is setup to map a Named Point, a point button is added to the view page button bar, see Figure 3-87. To map a Named Point drive to the location of the object or feature you want to map.
Swath XL Software Version 3.00 Marking a Hazard The map object Hazard allows you to mark a hazard at the vehicle location. The map object Hazard can be used later in Hazard Detection, page 3-67, to notify the operator of potentially hazardous objects or features within the field. Hazard detection does not work with point objects. When Swath XL is setup to map a hazard, a hazard button is added to the view page button bar, see Figure 3-88 (left side).
Swath XL Software Version 3.00 Marking a Named Hazard The map object Named Hazard allows you to mark a hazard at the vehicle location. The map object Named Hazard can be used later in Hazard Detection, page 3-67, to notify the operator of potentially hazardous objects or features within the field. Hazard detection does not work with point objects. When Swath XL is setup to map a Named Hazard, a Hazard button is added to the view page button bar, see Figure 3-90.
Swath XL Software Version 3.00 Hazard Detection Another feature of Swath XL is navigational hazard detection and warning.There may be several situations where visibility is poor. Night application or crop height impedes the operators ability to see potentially hazardous objects in the field. If these objects are previously mapped either using the Swath XL or the Fieldware - Field Mapping application, hazards can be viewed and utilized in hazard detection while applying product to the field.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Lightbar Index The Swath XL Lightbar is capable of displaying a considerable amount of information to the user. This information can be represented as text in the display window, illuminated lights on the stop light, cross track LEDs or a combination of text and lights. Information displayed on the lightbar depends on both user defined settings and system warnings not controlled by the user.
Swath XL Software Version 3.00 Lightbar State Description X-Track Error: A user defined lightbar message. In this example the operator should steer to the left 2.3 ft. (Assuming the system unit is set to US and Lightbar is set to Swath mode.) Vehicle Heading Error: A user defined lightbar message indicating the current heading error between vehicle heading and the bearing of the guideline in degrees and decimal degrees. The arrow indicates steering direction.
Swath XL Software Version 3.00 Lightbar State Description Hazard Detection: The name of the hazard is displayed when the vehicle is approaching an existing hazard. Note the Red stop lights are illuminated indicating the final warning. See “Hazard Detection” on page 3-67. Mapping Boundary: This message is displayed when the user is mapping the field boundary. The arrow symbol on the left indicates the field boundary is on the left side of the vehicle. See “Creating a Field Boundary” on page 3-61.
Swath XL Software Version 3.
Chapter 4 - Waypoint Navigation Real-time navigation to sample points using a Lightbar. Software Version 3.00 Midwest Technologies Illinois, LLC.
Swath XL Software Version 3.00 About the Nav 2 Point Application Navigating to specific locations in a field is an important requirement in precision agriculture. The Swath XL - Nav 2 Point program allows you to navigate to specific pre-determined point locations or to more generalized areas of a field based on various types of background data such as yield or soils maps. Once at a desired location you can add that location as a sample point and assign a point number and location name.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Setting Up the Nav 2 Point Application The second menu item in the Swath XL Nav 2 Point Main Menu page is Setup. Setup contains several sub-menu fields that allow you to customize the Swath XL Nav 2 Point software and hardware to your preference.
Swath XL Software Version 3.00 Data Setup Data setup contains menu items that allow you to set up how you want to create and store data during the real - time portion of Swath XL Nav 2 Point. There are four menu items under data: Point/Grid File, Boundary, Sample Number, and Sample Name. If you elect to utilize any of the four menu items, then you are prompted for a file name or other related information once the Start Nav 2 Point process is implemented.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Point/Grid File This menu item allows you to create or show a points/grid file. The points/grid file is a Fieldware .GMF file. This is the file that you can store visited sample point locations or predetermined sample point locations in. This file contains all mapping objects (points, lines, and polygons), including the sample grid that is created using the Fieldware-Tools Form Grid.
Swath XL Software Version 3.00 Boundary This menu item allows you to indicate whether you want to create or show an existing field boundary or turn this menu item off. If Show is selected, you must select the name of an existing field boundary from a pick list. If Create is selected the Swath software will use the antenna offset information, described below, to trace out the field boundary. All file naming occurs after you press the Start Nav 2 Point menu item.
Swath XL Software Version 3.00 Sample Number The Sample # is a number assigned to each pulled sample. If this menu field is set to YES, each time a sample point is added to the Point/Grid file, you are prompted by the program to enter a new sample number. If this menu field is set to AUTO, you are not prompted each time a point is added and the numbering sequence automatically increments by one for each sample pulled.
Swath XL Software Version 3.00 Sample Name The Sample Name menu field allows you to setup a unique sample name. If the Sample Name menu item is set to YES, you are prompted for a new sample name each time a new sample point is added. If set to AUTO you are not be prompted to enter a new sample name each time a new sample is added. You are prompted for the sample name at the start of the Nav 2 Point real-time process. If the Off menu item is selected, then no sample name is added to any new sample points.
Swath XL Software Version 3.00 Antenna Setup The Antenna Offset setup process is accessed from the Nav 2 Point Setup Menu. The antenna offset is used when you map a field boundary and need to offset the antenna to map a feature the vehicle can not drive over. This offset information can also be used to offset the antenna over the soil sampling probe.
Swath XL Software Version 3.00 Figure 4-11: Antenna Setup Flow Diagram Setting Name Default Value Change at 1st Time start Up Offset Direction Off Optional Offset Distance 0.
Swath XL Software Version 3.00 Offset Direction Defines the offset direction of the antenna position. Offset Direction is referenced to the vehicle’s direction of travel. To change the Offset Direction setting, highlight the Offset Direction menu item and press dialog box appears. Select the desired setting using the arrow keys . The Offset Direction . Once the desired setting is selected, press to return to the Antenna setup menu, see Figure 4 -12.
Swath XL Software Version 3.00 Offset Distance Defines the offset distance of the antenna position. To change the Offset Distance setting, highlight the Offset Distance menu item and press dialog box appears. Enter the desired distance using the arrow keys press . Once the desired distance is entered, to return to the Antenna setup menu, see Figure 4 -13. Figure 4-13: Setting the Antenna Offset Distance Chapter 4 - Waypoint Navigation Antenna Setup 4-14 .
Swath XL Software Version 3.00 Lightbar Setup The Lightbar Setup process is accessed from the Nav 2 Point Setup Menu. There are five lightbar menu items associated with the Lightbar Setup process: Use Lightbar, LED Brightness, Alarm, Alarm Range, and Display Message. To access the Lightbar menu page, highlight the Setup menu item in the Nav 2 Point Main menu page and press . This takes you to the Setup menu page, see Figure 4 -14. Within the Setup Menu select the Lightbar menu item using the arrow keys .
Swath XL Software Version 3.00 Use Lightbar Allows the user to turn the lightbar on or off. To change the Use Lightbar setting; highlight the Use Lightbar menu item and press box appears. Select the desired setting using the arrow keys . The Use Lightbar dialog . Once the setting is selected, press to the Lightbar setup menu, see Figure 4 -15. Figure 4-15: Setup Lightbar Use Lightbar? Setting Description No The lightbar is not used while Nav 2 Point is running.
Swath XL Software Version 3.00 LED Brightness Sets the brightness level of the LEDs and Text display located on the lightbar; 1 is dim and 10 is brightest. To change the LED Brightness setting, highlight the LED Brightness menu item and press dialog box appears. Enter the desired value using the arrow keys . The LED Brightness . Once the desired value is entered, press to return to the Lightbar setup menu, see Figure 4 -16.
Swath XL Software Version 3.00 Alarm Defines the alarm volume or off state. The volume range is 1 through 5, with the 5 setting being the loudest. You can also turn the alarm off by selecting the OFF setting. To change the Alarm setting, highlight the Alarm menu item and press desired setting using the arrow keys . The Alarm dialog box appears. Select the . Once the setting is selected, press menu, see Figure 4 -17.
Swath XL Software Version 3.00 Alarm Range Defines the distance from a sample point you want to be notified of the pending sample point. Use this as a notification of when you are on the point or at least close enough to the point to consider it visited. To change the Alarm Range setting, highlight the Alarm Range menu item and press box appears. Enter the desired distance using the arrow keys . The Alarm Range dialog .
Swath XL Software Version 3.00 Display Message Allows you to select a message you want to display on the lightbar. This message is preempted by point information. To change the Display Message setting, highlight the Display Message menu item and press sage dialog box appears. Select the desired message using the arrow keys selected, press . Once the desired message is to return to the Lightbar setup menu, see Figure 4 -19.
Swath XL Software Version 3.00 About Nav 2 Point Real-Time Navigation Once you have properly setup the Nav 2 Point application by running through the setup process, the next step is to start the Nav 2 Point real-time process. Figure 4 -20 shows the Swath XL Launcher Main Menu on the left side. The user highlights the Nav 2 Point menu item and press . This brings up the Nav 2 Point Main Menu, right side of Figure 4 -20.
Swath XL Software Version 3.
Swath XL Software Version 3.00 The Real-Time View Page There is only one real-time page associated with the Nav 2 Point real-time process, see Figure 4 -23. The left side of the real-time page contains the map window. This is where the vehicle and any map data, points, boundary, and grid, can be viewed. The right side of the view page contains several buttons located in the button bar, see Figure 4 -23. A detailed description of each button is listed in Table 4 -10.
Swath XL Software Version 3.00 Button Description The Exit button. When pressed the Nav 2 Point software exits out of the real-time process and return to the Main Menu page. Pressing the this button. key automatically highlights The Information button. When this button is highlighted, information is displayed in the Information Window. The Locked Information button. When this button is displayed, it means that the Information Button was pressed.
Swath XL Software Version 3.00 Figure 4-23: North Up View COG View In the COG view, the vehicle position (anchor point) is 1/3 up and centered in the width of the view portion of the real-time page and the ground (map) moves beneath the vehicle. The direction of the vehicle is always to the top of the view. Figure 4 -24 is the same scenario as in Figure 4 -23, now in the COG view. It shows the vehicle navigating to Sample Point # 12. In this figure the operator is headed directly towards the point.
Swath XL Software Version 3.00 Nav 2 Point Real-Time Scenarios The following sub-sections will describe various Nav 2 Point real-time process scenarios. Mapping a Field Boundary In this example the operator wants to map a field boundary. The Data Setup Boundary menu item is set to New, see Figure 4 -25. The operator has also decided not to show any existing points or grid data. This is accomplished by setting the Point/Grid File menu item to Off.
Swath XL Software Version 3.00 Figure 4-26: Antenna Offset for Mapping a Field Boundary Once the setup process is complete and Nav 2 Point has been started, a file name dialog appears prior to starting the real-time process and displaying the view page. In this example, the only file name information required is the boundary file name. Figure 4-27: Boundary File Name Dialog Once the boundary file is named the user selects GO and starts the real-time process. Figure 4 -28 shows the real-time view page.
Swath XL Software Version 3.00 Figure 4-28: Boundary Mapping in the Real-time View Page Figure 4 -29 shows the real-time icons that are included in the real-time view button bar area. This list of icons changes based on how the setup process was configured.
Swath XL Software Version 3.00 Dropping a Sample Point In this example, the operator wants to drive around in a field and pull soil samples. The only information available is the field boundary. There is no soil sample grid or previously defined points in a data file. The Data Setup menu page is shown in Figure 4 -30. The operator would like to automatically increment the sample number and be prompted for a sample name.
Swath XL Software Version 3.00 presses . This brings up the real-time view page. Figure 4-32: Entering/selecting the Point/Grid File. Figure 4-33: Entering the Starting Sample Point Number. Figure 4 -34 and Figure 4 -35 show a sequence of dropping a sample point. First the operator drives the desired sample point location and highlights the Add Sample icon in the button bar. Pressing brings up the Sample Name dialog, Figure 4 -34.
Swath XL Software Version 3.00 Figure 4-34: Marking the Sample Point and Entering A Sample Name Figure 4-35: Adding Sample Point Completed.
Swath XL Software Version 3.00 Navigating to Points In this example the operator is displaying a Point/Grid file that contains a set of points the operator wants to navigate to. The Data Setup menu, Figure 4 -37, shows how the operator has configured Nav 2 Point. Because the Point/Grid file exists the operator only needs to select Show. As in the previous example, the operator also wants to offset the antenna to position it over the soil probe located on the back of the pick-up truck, see Figure 4 -38.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Figure 4-41: Entering the Starting Sample Point Number Once in the real-time view page, the operator can either drop a sample point or select an existing point to navigate to. Figure 4 -42, shows the operator selecting the Start Navigation button (left side). Once the Start Navigation button is selected, the Navigate to dialog appears, Figure 4 -42 (right side) This dialog lists any points or sample points that exist in the Grid/Points file.
Swath XL Software Version 3.00 Figure 4-43: Navigating to a Point Figure 4 -44 shows the buttons that would be used in the button bar for the example described in this example. The map boundary buttons could also be used in this example if the operator had elected to map a boundary as well.
Swath XL Software Version 3.00 Editing or Deleting a Sample Point This section describes how you can edit or delete an existing sample point. Due to the lack of a pointing device on the SmartPad, the operator must drive towards the point they wish to edit or delete. The Alarm Range value determines when the Edit Sample and Delete Sample buttons appear in the button bar. This feature works regardless of the Alarm menu item status.
Swath XL Software Version 3.00 Figure 4-46: Editing the Sample Name Figure 4-47: Editing the Sample Number Deleting a Sample Point The operator can delete a sample point by driving to within the Alarm range of the sample point, highlighting the Delete Sample Point button and pressing . This removes the Sample Point from the view and the data file. Once the point is deleted, the Edit Sample Point and Delete Sample Point buttons are removed from the button bar, Figure 4 -48.
Swath XL Software Version 3.
Swath XL Software Version 3.00 Lightbar Index The Swath XL Lightbar is capable of displaying a considerable amount of information. This information can be represented as text in the display window, illuminated lights on the stop light, cross track LEDs, or a combination of text and lights. Information displayed on the lightbar depends on both operator defined settings and system warnings not controlled by you. Table 4 -11 describes lightbar states and possible information that could be displayed.
Swath XL Software Version 3.00 Lightbar State Description Distance to Point: The distance to the point the user is navigating to. Mapping Boundary: This message is displayed when the user is mapping the field boundary. The arrow symbol on the left indicates the field boundary is on the left side of the vehicle. Mapping Boundary: This message is displayed when the user is mapping the field boundary. The arrow symbol on the right indicates the field boundary is on the right side of the vehicle.
Swath XL Software Version 3.
Swath XL Software Version 3.
