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Veronte Pipe User Manual

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1. select Select a group of waypoints or targets RET warevwaromonamm Q Introduce number of polygon sides and draw it on the map cS Draw regular areas on the map for association with polygon events Circular area Draw circular areas on the map for association with polygon events Ke Mapping Draw a polygon for mapping applications P me Measure on map Table 31 Mission Toolbar 6 1 Waypoint Creation Use the Add WP tool and press on the map for creating waypoints a display will appear for entering custom parameters 2 EMBENTION LJ E EE CI N T cod Veronte SUM v1 11 2 1 docx P li P E pag 54 66 Absolute Relative Latitude 0 668617 rad er Map Longitude 0 005422862 rad un m wese4 50 0 m MISL 0 23738437637059207 m AGL 0 23738437637059207 movi Fly Mode Fly over Events Actions Go land when achieved First waypoint Start taking photos Stop taking photos Figure 80 Waypoint Parameters Absolute Fixed GPS position Relative Relative position to a predefined interest point any Veronte equipped device Position GPS coordinates press map to select on map e WGS84 Altitude over the ellipsoid e MSL Mean Sea Level altitude e AGL Above Ground Level Fly mode Waypoint achievement mode Events Waypoint events configured on automations mark to activate event on reach Actions WP actions configured on automations mark to start action on reach Table 32 Wa
2. D C Enable Initial Channel at destination 1 Port UAV 1 Min preiod 0 0 Delta MCU i Max period Figure 44 Virtual Stick Configuration 4 2 3 5 Micro GPIO Manager Enable or disable ports at microprocessor level Enabled Name Part PWM 1 PWM 2 7 PWM 3 4 PWM 4 5 PWM 5 g PWM 6 10 Disabled MDRB MCLEXB MCLERE as MFSXB MFSRB Figure 45 GPIO Manager 4 2 3 6 Others Radio Configure radio settings 2 EMBENTION cod Veronte SUM v1 11 2_1 docx 30 66 e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P li P E pag 31 66 Payload Configure connected gimbal settings including number of gimbal axis servos used for gimbal connection and distance from the autopilot to the Gimbal Base to gimbal A 0 0 Type Pan Roll Tilt z i BONE mor Base to gimbal Y 0 0 Y i j 1 2 a 4 ka F Servo Servo 1 2 and 3 sesi tim a 00 Figure 46 Payload configuration 4 2 4 Control User can configure platform control parameters for setting the unmanned system performance during the operation A Caution Only for experienced users On the left side of the Control interface user can enter as many control phases as needed A control phase refers to a set of specific control parameters defined for a concrete operation step take off waypoint route hover Control parameters will be defined for each phase user will be able to set automatic phase switch on automation disp
3. Max Min ADC channel 13 Output variable takes the value of the maximum minimum value from the ones on the input variables constants ADC channel 12 Actuator Output 516 Constant value 0 0 Wrap ADC channel 13 Task High Output variable is wrapped to keep value between upper and down limits ADC channel 3 ADC channel 14 ADC channel 15 4 2 8 2 Telemetry Telemetry controls permits to configure data to be stored or transmitted on the system There are 4 main items that can be configured within this panel Data Link Configures the variables to send throughout the datalink channel Log Sets the variables to be stored on system Log User Log User Log for custom applications Fast Lo Saves data at the maximum frequency available on the system Recording time depends 8 on the selected variables Table 24 Telemetry Configuration Configuration display permits to enable the desired variables for each telemetry file and to set the maximum and minimum values together with precision for each one za EMBENTION LJERONTE wT P I User Log Fast Log 4 2 9 Panel Name mm On board time man Ground speed Guidance ground speed Indicated air speed Guidance Indicated air speed Longitudinal horizontal velocity wes Lateral horizontal velocity Capture A error CAN B RX error af CAN A RX error No ready to flight Uvar disabled User variable 16bits 18 Enabled
4. C Microcontroller unit Normally 0 0 1 RVAR LVAR UVAR BIT LE LIMIT VERVAR Type of the data of the impute variable CUSTOM i LEQ Number of the variable on Veronte autopilot 1 2 6 1000 etc See Appendix 1 Convert the unit of the output variable 17 rad to 2C Text to describe the data Airspeed Knots Table 27 UDP Configuration C za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P i P E pag 47 66 5 WORKSPACE CONFIGURATION Workspace settings allow user to customize any information to be displayed on the screen for monitoring the operation Custom workspaces can be created set any workspace as default in order to open it automatically on system start Telemetry toolbar is shown below ry ii M v Default_Ad A m gt Figure 66 Telemetry Toolbar Select the workspace to be displayed or create a new one else For saving current telemetry configuration a Lock Configured displays can be moved freely and resized along the screen Press lock to avoid display free movement FOS show Display or hide workspace elements lo Displays any configurable fields Table 28 Telemetry Toolbar When creating a new workspace the following options are available Empty Creates an empty workspace Creates a copy of an existing workspace and permits user to edit it Creates a new workspace by merging any existing workspace Table 29 Workspace Creation The foll
5. Clockwise Counterclockwise Auto Way Select the waypoint to go on phase entering and control parameters w Waypoint Waypoint First waypoint to gO LA WLine Line attraction v Wine Force the platform to follow the desired track Higher w values means lower Banking turn attraction Banking turn Desired platform backing on turn 2 EMBENTION Ww Hover P i Maintain position and attitude Position Enter position and altitude for the hover centre Yaw Yaw control Current Maintain current yaw Fixed Set fxed yaw value Heading Maintain current heading Position Point to a fixed position Limit rate Maximum yaw rate Yaw Desired Yaw Hspeed Speed control Limits Set maximum acceleration and deceleration limits Cruise Set cruise speed WP Reach Set speed on waypoint reach LIERONTE P cod E pag Current Coordinates m Longitude Latitude 0 0 Current Altitude Altitude WGS84 00 MSL Made Limit rate rad un Absolute Relative East North ws 00 MSL w Set limit acceleration Acceleration Deceleratian WwW Set speed Cruise Waypoint reach Type 2 EMBENTION Veronte SUM va 11 2 1 docx 34 66 e RONTE i P E Veronte SUM v1 11 2 1 docx 35 66 cod pag LIE Runway Enter runway parameters for landing Longitude 2 Longitude 1 1 amp 2 Runway limits Latitude 1
6. Devices Static Pressure Choose the static sensor pressure use on the system e Disabled Do not use static pressure sensor for navigation e Custom Settings Use sensor with custom settings Autocalibrated Variance Use sensor with automatic settings Sensor error Sensor decimation Table 12 Setup Devices Static Pressure GPS Configure GPS parameters to work for navigation or for differential GPS Mode w Navigation Diferential GPS Position Error GPS Velocity Error North 10 0 m Morth lo m Down 20 0 Fi Down 0 1 mis Table 13 Setup Devices GPS Navigation Mode Navigation Diferential Ww Pseudorange 10 0 m Caer w Doppler 10 Hz w Broadcast raw data Base position BY Altitude 0 0 n Latitude 0 0 rad mn Longitude 0 0 rad m m Table 14 Setup Devices GPS Differential 4 2 3 4 Stick Test Stick For each stick channel configured user can set continuous movement commands to be performed For configuring the stick select the wave type and enter the requested parameters gt EMBENTION e LJ E EE CI N T cod Veronte SUM v1 11 2_1 docx P l P E pag 29 66 Channels Minin un 0 Maximum 100 Period 10 s Show on the checklist Figure 42 Test Stick Configuration Configured parameters can be shown on the checklist in order to test the system prior to change flight phase To activate the automatic movement use t
7. EMBENTION LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx i pP E pag 11 66 ww 4 SETUP In order to configure Veronte Pipe or any Veronte device use the setup toolbar Veronte Setup dialog can be opened on the main menu fol a E x m Ea Tunnel UDP x aa EEEEEEEEENENEE 6 Setup Toolbar Details Displays configurable fields configurable fields Open Veronte configurations Units connected to the PC will automatically be opened Load Select Veronte configuration to edit HIE Close an opened Veronte configuration val Discard Discard all changes me sae Save all modified data cS import Import a configuration form disk BE Export configuration on Veronte to disk Open X Plane configuration Refer to the HIL Simulator manual in order to configure the HIL parameters ENE Tunnel UDP Select configuration of tunnel UDP User can select IP and Port to send data from Veronte Pipe Table 1 Setup Toolbar Configurable items are distributed on tabs the following structure is followed Veronte autopilot Pen contre WENE SEER modes leegte ees OOOO he omenen _ Table 2 Setup Tabs Veronte Pipe Veronte Pipe preferences Units Configure unit preferences Table 3 Veronte Pipe Preferences gt EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P i P E pag 12 66 4 1 Veronte Pipe 4 1 1 Preferences Veronte Pipe preferences permit to
8. This filter is configured for reception messages received data will be stored on mailboxes where message ID coincides with mailbox ID Mask ads some flexibility on the reception when comparing message with mailbox data only binary digits configured as O on the mask will be taken into account Ex For a configuration MASK 00111 and ID 10110 all incoming messages addressed to 10XXX will be received on this mailbox e Overwrite When storing data on mailboxes it is done on decreasing order form 32 to 1 When using multiple mailboxes with same ID and one of them is RXO it is recommended to set this mailbox on the lower mailbox position otherwise all messages received for this ID will be overwritten on the same mailbox not filling the buffer Filter Filter is used for configuring system consumers These parameters should only be edited form experienced users ID Mask w Packet 64 0 0 Mboxidx Disabled w Simulation 0 i Radar altimeter 0 0 Figure 21 CAN filter e Packet 64 Veronte to Veronte communications trough CAN configuration e Simulation HIL simulation configuration e Radar Altimeter Configuration for Smart Micro radar altimeters Telemetry Interactions between system variables and CAN variables are managed form the telemetry configuration Enabled ID 0 Mask 0 TA In TA Y RX B ID 0 Big endian Mask Figure 22 CAN Telemetry ID amp Mask configuration sets the RX parameters
9. Wrap to pi Tm It is used in some angular variables radians for avoiding numerical errors on the r to n change and keep continuity of the error signal Proportional gain Discrete filter parameter Derivative time parameter Derivative Constant value added to output Inverse integral time parameter Integral Anti windup parameter Output bounds Output Table 19 PID Elements Output values for PID controller refer to virtual control channels units must coincide with servo trim configuration settings PID diagram represents the following PID model K proportional gain Ta T Integrator time 1 C K 1 IF tr Ti N DF z Ta Derivative time N Derivative filter constant For the derivation and integration models Trapezoidal and Backward Euler models have been integrated Tez 1 TZ IF z za ND z en za EMBENTION ED LJ N T E cod Veronte SUM v1 11 2 1 docx P wT l P E pag 37 66 ND 4 where 7 is the is the time constant on a first order FPB When ND is set to 0 the FPB is disabled K Sampling time has already been integrated K n l Initial block permits to invert the input signal or apply a wrapper it is used for angles to be maintained between 180 On the output block it is possible to set the maximum and minimum values for the variable Exporting PIDs to other phases Once it is considered that the PID is tuned the user can easily export that PID in order to use it in o
10. X Aircraft 0 0 1 0 0 0 X Board possible Y Aircraft 1 0 0 0 0 0 Y Board Z Aircraft 0 0 0 0 1 0 Z Board Figure 14 Setup Veronte Advanced orientation 4 2 2 Connections Connection tab permits to configure I O ports on Veronte by selecting the devices connected to each port and configuring the communications parameters 1 Output 1 2 Output 2 1 Output 1 3 Output 3 4 Output 4 5 Output 3 6 Output 6 7 Output 7 Frequency PWM GPIO 50 0 Hz 8 Output 8 The frequency is also modified in the PWM 7 9 GND 10 Serial 11 Serial RX 12 Digital In Max 13 GND 14 Power In Made time w Min 9 0E 4 5 0 0021 5 Servo Servo 1 w Figure 15 Setup Veronte Connections For each connector pin on Veronte user is able to configure the following 4 2 2 1 Output System outputs configurable as PWM or GPIO with following parameters za EMBENTION Ah LJ E 2 3 l i E cod Veronte SUM v1 11 2_1 docx NS P I P E pag 16 66 PWM Configurable PWM output PWM GPIO e Frequency Control frequency e Mode time duty cicle fixed di aa ane Hz e Min Max output limits The frequency is also modified n the PWM ee Servo Select the actuator that is conencted Mode time w Min 9 0E 4 Max 0 0021 5 Servo Servo 1 w Figure 16 Output Configuration GPIO Set output as a GPIO interface 4 2 2 2 Serial RS232 Port configurat
11. operation These data will not be stored for future operations In order to save these parameters on the system it can be done on the Veronte Autopilot setup za EMBENTION e P j 8 LOG P LIEROINTE Veronte SUM v1 11 2_1 docx 60 66 cod pag Log toolbar shows recorded events and permits to introduce custom events to be saved Introduce event information and press enter to record it on the log Oe oo RA 405 Time 10 11 33 10 11 34 10 11 34 10 20 44 10 20 44 10 20 45 10 20 45 10 20 48 10 20 48 10 37 21 10 37 21 e pa pa pa pa pa pa pa pa pa Uav Board 0 14 44 5 0 14 45 8 0 14 45 9 0 24 03 7 0 24 03 8 0 24 04 7 0 24 04 9 0 44 08 1 0 24 08 1 0 40 56 1 0 40 56 4 Figure 91 State Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Standby Uav W200 Standby Uav W200 Standby Uaw W200 Standby Uaw W200 Standby Uaw W200 Log Toolbar Event Servo 2 ok Servo 1 satured Servo 1 ok Servo 1 satured Servo 1 ok Servo 1 satured Servo 1 ok Servo 2 satured Servo 2 ok Servo 2 satured Servo 2 ok Record button permits to stop capturing log information By clicking on REC a new log saving will start It is possible to generate a PDF reports containing saved log information Click on the Report icon and enter requested information to generate the report I IT Create PDF Pilot Reference Clo
12. 1 MCU 0 Installing Please wait Do not disconnect Veronte Cancel Figure 4 Compatibility mode 2 EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P i P E pag 9 66 2 3 PC connection Veronte unit on the control station must be connected to the same network than the pc running Veronte Pipe In order to establish communications with Veronte PC network interface IP must be in the same range than Veronte IP can be changed in adapter settings in the Windows control panel it must be set to IP 192 168 137 XXX where XXX can be any number selected by user except from 106 Once the IP has been changed network interface must be selected in Veronte Pipe preferences za EMBENTION aa LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P nt i P E pag 10 66 3 USERS It is possible to define multiple users on Veronte Pipe given the required permissions to each of them For each user it is possible to define read and write permissions for each toolbar permitting or disabling access to each functionality on the system On first software run it will start with the default user e User admin e Password admin Go to user toolbar in order to log out or manage users and passwords F No se pude mostrar la imagen vinculada Puede que se haya movido cambiado de nombre o eliminado el archivo Compruebe que el vincuio sefial al archivo y ubicaciones correctos Figure 5 Login Screen za
13. Aircraft Aircraft name Veronte unique identification number for datalink management D 3 character ID forthe platform oo Information form the Veronte Unit pe Select platform type Table 4 Setup Veronte Once platform type is selected layout must be entered so the system can be configured Figure 11 Setup Veronte For advanced platform configuration it is also possible to select custom type US and SU matrix should be entered for configuring control output to actuators input US Set inv SU Edit ales oo oo oo 5 Joe is 00 0 5 0 0 0 0 0 0 SU Set inv US Edit Apply za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 15 66 Figure 12 Setup Veronte Custom S refers to actuators and U to control channels output Set the actuator to control output in order to customize platform control On the SU matrix rows refer to actuators and columns to control output US matrix is the inverse matrix to SU it can be automatically completed once the SU has been set by clicking on Set inv US Veronte position within the aircraft must be entered by clicking in one axis and selecting the Veronte axis that corresponds to this direction Veronte and GPS antenna distance to mass centre must also be entered Orientation Advanced Distance to mass center Figure 13 Setup Veronte Position Orientation Advanced Advanced orientation configuration is also
14. Clock 1 10 190 Desired GS Ground Speed North 191 Desired GS Ground Speed East 192 Desired GS Ground Speed Down 193 Front GS Ground Speed 194 Lateral GS Ground Speed 195 Desired Front GS Ground Speed 196 Desired Lateral GS Ground Speed GPS ECEF Position X GPS ECEF Position y GPS ECEF Position z GPS Velocity North GPS Velocity East 207 GPS Velocity Down Desired MSL Height Above Mean Sea Level Altitude Desired AGL Above Ground Level Height 210 Desired WGS84 Elevation Height Over The Ellipsoid 211 Velocity X body axis 212 Velocity Y body axis 213 Velocity Z body axis 214 GPS Accuracy 215 GPS Time of Week 216 Estimated Dynamic Pressure 217 Barometric Pressure at Sea Level QNH Stick Input ul u9 Stick Input d1 d9 272 Longitudinal Forward Load Factor X body axis 273 Lateral Right Load Factor Y body axis 274 Vertical Bottom Load Factor Z body axis 275 Desired Longitudinal Forward Load Factor X body axis 276 Desired Lateral Right Load Factor Y body axis 277 Desired Vertical Bottom Load Factor Z body axis 278 RX Datalink Error Rate 279 TX Datalink Error Rate Accelerometer bias X body axis Accelerometer bias Y body axis Accelerometer bias Z body axis za EMBENTION l i i E cod Veronte SUM v1 11 2_1 docx E pag 65 66 og C m J U Gyroscope bias X body axis Gyroscope bias Y body axis 297 Gyroscop
15. Figure 2 Interface gt 1 Main display gt 5 Mission gt 2 Menu gt 6 Telemetry displays 3 Veronte Panel gt 7 Side panel gt 4 Veronte position Each section has the following functions gt 1 Main Display Displays a selectable background map or a plain colour together with most important mission data gt 2 Menu e User Manage user preferences Setup Configure Pipe and Veronte autopilot Workspace Select the way flight information is displayed Mission Create and edit missions Log View operation data log and introduce custom events Post Flight Tools for recorded data analysis License Manage license preferences Help Shows help information available 3 Veronte Panel Veronte information and telecommand buttons 4 Veronte Position Veronte location on map 5 Mission Defined mission on Veronte VV V WV 6 Telemetry Configurable drag amp drop flight information displays gt 7 Side Panel Shows linked Veronte information Menu items are displayed as toolbars which can be pinned to the top bar or moved freely along the screen gt EMBENTION Ww LJ E EE CI N T E cod Veronte SUM v1 11 2 1 docx P I P E pag 8 66 2 INSTALLATION 2 1 Veronte Pipe installation To install Veronte Pipe just execute Veronte_Pipe exe and follow the indications 2 2 Update Veronte checks for updates on system start up A setup wizard will be displayed in order to guide the user on
16. Latitude 2 Line attraction Force the platform to follow the desired track Higher values means lower attraction Line Attraction Table 17 Control Type 4 2 4 2 Loop On each phase controller parameters can be set for each control channel defined on Veronte Configuration Each one of them having the following status options OF Disables the PID controller On o Enables the PID controller Fed Sets the control parameters to a fixed value Table 18 PID Control Status PID Settings When configuring a PID up to three control loops can be configured select on the combo box the desired option AD 3 w Guidanc Guidance m i ches Guidance Attitude Heading roll rate Rall Heading Attitude Roll rate Roll Figure 48 PID Architecture For setting PID variables select the variable to set and a list with available options will be displayed For setting the PID parameters click on the grey boxes and the PID diagram will be shown Pitching Name Rolling Thrusting Ralling Mode On AD 3 w Guidanc Guidance AE Guidance Attitude Heading roll rate Roll Heading Attitude Roll rate Rall Figure 49 PID Diagram 2 EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 36 66 For each block it is possible to configure the PID User variable 32bits 03 RPM 1 5 0 Figure 50 PID elements Set Point Measure e Invert Change error sign e Wrap
17. configure general application parameters User must select the PC network interface used for interfacing with Veronte systems Network Interface Realtek PCle FE Family Controller Local IP Address 197 168 0 182 Local Subnet Mask 755 255 255 0 Multicast IP 239 0 0 1 Fort 12345 UI Scale i ice ea qe ai ALERT_AUDIOCLIP Play Change Defau UO Play Change Defau U1 Play Change Defau LIZ Play Change Defau LI3 Play Change Defau U4 Play Change Defau U5 Play Change Defau U6 Play Change Defau LIT Play Change Defau Us Play Change Defau Providers terrain height Figure 7 Veronte Pipe Preferences 4 1 1 1 IU Scale IU Scale permits to set the interface scale for adapting the application screen to the screen size on the system 4 1 1 2 Alert Audioclips Alert Audioclips is used for managing audio files used on the application It can be associated to system alerts on the Workspace configuration 4 1 1 3 Terrain Height In order to perform the altitude estimation Veronte installs a GIS Geographic Information System When creating a mission the terrain altitude on the mission area is automatically downloaded from the internet Once it is downloaded this information will remain on the computer and no further internet connection will be needed In order to operate the system in zones without internet and where the mission cannot be created with an internet connection it is possible to download the terrain information for a define
18. del Period 1 0 m Figure 59 Setup Automations Periodical Periodical actions can be configured in time or in distance when enabled actions associated to the automation will repeat at a fixed period in time or distance distance period can be configured in distance over the ground or in distance in certain direction by entering the vector Period can be set as a Fixed Delay time between action activations or as a Fixed Period reference time for every action will be the first event activation When entering a new Event or Action it is possible to choose form one of the previously created on the system or to create a new one Once created it is possible to configure it on the panel below Common configuration options are Select an action or event from the available in the system When modifying an action or event it will be modified in all automations where it is Table 20 Setup Automations Following actions are available Configure a GPIO output Off Set GPIO value to 0 On Set GPIO value to 1 Pulse On Set GPIO value to 1 for x seconds and end on 0 Pulse Off Set GPIO value to O for x seconds and end on 1 Record onboard information on the User Log Set a servo position to a predefined position for a given time Set Navigation mode e Initial Navigation configuration on system startup Navigation e EKF Navigation configuration for operation default confi
19. for CAN telemetry Only messages with an ID inside the configured range will be taken into account on the system za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 19 66 System telemetry messages are divided on 3 groups e TX Transmission messages for data that autopilot will send periodically Period Data transmission frequency Variables System variables to be sent trough the CAN network ID 11 bits CAN ID Endian Big or little endian Decimation Decimation over global tx frequency Ex for a 0 1 period and a 3 decimation messages will be transmitted in periods of 0 3s Offset A divider from decimation Ex for a period of 0 1 a decimation value of 3 and an offset of 2 messages will be sent each 0 3s starting on the 0 2s e TX Ini Initialization transmission messages usually used to send initialization setup commands to CAN devices at startup Variables Associated system variables ID 11 bits CAN ID Endian Big or little endian Delay Decimation value in which the message is sent Delay is configured form the previous message not from the system startup e RX for data that will be parsed writing any variable received form CAN on a system variable Variables System variable to overwrite ID 11 bits CAN ID Endian Big or little endian Mask Filters messages from message content Enter headboard data that filters from data coming to the configured ID 4 2 3 Devices Devic
20. 0 0 25 0 00 0 25 2 50 0 75 1 00 1 25 Figure 25 Setup Devices Actuators Move To Move actuator to startup defined value Startup Move to current Move actuator display to actuator output that is being currently commanded value Refers to each actuator on the system e Mark the checkbox and move the bar in order to move the connected actuator e Red zones are outside actuator limits In order to move the signal outside these limits mark the Allow command Out of Limits option za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P i P E pag 21 66 Refers to the control channels configured on the system Each control channel can be linked to multiple actuators e When moving a control channel bar box checked servos will move Disable On first system configuration servos are disabled so no output signal is commanded Once Serv servo has been configured default initiation position for servo is the defined start up value StartUp Enter servo startup value preferred position on system initialization Acceleration limits on the actuator movement S amp Pulse Draw as many points as needed in order to setup servo limits assigning system pulse value to an actuator position s Table 6 Setup Devices Actuators Configuration Wizard Configuration wizard is recommended on first system configuration It guides the user for configuring actuator limits and performance 1 Limits Set m
21. 3 0E 4 3 0E 4 Qdfb 1 0E 9 1 0E 9 1 0E 9 Gyroscope Qnwb 3 0E 6 3 0E 6 3 0E 6 Qdwb 1 0E 10 1 0E 10 1 0E 10 Sensor measuring filter Angular speed stimation filter State Vector 2 9552082E 19 0 00340965 amp 0 7 701362E 4 0 0032283673 1 0 00236828 0 0030505117 0 0055608423 0 0028760831 0 010993266 0 0027050814 Wind 0 019022346 0 0025375069 i Acceleration intensity 0 029590061 0 002373359 Ee ver Y EER e en pen Y Estimation ADD ADD Uncertainty Initia rains covariance Figure 57 Navigation parameters 4 2 7 Automation Automation configuration permits to set actions to be performed under predefined detected events To Eng off 2 Events AND OR NOT Actions T AGL_eng_OFF ENG_OFF Inside_Rwy Phase des Delay 0 0 Periodical Off O EB Phase i Fhase des m Desc Figure 58 Automation Display 2 EMBENTION e LJ E CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 40 66 Automations are a combination of events and actions All actions will be performed on event or an event combination triggering Delay is entered in seconds and permits to introduce a delay on the actions to take place Periodical button permits to configure actions to take place periodically during the time that the activation events are active repeated each x time or distance Actions will automatically stop once the event compliance stops Enabled Type distance Vector 00 0 0 0 0 Mode Fixed
22. 37 SETUP DEVICES DYNAMIC PRESSURE eu ne 26 FIGURE 38 SETUP DEVICES RADAR ALTIMETER esse see see see see see see see see see see ee ee ee ee ee ee ina da ee ee 27 FIGURE 39 SETUP DEVICES TRANSPONDER 1 27 FIE UR EO Se DE EE SG ao ser cetaceans ees a asid ee aa st n Oe EO Ge kn ane bk ie Re RE a 27 FIGURE 41 SETUP DEVICES STATIC PRESSURE suksesse ge gids vu kwis koki aa 28 FIGURE 42 TEST STICK CONFIGURATION u GER Ge EG Ge sins Ge an Ge Ge Ge a in a pe SG Ge ok a a Es 29 FIGURE AS HEK COIN ELURA HON ees Go GN EE Oe OG Ge pa ee 29 FIGURE 44 VIRTUAL STICK CONFIGURATION u nun 30 HGURE 4 GP II MANAGER ee ee ie ie oo ee ee ee ka ee tae Ge Ge ee ka an ee 30 FIGURE 26 PAYLOAD CONFIGURATION ans sans 31 HERE AS ETOP s FO NER DE ee OE pp ek os pt Ge ee een DR GE pape ka aa ns ka 31 FIGURE 48 PID ARCHITECTURE esse see see see see ee see aa aa tata ee ee ee ee ee ee ee ER ee ee AA AE ee ee ee ee ee ee ee ee ee 35 FIGURE AS PID DIAGRAM es GN ee ee de pin p ee eines 35 FOURE SOF PID ELE MIE NT ee De oe ee E ba ao eta tak ee RER 36 37 EZ DEDA LUE SE FT W GOD sintese es es se oe ee ee ok ee ee el oe ee ee ee Ge e ok a e ei n e 37 FIGURE 53 ARCADE MODE SETANG S nen ee gt 37 FIG URE Ad IE PANE ies oe ee eo Ee ee ee er Tee 38 FOURES ENVELOP MR N N EE N EE eieiucauetes 38 FOURE 56 MODESETTINGS see GE un vanes e GE nese ERG ren 38 FIGURE 57 NAVIGATION PARAMETERS nenne een 39 FIGURE je ALUTEOMATEON DIS PA se
23. Compress SE Ss S S Ss Disabled cod Pag Minimum Maximus 10 0 1000 0 10 0 1000 0 10 0 1000 0 10 0 1000 0 1000 0 1000 0 1000 0 1000 0 Figure 62 Setup Telemetry Configure Veronte Panel display options 4 2 9 1 Short Phases Configure the way control phases are displayed on Veronte Panel Standby Climbing Plane Pursuit Plane Descending Plane Loiter Plane Free Plane Figure 63 Setup Panel Short Phases 4 2 9 2 Checklist Precalibrate Check gravity center Check pressure sensors value Check propeller is tight enough but moves Check trim servos motor start amp rotation IF STICK remove motor bat put MANUAL IF STICK move sticks and check PWMs value IF STICK put motor bat and check controls Configure calibration parameters Calibrate New Element m A Figure 64 Checklist A Name Check gravity center None Obliged to change phase Show only first gt EMBENTION Veronte SUM v1 11 2_1 docx 44 66 Decimal A checklist is configurable for each flight phase This checklist will be displayed on the Veronte Panel and must be completed prior to exiting from a phase e LJ E EE N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 45 66 Any custom test can be introduced to the checklist for performing customized checks there are other system checks that can be included by selecting it form the combo box displayed Main c
24. Devices Encoder points za EMBENTION e The calibration wizard can also be used for calibrating encoders Follow the described steps for performing the calibration LJ co N T E cod Veronte SUM v1 11 2 1 docx P i P E pag 24 66 Variables f Test Minimum Move the encoder and verify that the following value is updated Move the angle to its minimum value User variable 16bits User variable 32bits v ME Angle Encoder Value Previous Medium Maximun Finish Offset 513 Move the angle to its mean value Move the angle to its maximum value Angle Encoder value Encoder Value Encoder Value 0 Point 0 20 0 Point 1 0 0 Point 2 20 0 Previous Previous Previous Finish Figure 32 Encoder Configuration Wizard Magneto Calibration Magnetometer calibration should be performed once Veronte has been installed on the platform so the magnetic field during the operation is similar to the one measured during the calibration bias x kx Start calibration bias_y ky i Precalibrate x Y Z Actua calibrate X Y Z New calibrate X Y Z Figure 33 Setup Devices Sensor Encoder A Note Before initiating the calibration make sure that the following variables are active on telemetry Setup variables telemetry data link Magneto x Magneto y Magneto z gt EMBENTION ED LJ CO N T E cod Veronte SUM v1 11 2 1 do
25. EMBENTION e cod Veronte SUM v1 11 2 1 docx LJE RON TE l P E pag 27 66 Decimation Sensor decimation Min Pressure Minimum pressure readable by sensor Pitot Orientation Pitot orientation on platform Table 11 Setup Devices Dynamic Pressure Radar Altimeter Radaraltimeter settings ask for compatible radaraltimeter options Enable Radar Altimeter Altitude Error 1 0E 4 Vertical speed error 1 0E 4 Maximum angle 0 08 726646 Figure 38 Setup Devices Radar Altimeter Transponder Veronte is fully compatible with Sagetech transponders permitting to configure it from the user interface Configurable parameters are displayed on the Transponder configuration panel please refer to Sagetech transponder manual for further detail on the use of such variables koos OT Mode Off Standby On Alt IDENT Figure 39 Setup Devices Transponder Ublox GPS Configure GPS sensor options only for advanced users Meas Rate 250 0 ms Baudrate 115200 bps x SBAS w Automatic Message rate Position Navigat Speed GPS Time Time p Raw SV Status 250 ms 2 05 250 ms 250 ms DISABL DISABL DISABL Figure 40 Setup Devices GPS 2 EMBENTION a ww LJ E EE CI N T E cod Veronte SUM v1 11 2 1 docx P I P E pag 28 66 Static Pressure Configure static pressure sensor use on the system Custom setting Square error Pa 10000 D Decimation 10 Figure 41 Setup
26. IGURATION 4 43 TABLE 25 CHECKLIST CONFIGURATION 4 45 TABLE 26 PRECONFIGURED CHECKLIST 4 45 TABLE 27 UDP CONFIGURATION 4 46 TABLE 28 TELEMETRY TOOLBAR ee ee ee ee ee ee ee ee aaa aa a ee ee ee rr rr renerne rrrnreree 47 TABLE 29 WORKSPACE CREATION ee ee ee ee ee ee ee ee aaa aa aa a aa ooo oo osesoososouoouoosossaosoaoas 47 TABLE 30 STICK CONFIGURATION ie ee ee ee ee ee ee ee ee ee ee ee ee ee rrrrrrsee 51 za EMBENTION aa LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P wT j P E pag 5 66 TABLE 31 MISSION TOOLE AR ees rie ee eke bo se pt de dee od ba n e SEE EE GR a 53 TABLE 82 MAYPOINT ee ea 54 TABLE 33 POST PLIGHT TOOLBAR nennen een eek 61 Acronyms FHUM Hardware User Manual O ID identification S PFD Primary Flight Display o REC RPAS_ RemotelyPilotedAireraft SUM SoftwareUserManual U SRS Software Requirements Specifications UAV wp Waypoint S O za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 6 66 1 OVERVIEW 1 1 System Overview Veronte Pipe is the software designed for operating any Veronte powered platform Users achieve a combination of easy to use application real time response and firstly safe operations It has been developed using software standard model of IEEE STD 830 1998 Recommended Practice for Software Requirements Specifications SRS and STANAG 4671 documentation subpart I about UAV Control Stations adapted to Veronte sy
27. LE 2 SETUP TABS kat n a ee ee ee Re ek ee na enden Ge ee eie 11 TABLE 3 VERONTE PIPE PREFERENCES 4 11 TABLE 4 SETUP VERONTE Ne 14 TABLE 5 SETUP DEVICES FREQUENCY ee ee ee ee ee ee ee ee ee ee ee ee ee rrrrrrrrrrrrrrnee 19 TABLE 6 SETUP DEVICES ACTUATORS 4 21 TABLE 7 ACTUATOR CONFIGURATION 4 23 TABLE 8 SETUP DEVICES ENCODER ee ee ee ee ee ee ee ee ee ee ee rr rer nerne renerne reen rrrrrrrrrrrnee 23 TABLE 9 SETUP DEVICES MAGNETO NAVIGATION ee ee ee ee ee ee ee ee rr rer r renerne rrrr rer rrrer 26 TABLE 10 SETUP DEVICES STICK PPM ee ee ee ee ee ee ee ee ee ee asesososososososoaosouououoaososoaoaoaoas 26 TABLE 11 SETUP DEVICES DYNAMIC PRESSURE ee ee ee ee ee ee ee ee ee renter rer rrr rr rrrrrrree 27 TABLE 12 SETUP DEVICES STATIC PRESSURE 4 28 TABLE 13 SETUP DEVICES GPS NAVIGATION 4 28 TABLE 14 SETUP DEVICES GPS DIFFERENTIAL es 28 TABLE 15 SETUP CONTROL 4 32 TABLE 16 GUIDANCE SETTINGS ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee rrrrrrsee 32 TABLE 17 CONTROL TYPE ee ee ee ee ee ee ee ee ee ee ee ee ee aa ee sesesosesesosososososoosososoaososoas 35 TABLE 18 PID CONTROL STATUS 35 TABLE 19 PID ELEMENTS Ne 36 TABLE 20 SETUP AUTOMATIONS ee ee ee ee ee ee ee aaa aa a aaa a a ee ee nonon onanio rrrrrree 40 TABLE 21 SETUP AUTOMATION ACTIONS 4 40 TABLE 22 AUTOMATION ACTIVATION EVENTS 4 41 TABLE 23 AUTOMATIONS EVENT LOGICS 4 41 TABLE 24 TELEMETRY CONF
28. aximum and minimum pulse value for the mechanical limits on the actuator Stop PWM Figure 26 Setup Devices Actuators Trim wizard 1 2 Neutral Set neutral position for actuators and control channels To be used on startup and as a reference on trim Box check to enable servo movement with the bar U Pitching Thrusting Servo 2 PWM 1 Rolling Stop PWM Cancel Finish Previous Next Figure 27 Setup Devices Actuators Trim wizard 2 za EMBENTION a LJ E EE CI N T E cod Veronte SUM v1 11 2 1 docx P I P E pag 22 66 3 Select Select a servo to trim Select Servo 1 PWM 0 tching Servo 2 PWM 1 rusting Servo 3 PWM 2 Servo 1 PWM 0 A ing Servo 2 PWM 1 Cancel Finish Previous Figure 28 Setup Devices Actuators Trim wizard 3 4 Value Enter maximum and minimum actuator position for the control variable Minimum value a Stop PWM Cancel Finish Previous Figure 29 Setup Devices Actuators Trim wizard 4 Advanced Configuration Actuator position is given as an S parameter which refers to the control variable associated to the actuator Default units given are e Control surfaces aileron rudder Angle in radians e Motor Value between O and 1 where 1 is max power and O is the point where the motor starts the moving For O motor position it is recommended to set a 5 signal margin in order
29. cecececececececececececacacacacacacacacacacacararacacavaverecars 52 FIGURE 79 MISSION TOOLBAR 2 2 2 aaa ee ee ee ee 53 FIGURE 80 WAYPOINT PARAMETERS ee ee ee ee ee ee ee ee 54 FIGURE 81 POLYGON CREATION ccccccccscscscsesesescsesesesescececscscscecscececscscacacacacacacacacacacacacacacacacaravavacavaverecars 54 FIGURE 82 MISSION s sssssssnssnssnnsinsnnsinsonssnabsahbnunohbohbn hnk n hbn kb akna hnakka kban bnn nn Annn nnn nn AnaS A NSE n ADES E nanana neninn renren 55 FIGURE 83 MAPPING MISSION 1 cccccccccscsecesesesescsesesesesesesecscscscecscececscscscacecacacacacacacacacacacacacacacavavacavaravecans 55 FIGURE 84 MAPPING CREATION ee ee ee ee 55 FIGURE 85 MAPPING PARAMETERS ee ee ee ee ee ee ee ee ee ee ee ee ee 56 FIGURE 86 MAPPING MISSION 4 56 FIGURE 87 TERRAIN AND MAGNETIC FIELD DATA aie e ee ee ee ee ee ee ee ee ee onon onon ou ea sasa sasa ee ee ee ee ee 57 FIGURE 88 SIDE PANEL ee ee ee ee ee ee ee ee ee ee ee ee 58 FIGURE 89 VERONTE PANEL ee ee ee ee ee ee ee ee ee ee ee ee ee 58 FIGURE 90 VERONTE PANEL TUNING SHORTCUT ee ee ee ee ee ee ee ee ee ee ee onon ea ee ee ee ee 59 FIGURE 91 LOG TOOLBAR ee ee ee ee ee ee 60 FIGURE 92 REPORT INFORMATION ee ee ee ee ee 60 FIGURE 93 POST FLIGHT TOOLBAR cccccccsccesesesescsesesesesecececscscececscecececacacacacacacacacacacacacacacacacacacavacacavaveracars 61 FIGURE 94 DATA EXPORT Ne 61 TABLE 1 SETUP TOOLBAR ee ee ee aaa ee ee ee ee aaa aa kaa aa aa asa ee rrnee 11 TAB
30. cod Veronte SUM v1 11 2_1 docx pag 1 66 LIERONT E P l P E Software User Manual Veronte Pipe V1 3 6 A EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 2 66 Table of Contents ENE RUE ES A E A E EE A EA EEA 6 Mes STEN NOUN PP VIE Vi uie ede E E 6 1 2 VERONTE PIPE INTER FACE oe owa ee ee re sn eine ee RE EG ee EE 7 Z INSTALLATION ME OE a ee pt kk a OE OE ke 8 2 1 VERONTE PIPE INSTALLATION sc oe oe AR see ee ee Ee ee Ge Se Se ee a a a a a SG Ge 8 8 2 3 PE EDE ERG EG ee Pn ee ee a tm re e ka a Aa ee er 9 S USERS aaa sed ek ek pk l lk ft a EE Ge ed Ge eb pk l ei AE GE een 10 SET 11 A ali VERO Ne RE 12 4 2 VERONTE AUTOPILOT see es ee a a Ge ea a ee De EE Ge De OGE be GE ep de 14 TUNNEL 45 5 WORKSPACE CONFIGURATION ee 47 oi PAD E A EE NE N GE D aa EE OE N NE 47 SR 48 5 3 ADVANCED PRIMARY FLIGHT DISPLAY cccccccecccceccccccccccceceacecencecenceceaceceaceceaceceaceceaceceaceceaceceacecsaseseacenss 49 BF SNC SA N OO EE RO OE RO N aaa 50 one RA EE ET EE rn N RR EE N OE N EE RE ER N ME EO ON 51 Be LEN NEE ER OE NE ONE EO OE EO od 51 6 PLIGHT RE 53 6 1 WAYPOINT CREATION is oes ses Se Ge Ge ad Se ee Ge GE Ge A oi RE De ea bee oe DE e 53 6 2 MAPPING TOOL pp 55 6 3 TERRAIN PROEIEE siese Ten a oa ne aa OE EG GE ra GO Gie GE OO EG a 56 OPERATION ii N oe art Ge Ge of fl at ed Oe ar Ge Ge ER ee Oe Ed ee N Ga ER ed e Ra Ed Ge we 58 LO 60 gt R POS PC SR
31. cx wT P I P E pag 25 66 In order to start calibration press on the Start Calibration button so the system can capture magnetometer data During the calibration the system must be oriented in all possible directions so enough data can be captured Once enough data has been captured Compute Data sets the calibration The procedure for acquiring enough data for performing the calibration is e Hold the platform with your hands on the Y axis and rotate it parallel to ground e While the platform is rotating rotate also yourself so the platform turns in two axes simultaneously e Turn the platform 90 degrees within your hands and repeat the operation Yaw 1 ae KT KI Ch neh Figure 34 magnetometer calibration procedure Once three circles have been drawn on the screen captured data will be enough for saving the calibration data The following image shows an example of the calibration result Start calibration bias X 0 29702584814227595 k X 0586923625767523 blas Y _0 12203297925805784 KY 0 2973864362346599 bias 2 0 304061118583464 KZ 036988663216152706 Precalibrate X 0 16959064 Y 0 39181286 Z 014473654 Actual calibrates X 0 16959064 Y 0 39181286 Z 0 14473684 New calibrate X 0 09799161 Y 0 3247512 Z 0 5023342 Figure 35 magnetometer calibration values Magneto Navigation Enable or disable magneto for navigation and configure magnetometer parameters Enable Magneto Use 2D v Decimat
32. d area Just click on the areas of interest and it will light green as they are downloaded za EMBENTION aa LJ N T E cod Veronte SUM v1 11 2 1 docx P i P E pag 13 66 er w Seat W ES Orn ai A S CHS pow RATAN Er 3 pl n p u fa Remove all cache files Load default Figure 8 Veronte Pipe Terrain height User can include its own terrain providers to be used for flight altitude estimation Click on add and enter required information for adding your own terrain altitude provider Name Ge Local O Remote htta Type Web FTP Figure 9 Veronte Pipe Terrain height Add 4 1 2 Units There is multiple system variables defined Veronte arranged in categories For each category user can set as many custom units as desired by entering the corresponding conversion formula adding multiple points on the graph Ai EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 14 66 Velocity Length Acceleration Temperature Symbol Custom Magnetic flux density Potential difference ones Hd Current Pressure Time Angular velocity Volumetric flow rate ii X 10 Y 10 Custom type E Percentage Transfer Rate Custom Figure 10 Veronte Pipe Units 4 2 Veronte Autopilot 4 2 1 Veronte Introduce Veronte identification and platform layout Part Number Introduce Veronte part number Part Number
33. e PC increasing the data accuracy recorded on the PC during the flight Once BIN data has been imported to the PC it is possible to export a CSV file in order to analyse data on any other software This CSV file uses for data separation and for decimal indication 9 2 Tour Flight data can be played on Veronte Pipe permitting to display all available flight information as done during the flight In order to play a tour select the date and mark the Veronte Autopilot information to be played flight data available will be shown on the timeline 2 EMBENTION JEROMTE e P l P E 10 APPENDIX 1 cod pag Veronte SUM v1 11 2_1 docx 62 66 The number ID of the most important variables of the Veronte autopilot and their description are shown in the following table Desired IAS Indicated Air Speed 1 IAS Indicated Air Speed Desired TAS True Air Speed TAS True Air Speed Desired GS Ground Speed GS Ground Speed Desired Heading Heading Desired Flight Path Angle Flight Path Angle Desired Bank m e O 1 Bank pa 2 Desired Yaw pa w el lt pa D Desired Pitch RVAR 5 Pitch pa 6 Desired Roll pa NI pa 00 Desired Along Track Position Error 19 Along Track Position Error Desired Cross Track Error N 1 Cross Track Error Desired Vertical Error Vertical Error MSL Height Above Mean Sea Level Altitude AGL Above Ground Level Heigh
34. e Si ne Ge in 15 FIGURE 16 OUTPUT CONFIGURATION asien 16 FIGUR TA TONNEL Ge anc ae GEORG an ERG EG Ge em ans eee ee an F ee 16 FIGURE 13 JADEN de ee een ee eo pe eta en EG ke EG 17 EL ER CAMs ee EE se ee N OE OE EO 17 FIGURE 20 CAN MAILBOXES sessies dees Se ee nun 18 IG URE 21 CAN ETER esse us ee n ti aso ee is de ki tar ie E N ante eo kaa e Di ine 18 HIGURE 2E AN TELEMETRY een 18 FIGURE 23 SETUP DEVIEES EREOUENE Vs esse eN sesse gie pe ies Ga ee Gee oo es ee linie 19 FIGURE 24 SETUP DEVICES ETHERNET issie ss triste Ge ee ee Ge ie ea alos AN ez Ge GR ee 20 FIGURE 25 SETUP DEVICES ACTUATORS9 1 20 FIGURE 26 SETUP DEVICES ACTUATORS TRIM WIZARD ee 21 FIGURE 27 SETUP DEVICES ACTUATORS TRIM WIZARD 2 ees esse see see see see ee ee ee ee ee ee ee ee ee ee 21 FIGURE 28 SETUP DEVICES ACTUATORS TRIM WIZARD 3 see see see see see ee ee ee ee ee ee ee ee ee ee 22 FIGURE 29 SETUP DEVICES ACTUATORS TRIM WIZARD 4 ees sesse see see see see ee ee ee ee ee ee ee ee ee ee 22 NO 22 FIGURE 51 SEI UP SESDE VIEES ENEODE Roes issie es se ie akt We Ge ee tn Ge e ee akt e ki ane ee eat ra Ge ee 23 FIGURE 32 ENCODER CONFIGURATION WIZARD pp 24 FIGURE 33 SETUP DEVIEES SENSOR ENEODER nee een 24 FIGURE 34 MAGNETOMETER CALIBRATION PROCEDURE 1 25 FIGURE 35 MAGNETOMETER CALIBRATION VALUES 1 25 FIGURE 36 SETUP DEVICES MAGNETO NAVIGATION pp 25 FIGURE
35. e bias Z body axis 300 331 Actuator Output s1 32 400 431 Distance to Object of Interest 1 32 800 Wind Velocity North Wind Velocity East Wind Velocity Down 804 Wind Velocity North Estimation Covariance 900 999 X plane simulation variables 1000 1099 Custom Variable 1 single precision 1 100 No selected variable No code value GPS navigation code Fdr not writing code Ready to fly code File system code Georeference code CAN A RX code pa 0 CAN B RX code pa 1 CAP A code pa 2 CAP B code 13 SCI A code 14 SCI B code 15 SCI C code BIT pa 6 McBSP Multichannel buffer code 17 Stick receive watchdog 18 CAN A TX code 19 CAN B TX code 20 31 SERVO 1 12 code EKF Cholesky inverse code EKF Inverse condition number code System general start up BIT code Power A BIT code Power B BIT code Task O real time error Task 1 real time error Task 2 real time error Task 3 real time error za EMBENTION OOI i i E cod Veronte SUM v1 11 2_1 docx B E pag 66 66 D N A za EMBENTION
36. e platform direction Visualization configuration options are as follows za EMBENTION e LIE WIDGET Width px Height px Orientation Ground Color UAV Color RONTE P E SCALE Horizontal scale 600 0 Vertical scale 300 0 Fixed scale Left to right Right to left Autoscale HM Centered UAV cod Veronte SUM v1 11 2 1 docx pag 52 66 1000 0 ii Max AGL 1000 0 mi Min AGL 500 0 p Upper margin 3e Bottom margin 36 Upper distance Bottom distance Figure 78 Terrain profile configuration WIDGET user can define the widget size in pixels width and height ground and UAV colours and the UAV ahead orientation from left to right or the opposite SCALE horizontal and vertical scales can be configured o Horizontal scale terrain length to be displayed o Vertical scale there are three options Fixed scale user selects Maximum and Minimum AGL scale limits Auto scale terrain displayed will be auto scaled when UAV altitude reaches the upper or bottom margins stablished Centered UAV user can define the upper and bottom distance which are represented 2 EMBENTION e 6 FLIGHT PLAN For operation planning the mission toolbar must be used LJ E EE CI N T E cod Veronte SUM v1 11 2 1 docx P I P E pag 53 66 Tv our sr AH IRRE Figure 79 Mission Toolbar Main functions available are le oven Co n oara pr IE
37. es panel permits to configure any device payload sensors connected to Veronte and the internal Veronte ones 4 2 3 1 Veronte Frequency Working frequencies on Veronte Autopilot Frequency OS 1000 0 Hz v Lo 30 3 Hz v High 200 0 Hz v Super high 500 0 Hz v Figure 23 Setup Devices Frequency os Operative System working frequency Low Low priority tasks mainly for telemetry other operations High Working freduency for GNC tasks Super High Sensor capture and high priority tasks frequency Table 5 Setup Devices Frequency za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P i E pag 20 66 Ethernet For Veronte units equipped with Ethernet board it is possible to configure Ethernet parameters Source Port 12345 Mac 1 0 94 0 0 1 sr Figure 24 Setup Devices Ethernet 4 2 3 2 Control Actuators Calibration interface for connected actuators On this panel it is possible to set actuator position for ach control signal output permitting to configure the maximum and minimum values and custom performance Move to start up Move to current value Allow command out of limits Wizard we EE Al ul a AZ UZ aa La A3 LI3 170 Ad AS Servo 1 PWM None Set 10 S 36 3309 Disable semo Set 10 s 68 7050 Start up 0 0 3 Limit acceleration Limit deceleration 55 a 55 40 EL 25 125 1 00 0 75 0 5
38. ge Display Configure drag and drop displays for each telemetry variable and place it at any place on the screen GAUGE in Speed SELECTED AIR Sou BAR LABEL RADIAL CHART x Decimals 2 m s x Scale Medium Ground speed Ground speed Down Min 0 0 Max 80 0 SR Ground speed East Degrees 270 hd Ground speed North ao J Offset 225 m Guidance Acceleration X body 00 gt to m a Guidance Acceleration Y body Guidance Acceleration Z body on ml a 4 Guidance Attitude Pitch Guidance Attitude Roll Guidance Attitude Yaw Guidance banking Guidance down velocity Guidance east velocity v 2 Figure 71 Gauge Configuration 2 EMBENTION LJ E EE N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 49 66 e In order to setup a gauge select the variable to display from the available in the system and configure the display layout Layout and colours are highly configurable some gauge examples Altitude 0 0 m Altitude 0 0 km Altitude DO it Bar label Radial Chat 5 3 Advanced Primary Flight Display Primary flight display layout is highly configurable in colours and size User can select the 2D and 3D visualization modes plus to display actuators and control channels WIDGET PFD 3D Width px 400 0 w Compass Enable 3D Height px 400 0 Indicators g w Pitch Color Sky HM w Roll Color Ground r Control surfaces Mr 3D model wv Ailerons Control 2 w Manage model
39. gured for Stand By e Simulation Simulation mode Simulation transitions permitted are Initial to EKF or Initial to Simulation Table 21 Setup Automation Actions za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 41 66 Activation events are Waypoint Execute actions on waypoint arrival Select a range for any variable on the system Mode Select the flight modes for the event to take effect eon cota s tonto be go eene pre anon Seesmic Prase Seer Rehan wih ewe wlibeasve Table 22 Automation Activation Events Events can be grouped on an automation introducing some logics onl Xerror OR onRXerror Link off Quad NOT Automatic Mode Figure 60 Automations Event Logics All events grouped on an AND should be accomplished simultaneously in order to activate the automation One of the events in the group should be accomplished for activating the automation The event will be active meanwhile the event or event group is not accomplished Table 23 Automations Event Logics There is a Time parameter when configuring an event This time refers to the time the event Should be active in order to consider that the event has been accomplished Enter O or a negative value in order to activate the automation immediately after the event has been accomplished 4 2 8 Variables 4 2 8 1 System Variables Names Enter custom variable names fo
40. he activation button on the virtual stick configured on the workspace Stick Configure stick parameters for manual and assisted manual system control Raw channels to servo transformation matrix Offset after applying transformation to servos Overs X 5 FS QO Th 10 Enabl jw Ovenwr x P 0 T OO Enabl Cvenwr W Add Figure 43 Stick Configuration Use the raw channels to servo transformation matrix in order to make virtual servo missing and for customizing servo outputs Offset value will be added to output once the transformation is performed Click on Mask Servos in order to disable the stick control over those actuators It is possible to set multiple joystick inputs with the respective priority from top to bottom UAV MCU amp Port refers to the Veronte unit where servo is connected time is the time without reception to change to the following input Enable enables receiving data from that stick and overwrite permits to have multiple inputs for different channels Virtual Stick Configure virtual sticks on the system select an input variable containing the stick data and select the Veronte unit destination to control za EMBENTION LIERONTE e P i P E pag Enable Virtual Stick Input Variable Update Frequency Custom variable 32bits oo He Output w Enable Initial Channel at destination 1 Port 0 l WAV 1 Min preiad 0 0 Delta hemote _ MCU D Max period
41. ion configurable as Radio External datalink radio connection Fully compatible with radios not including Communications protocol output in one Veronte unit should be the input on the linked Veronte unit ask for custom protocol configurations Tunnel Bidirectional tunnel between Veronte units e Baudrate Communications baudrate Baudrate 57600 bps v a P e Length Message length tengih ba e Stop Communications Stop Stop 1 an e Parity Message parity Parity Disabled Figure 17 Tunnel Magnetometer External magnetometer connection Transponder External transponder connection fully compatible with Sagetch transponders ask for compatibility with other systems Capture Capture port for input data 4 2 2 3 DIG IN Digital input for custom sensor or payload connection za EMBENTION LJ E EE CI N T E cod Veronte SUM v1 11 2 1 docx P I P E pag 17 66 Stick PPM joystick connection for platform or payload control Tunnel Digital input between Veronte units RPM RPM or similar sensor connection Varconsumer Connect any sensor or external device linking received data to a system variable 4 2 2 4 ADC IN Analog signal input or external battery voltage measurement selectable Values e Selectable values Linked system variable Va able Analog Input x Measure Sensivity x Vin Offset e Bound error Link system error to input data Offset 0 0 x Choose a
42. ion 10 Error X 0 005 Gauss Y 0 005 Gauss 0 005 Gauss Figure 36 Setup Devices Magneto Navigation 2 EMBENTION e RONTE i P E cod pag Veronte SUM v1 11 2 1 docx 26 66 LIE Choose angles for magnetometer use 2D Only use horizontal measure for navigation 3D Use 3 measures for navigation Magnetometer decimation Error Magnetometer error Table 9 Setup Devices Magneto Navigation Stick PPM Configuration for the joystick connected through the PPM port Pulse polarity Positive Negative Sync time 0 004 z Min pulse 1258 4 5 Max pulse 505 4 Position i i Min accepted 8 0E 4 5 Wax accepted 0 0022 5 Min value encoded 9 06 4 5 Max value encoded 0 0021 5 Min channels Fi Max channels B Channel Disabled Enabled Filter Non linear low pass filter 1000 0 kur kr Min delta 0 0 Wax delta 1 0 Max delta alpha 0 02 Min delta alpha Table 10 Setup Devices Stick PPM Dynamic Pressure Configure dynamic pressure sensor input in Veronte Custom setting Square error Pa 10000 0 Decimation 1 Minimum pressure 16 0 Pitot Orientation 4 2 10 0 0 0 0 Figure 37 Setup Devices Dynamic Pressure Choose the dynamic sensor pressure use on the system Disabled Do not use dynamic pressure sensor for navigation Custom Settings Use sensor with custom settings e Autocalibrated Variance Use sensor with automatic settings Sensor error Type 2
43. larm and limit values Sensitivity 1 0 NOTE Measure Sensitivity Vin Offset w Use bound error check Alanm Power B error Min Value 3 Max Value 36 0 Figure 18 ADC IN 4 2 2 5 CAN CAN bus configuration Configuration Badral 50 Kbps _ Baudrals Global configuration baudrate e TSEG1 Time segment 1 TSEG1 10 e TSEG2 Time segment 2 These values should only be changed by experienced users TSEG 7 z default values are as shown on the picture Figure 19 CAN Mailboxes Up to 32 mailboxes can be configured for message transmission and reception Mask Length e Config Mailbox type TX Transmission mailbox x RX Reception mailbox x RXO Reception overwrite mailbox e ID 11 bit message TX or RX ID decimal e Mask mask filter for RX messages decimal gt EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P j e E pag 18 66 Figure 20 CAN Mailboxes e Lenght Message size in bytes 1 to 8 e Transmission TX mailboxes should be configured in order to permit the message transmission trough the CAN port Messages will be transmitted with the configured ID and size e Reception Received messages will be stored on RX mailboxes until this data is written on a consumer Any incoming message received after configured mailboxes are full will be discarded In case RXO mailbox has been configured new incoming messages for this ID will be overwritten on the defined mailbox e Mask
44. lay or use manual switch on Veronte Panel Guidance Loop Arcade TC Pannel ET Standby Period 0 0 Climbing Plane S t Disa Pursuit Plane Hold Descending Plane Loiter Plane fe Free Plane Takeoff Quad Climbing Quad Pursuit Quad a E Landing Quad LE TEE Free Quad Desired Pitch VHold Quad A None Time Ramp time Slope Ramp rate Ewma TAU Hower uad SWE a ni 1 Constant value 0 0 ra Quad to Plane nstant val rad Plane to Quad Eivel Desired Roll IT L a None Time Rane time Slope Ramo rate Ewma TAU Constant value 0 0 rad New Phase Desired Yaw Figure 47 Setup Control For each phase user must configure three main elements Guidance Select guidance type and main parameters Loop Set control loops Arcade Configure arcade mode for assisted manual control za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 32 66 TC Panel Configure lateral slider options on the Veronte Panel Table 15 Setup Control 4 2 4 1 Guidance In order to configure the guidance the following parameters must be entered Name Set a custom name for the control phase to be displayed on Veronte Panel Enter a control step period for the control phase Select the guidance type from available described below When No Change is selected control parameters on phase entering will be maintained Table 16 Guidance Settings For each g
45. le from the Veronte Panel Desired Roll Desired Pitch ew Desired Yaw Rate Pitching Block 1 Pitching Block 0 Rolling Block 1 Rolling Block 0 25 50 in El in dele te mn le le ml DO 25 50 75 100 Figure 54 TC Panel 4 2 4 2 Envelop Enter aircraft flight envelop limits that will be never exceeded on the control w Stall speed 10 0 m s w Ground speed 6 0 m s Figure 55 Envelop 4 2 5 Modes In this section users can select the controller for every mode The main idea is to set who is controlling the platform dynamics The interface options are Pichina rest Roning Tvaving Penn JThrustin Roing Yawing c maa ee 5322 ven sO gt gt gt m ss lc lll em EZ EE Add Figure 56 Mode Settings It is every common to find an automatic mode where all the dynamics are controlled by the autopilot Likewise the manual mode is completely controlled by the remote controller rc To change any of this options click on the cell you would like to change and the next option will be set 2 EMBENTION ED LJ CO N T E cod Veronte SUM v1 11 2 1 docx wT P I P E pag 39 66 4 2 6 Navigation Navigation parameters are configured on navigation tab Being possible to configure accelerometers gyroscopes sensor measuring filters angular speed estimation filters state vectors and wind influence Acelerometer Qnfb 3 0E 4
46. nd Magnetic Field data 2 EMBENTION NY P I P E pag 58 66 LJ E EE CI N T E cod Veronte SUM v1 11 2 1 docx 7 OPERATION Once both Veronte units the one on the control station and the one onboard are configured and the mission has been loaded to the aircraft the system is ready to start the mission A list with linked Veronte units is displayed on the side panel This display shows information and warnings U Tierra 192 168 137 106 U Veronte 1 GPS Navigation down GPS Raw down System not ready to start Stick error Figure 88 Side Panel Click on any Veronte to display Veronte Panel it permits to control any telecommand actions AE ad N LoiDes Appro Desc per Flare tt lt gt Figure 89 Veronte Panel Current phase is marked in green select one of the blue phases to change to phase manually In order to change phases all required checklist elements must be completed In order to enter a phase there are two options By clicking on the phase name the system will enter on the phase with the preconfigured parameters click on the settings button on the right for entering to the flight phase changing the phase parameters The view icon enables the visualization of the phase on the screen Phase parameters can also be configured on the control tab on the setup menu Dependencies between phases and automatic phase transitions are configured on the automations panel During the operation the following ac
47. onfigurable items are described below Phase Select the phase on which the checklist will be shown Name 0 Enter the checklist item name System checks Select from the combo box preconfigured checklist elements Obliged to change phase Select if required for phase change Show only first Select for showing the checklist only once Table 25 Checklist Configuration There are some preconfigured checklist items Table 26 Preconfigured Checklist 4 2 10 HIL Refer to the HIL Simulator manual in order to configure XPlane parameters for simulation 4 3 Tunnel UDP The tunnel UDP allows the user to send data from Veronte autopilot to an external program or application The system uses the User Datagram Protocol UDP 4 3 1 UDP Tunnel menu UDP Tunnel menu allows the user to select the IP and Port number to send the data from Veronte UDPT unnel 127 0 0 1 Figure 65 UDP Tunnel Config za EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 46 66 4 3 2 UDP Tunnel file Inside the folder containing Veronte Pipe the user can find the file sa tudp by following the following path resources UDPTunnel sa tudp In this file we have several options to configure the data sent and format Next each of the parts of the file is explained Magi LO false LO u1 1 RVAR 1008 gt 60 manage Veronte data u1 1 RVAR 1008 lt 70 UAV Address of the autopilot 255 1 2 etc
48. owing display items are configurable e Map Configure map display items and create extra pop up maps e Gauge Select the variable to be displayed and configure the appearance e Cam Configure displayable information on cam e Advanced PFD Configure Primary Flight Display preferences e Stick Configure virtual sticks for manual control e Terrain Configure terrain profile display appearance Each display it permits to select the Veronte unit information to be displayed Choose Selected to display telemetry information from selected Veronte To select one Veronte unit click on it at Veronte panel or side panel 5 1 Map Display Map widget permits to configure the background map select from the available list for setting the main window map Map Figure 67 Map Settings za EMBENTION e LJ N T E cod Veronte SUM v1 11 2 1 docx P I P E pag 48 66 5 1 1 Custom Background Maps Custom maps can be displayed in Veronte Pipe It permits to include as many images as desired that will be displayed over the map Figure 68 Background image example In order to insert an image within the map just drag the image and drop it on the map A popup window will be displayed to position the image within the map Click on save to go to the image manager where image coordinates can be entered manually Figure 69 Background image positioning Figure 70 Background image manager 5 2 Gau
49. r Width resolution Speed m s TAS hi Height resolution W Altitude AGL m Focal length mm Width sensor mm Im age Height sensor mm GED Forward owerlap I Sideward overlap w Create Figure 85 Mapping Parameters Click on crate and the mission will be generated 7 oo TY NEER Once the mapping mission has been generated the complete mission or the selected part can be included to the mission on Veronte Select if the mission must be added to the existing mission selected on the mission toolbar or if it must be overwritten and press Accept to save it 6 3 Terrain Profile In order to display terrain profile options click on the details button on the Mission Toolbar This panel permits to configure the zone of operation so the terrain data and magnetic field data from the operation zone Terrain and magnetic field information are automatically loaded on mission generation but for some operations it may be interesting to do it manually 2 EMBENTION ha P I P Terrain Profile LJERONTE Auto Margin Fine Show Max resolution Coarse Show Magfield Auto North 0 0 East 0 0 Down 0 0 Latitude 0 6672684 Longitude 0 0147771 cod Veronte SUM v1 11 2_1 docx pag 57 66 Latitude 0 665814 Longitude 0 0133226 Latitude 0 6743952 Longitude 0 0219038 Latitude 0 6586872 Longitude 0 0061959 Select in Map Figure 87 Terrain a
50. r predefined variables on the system Click on table and enter custom name for variable za EMBENTION LJ E EE CI N T cod Veronte SUM v1 11 2_1 docx wT P l P E pag 42 66 Default name Custom name Default unit Acceleration Bottom body Acceleration down Accelaration m s Accelerometer A body axis Acceleration forward Accelaration m s Accelerometer Y body axis Acceleration right Accelaration m s Accelerometer Z body axis Accelaration m s Accelerometer Z body axis Angular Velocity rad s Figure 61 Variable name customization Operations It is possible to configure custom operations to be performed in Veronte by selecting the input and output variables and operation parameters IIR ADC channel 13 Task Nane IIR digital filter enter the parameters for filtering the H z b 0 b i 2714 b nb b nb 2 variable value a 0 4 a i z a na afna z na Mane FXY XY ADC channel 13 Task High FXY matrix complete the table for setting an output Var EET value according to two input ones ADC channel 15 Table C channel 14 ADC channel 15 za EMBENTION ww LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 43 66 Linear Expresion ke es O ADC channel 13 Output variable acquires the value of the sume of input variables multiplied for a Constant value 0 0 constant value Constant value 0 0 Constant value 0 0
51. s w Elevator Control 0 w w Rudder Contral 3 w Figure 72 PFD Configuration e WIDGET user can define the widget size in pixels width and height sky and ground colours e PFD user can decide if compass indicators and surfaces are displayed its colours and the control channels e 3D allows to modify 3D options If 3D visualization is enabled waypoints and external cameras can be displayed o By clicking the camera icon user can select camera view PFD internal camera at cabin UP BACK BACK FRONT LEFT RIGHT o When an external camera is selected it will be displayed a slide to change distance between the camera and the aircraft and a MOVE CAMERA checkbox wich permits to move aorund the camera by dragging the mouse on the widget 2 EMBENTION ED LJ CO N T E cod Veronte SUM v1 11 2 1 docx wT P I P E pag 50 66 e 3D model Manage models button displays a configuration pannel to introduce the custom aircraft model to be displayed o Open it permits to select a STL file to be loaded o Save save user changes in a STL file o Use this model select the current model to be displayed on the widget o Origin units user can select origin file units The model is real scaled according to the terrain shown on the widget Size percentage scale factor Axis max axis length in meters o Translate rotate camera translate and rotate modify model orientation Camera change the view displayed in Model 3D
52. ssies ede od se eN mt ak Ge SO EG eN OG ee Ge ee DS ee ki ou abse 39 FIGURE 59 SETUP AUTOMA TIONS PERIODICA Lv sees ie Go ee vii aa ti vi lto N ee ee ee Gee 40 FIGURE 60 AUTOMATIONS EVENT LOGIES aus a be ne av ee A 41 FIGURE 61 VARIABLE NAME CUSTOMIZATION pp 42 FIGURE 62 SETUP TELEMETRY sisie er ee sessie nennen 44 FIGURE 65 SETUP PANEL SHORT PHASE a Ee Go sy an len Se pi gi GE pe kn Ge KR e RA 44 FISUREBASCHEER ST nennen 44 FOURE G3 ADPLNNE LEON EG Ener nein 45 FIGURE OO TELEMETRY TOOLBAR ees Re try ee ee Ge on Ge Ge oe ee a ok eg Ge e E 47 FOURE 87 MAP SET TINGS ese ner E E 47 FIGURE 68 BACKGROUND IMAGE EXAMPLE sasies derdes ses esse ee 48 FIGURE 69 BACKGROUND IMAGE POSITIONING pp 48 FIGURE 70 BACKGROUND IMAGE MANAGER 1 48 za EMBENTION aa LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P D i P E pag 4 66 FIGURE 71 GAUGE CONFIGURATION cccccccscsescscsesesesesesececececscecscececscscececacacacacacacacacacacacacacacaravavacavavevevaes 48 FIGURE 72 PFD CONFIGURATION cccccccccccscsesescscscsesesesessececececscecececececscscecacacacacacacacacacacacacacacaravavacavavevacers 49 FIGURE 73 3D MODEL ee ee ee ee ee ee ee ee ee ee 50 FIGURE 74 PFD EXAMPLES ee ee ee ee ee ee ee ee ee ee ee ee ee 50 FIGURE 75 STICK CONFIGURATION ee ee ee ee ee ee 51 FIGURE 76 STICK DISPLAY ee ee ee ee ee ee ee 51 FIGURE 77 CAMERA DISPLAY CONFIGURATION 4 51 FIGURE 78 TERRAIN PROFILE CONFIGURATION c ccccccesecececece
53. stem Supported operations include Telemetry View real time on board UAV metrics such as sensors actuators and control states Telecommand Support for all synchronous operator control commands that can be sent to the flight segment e g operational mode switch mission management payload control and so on Mission design Configure missions with waypoint definition payload target definition and coverage analysis Mission analysis Rebuild all recorded data from a previous flight and generate plots and reports Configuration Edit RPAS settings such as servo trim interface port management and so on Multiple Users One or more operators can work simultaneously Veronte powered systems have two main elements air and ground segments AD f AN A Y NS N N N N N A U TOPILO Is N N 10 daa Figure 1 Veronte System Overview ht Veronte onboard unit includes all necessary elements to communicate with control station segment take flight measures control the aircraft and control the payload Veronte unit on the control station redirects stick and PC data to the onboard segment and manages bidirectional communications between Veronte Pipe and the unmanned vehicle Z EMBENTION e LJ N T E cod Veronte SUM v1 11 2 1 docx P l P E pag 7 66 1 2 Veronte Pipe Interface Workspace on Veronte Pipe is distributed as shown on Figure 2 Veronte PipeV13 6 O x
54. t Desired Roll Rate 27 Roll Rate Desired Pitch Rate Pitch Rate Desired Yaw Rate gt EMBENTION l i i E cod Veronte SUM v1 11 2 1 docx E pag 63 66 og C m J U 3 Yaw Rate Desired Forward Acceleration X body axis Forward Acceleration X body axis Desired Right Acceleration Y body axis Right Acceleration Y body axis Desired Bottom Acceleration Z body axis 3 N Acceleration Bottom Z body axis Desired RPM RPM 40 48 Control Output u1 u9 51 Time since hardware start up Longitude Latitude WGS84 Elevation Height Over The Ellipsoid GS Ground Speed North GS Ground Speed East 57 GS Ground Speed Down Sensor IAS Indicated Air Speed Angle Of Attack AoA Sideslip 6 Accelerometer X body axis Accelerometer Y body axis Accelerometer Z body axis Gyroscope X body axis Gyroscope Y body axis Gyroscope Z body axis N Magnetometer X body axis Magnetometer Y body axis Magnetometer Z body axis 7 oO Power Input 71 Analog Input Pitot Dynamic Pressure Barometric Static Pressure Internal Temperature 94 105 PWM 1 12 108 Radar AGL Above Ground Level Height 109 Radar Ground Speed Up 112 127 Stick Input r1 r16 128 143 Stick Input y1 y16 za EMBENTION LIE Q J U l i i E cod Veronte SUM v1 11 2 1 docx E pag 64 66 og 150 Used Memory Space 151 Free Memory Space 180 189
55. the update process For manual updates follow the indications below A Caution Although newer versions are usually compatible with older ones when upgrading the system updates must be done in the correct order It is mandatory to update Veronte Pipe on first instance Veronte Onboard second and last one should be the Veronte on the Control Station Otherwise part of the system could become unreachable A Caution Never turn off Veronte during the update process It could cause irreversible damage to the unit After installing las Veronte Pipe version Veronte units on the side bar will be displayed as follows and Veronte compatibility alert will be displayed Compatibility Mode Veronte in compatibility mode Veronte version is not compatible with this Veronte Pipe Update the Veronte to version v1 3 6 or use Pipe vl 4 0 Select an option to exit compatibility mode Update Figure 3 Compatibility mode In order to perform the update click on update and press select the right update file for the Veronte unit you which to update The upload process will start A Caution During the update the system will reboot so never perform an File CAUsersyea Desktopyw200 update j i update during an operation Veronte File i A Caution Make sure you choose the peon EE lake right Veronte Update file for the TEE MEE w200 update selected Veronte Autopilot otherwise unit recovery may be needed PN V3OOMEZE V3OOMEZE Address
56. ther phases To do so just select Copy by right clicking on the desired PID and select the suitable phases FEE Pa ed Climbing Guidance Pursuit Attitude Guidance en ED rate Desc Pitch ER Hold Attitude Fitch rate LoiDes Fitch ADSI Figure 51 Copy Option Fixed Settings When fixed mode is selected the following diagram is displayed Output transition from output value when phase starts to a new fixed value EE mm mm kode koke Figure 52 Fixed Value Settings Three values must be entered the remaining time in the starting conditions the transition time and the variable final value 4 2 4 3 Arcade Mode Settings Arcade mode permits to have a simplified manual flight mode The stick movements actuate directly over the control variables instead for a user friendly aircraft control Parameters are configured for each phase by setting values available when Show Arcade is selected Guidance Attitude Pitch T 2 5 Integral Guidance Attitude Roll 25 Integral Guidance Indicated air speed T 3 0 Integral Figure 53 Arcade Mode Settings 2 EMBENTION D P i P E pag 38 66 LIERONTE cod Veronte SUM v1 11 2_1 docx User can enter the affected control variables and the gain for each one Select Integral for continuous variable value increase on joystick hold or leave it unchecked for resetting the control variable value after joystick release 4 2 4 1 TC Panel Select the variables that will be accessib
57. tions can be performed e Flight monitoring Flight data can be monitored on the control station using telemetry displays Telemetry display configuration can be edited during the flight e Edit mission Mission can be edited prior or during the flight e Change phase Phases permit to set the vehicle configuration to a specific performance Click on a phase to initiate this phase 2 EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 59 66 e Activate manual assisted manual modes By pressing the preconfigured joystick button or selecting manual in Veronte panel it is possible to control the aircraft in manual mode Once the manual mode is deactivated it will continue in automatic mode continuing with preconfigured route e Abort mission Go Home button can be configured to appear in the Veronte panel It can be configured on the automations panel During the operation it is possible to adjust the controller parameters it can be done directly on Setup Control working directly on the PID parameters or can be done in the Veronte Panel by using the shortcuts configured on the Setup Control On this panel it is possible to configure sliders to be active on the Veronte Panel Desired Roll LA La Desired Pitch _ LA La Desired Yaw E mi kanal Figure 90 Veronte Panel tuning shortcut A Note Control parameters set from the Veronte Panel are only applicable to the current
58. to make sure that the motor fully stops in all configurations Actuator positions must be given according to the international aeronautical sign convention Pitching Rolling Figure 30 Sign Convention 2 EMBENTION e LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 23 66 Example an elevator down position will generate a positive pitch so the elevator is considered positive on down position Main actuators rules mo mm w Table 7 Actuator Configuration A Note Maximum and minimum values must be set according to physical actuator limits Configured limits w ll never be exceeded by the system in any flight mode 4 2 3 3 Sensors Encoder Configure connected encoders on Veronte draw as many points as needed in order to correlate the encoder input data on Veronte to the desired value on system Offset 0 Input none Wizard TISE aa For Output none 01000 8 10 00 15 15 00 30 50 00 An al C ri T 1 ni 15 E 1 rn TEE ann E mr AILE 7 7 pi J 5 1 75 12 5 Ei 17 5 20 0 25 25 0 FLE 30 0 32 5 Figure 31 Setup Devices Encoder Offset The entire graph will be displaced the offset value Graph Draw as many points as required for calibrating encoder performance e Encoder RAW Real encoder captured data Encoder Calibration S value corresponding to the encoder data UVar Input variable for the encoder RVar Output variable for the encoder data Table 8 Setup
59. tt asi ES cance wantin wesw GER ee a Oe ee Ge ER ei Ge Oe e F F Ge GER GO N N ee e Es 61 1 1 DATA EPO es nat a l AE ER eee ie EG ER Ne DR Eier ee EE nee a e pe EE Ee 61 BD VOB Ed a lan Ee ee ee e kt ta cua ee oe ER ll EE EG Oe 61 10 APPENDIX RA iss sesde eN oe Ge ee ee 62 Figures and Tables PIGUINE Is VERG NIES ITEM OME REM os ees ee We ee ee Ne ena De Oe oe Gee at ed pa ge 6 FIGURE 2 INTERFACE iets iN side sind ie ole etan eie al dpi rd sis ee oi Ge kato eo ei Ge ie Gr ie el eb da Ge bb 7 FIGURE S COMI EAB LI MODE is sie es era 8 FIGURE 4 COMPATIBILITY MODE ande 8 FISURE gt LOGIN SE REE N sesse ai tib it poo ent t eN ed EEE Ge ks ke NG Doe Ge GE 10 HELURE 6 SETHP TOOLBAR eo sn l diou danje E Ge oe ee ie ep EE GE GE rn 11 FIGURE VERONTE PIPE PREFERENCES is ien ee Ge Ee pon ote we ea Ge pa pen tk e e ba apik ri kk 12 FIGURE S VERONTE PIPE TERRAIN MERS MI sessie sn ata ponp E ae 13 FIGURES VERONTE PIPE TERRAIN BEIGHT ADD ann 13 FIGURE TO VERONTE RIPE EU N eo nes gen es pos pak or ed ed tep ti ss at a es a ie GR tt 14 EIGURE 4 1 SELUPSMVERONTE aut ee a 14 EISURE 12 SETUP VERONTE CUSTOM esse es l oun Ee GN GE ee ka kt De EE oes De GN e ao t ae SE Ko De ab 15 FIGURE 13 SETLPSEVERODNTE POSITION een Ran 15 gt EMBENTION e LJ EE Fi 3 N T EE cod Veronte SUM v1 11 2_1 docx P l P E pag 3 66 FIGURE 14 SETUP VERONTE ADVANCED ORIENTATION pp 15 FIGURE 15 SETUP VERONTE EONNEETIONS esse pe de
60. uds LZ Bain Wind a Path C Users jea Desktop Pipe output rou Open PDF after creating 2 EMBENTION Figure 92 Report Information e 9 POST FLIGHT Once the mission is finished the operator can download telemetry data from Veronte to perform a virtual tour Use the post flight toolbar LJ E EE CI N T E cod Veronte SUM v1 11 2 1 docx P A E pag 61 66 Ede vip ni 09 52 10 00 10 08 10 15 10 24 10 32 i i LI man s v v UU Le Figure 93 Post Flight Toolbar BE Play Pause Manage tour play Time Control the time progress EI export Download Veronte files and export data Table 33 Post Flight Toolbar G 8 05 2015 Mi 5 05 08 2015 05 08 2015 05 08 2015 05 08 2015 05 08 2015 05 08 U J 2013 9 1 Data export Flight data stored in Veronte Pipe is saved at a low frequency in order to improve the tour accuracy it is possible to download the information on the autopilot by using the download button This panel permits also to erase data from both Veronte Autopilot and the system Select the Veronte unit for data downloading and choose the flight files to be download Right panel will show file download progress Download UAV W200 Download list 1980 01 10 05 17 23 EN xe W200 2015 05 08 09 57 10 2015 05 08 09 57 10 STR Figure 94 Data Export When downloading BIN files the information on the autopilot is loaded into th
61. uidance type the following parameters are configurable Hold Maintain certain variables on the system Desired AGL Above Ground Level Height Time Ramp time Slope Ramp rate Ewma TAL None Set variable value Time Set a time tamp between an input and an output variable Desired 145 Indicated Air Speed Slope Set a ramp rate for changing form input variable to output va riable Constant value 25 0 Ewma Exponential rate form input to output variable enter tau parameter Constant value 160 0 Time Rama time Slope Kamp rate Ewma TAU za EMBENTION e Loiter LJ E EE CI N T E cod Veronte SUM v1 11 2_1 docx P i P E pag 33 66 Current Coordinates Select loitering parameters and coordinates to perform i the manoeuvre Longitude Position Enter position and Latitude altitude for the loitering centre Current Altitude Radius Set loitering radius Line attraction Force the platform to follow the desired track Higher values means lower attraction Tgfpac Altitude change rate Advance_h v Parameter for setting the guidance form Radio 60 0 tangent to line attraction wess oo MSL fo AGL ine attracti 10 0 Circle Circular loiter Line attraction 10 Eclipse Eclipse loiter Rotation angle in radians Param eccentricity 0 1 Rose Rose loiter Rotation angle in radians Param number of petals tgfpac advance h advance v Type Ellipse Rose Rotation Param
62. window X Y Z buttons produce changes according to this axis Default button resets any modification O O Save Use this model Origin units None z Size 100 Axis max m 10 Translate Rotate 6 Camera X X sy a Zoom Z Z Default The sphere indicates forward direction X Figure 73 3D Model Some PFD display configurations are shown as an example 30 30 A j l n 20 20 Figure 74 PFD Examples 5 4 Stick Virtual sticks can also be created for manually control the control channels from the computer Following setup options are available 2 EMBENTION e LJ e gt CI N T E cod Veronte SUM v1 11 2_1 docx P l P E pag 51 66 Scale Value Select the scale to show on the stick Stick Channel Select the channel to control with the stick Return 0 When selected the stick automatically returns to middle position on stick release Table 30 Stick Configuration Configuration panel and drag and drop stick are shown below STICK v U Verontei v Pala Mab ia RE i Return v Channel stick 3 v A New Figure 75 Stick Configuration Figure 76 Stick Display 5 5 Cam Cam display permits to configure a camera view on Veronte Video source can be configured as an input device Video capturer or as a network source URL l Device URL Jere Size 600 0 x 600 0 H R Figure 77 Camera display configuration 5 6 Terrain Terrain display shows the terrain profile on th
63. ypoint For moving waypoints drag it to the desired position For editing other parameters double click will display editable fields For regular polygon drawing select the polygon tool and enter the number of desired waypoints then click on the map for drawing de Figure 81 Polygon Creation gt EMBENTION ED LJ CO N T E cod Veronte SUM v1 11 2 1 docx wT P I P E pag 55 66 After the waypoints have been created it can be joined creating the desired route with the link tool Latitude 37 978365 d Longitude 1 0708344 Altitude 500 0 y Lj Range 30 0 Figure 82 Mission N Note Each waypoint can have multiple entries but just one output 6 2 Mapping Tool Mapping tool permits to draw a polygon on the map and configure camera parameters in order to automatically generate a mapping mission Select the mapping tool and a display will be shown in order to create a new mission or select one mapping mission already created Mission mission mapl Add to mission Cvennrte mission Figure 83 Mapping Mission 1 For creating a new mission select the desired area for mapping L sROrI me 5281m 1 2 lar hinos 0 As Figure 84 Mapping Creation Enter the requested parameters so the mission can automatically be generated 2 EMBENTION LJ CO N T E cod Veronte SUM v1 11 2 1 docx P P E pag 56 66 Photogrammetry Aircraft Camera Time

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