Software User Manual
Contents
1. In order to enter a new value on the table click on the and use the graph or the text boxes in order to enter the desired value In order to validate the entered values move the actuator by using the test pulse tool By pressing the Test Pulse button the signal value on the slider will be commanded to the actuator System automatically sets an actuator position on system startup this value can be set by entering the desired value on the Initial position 4 2 3 2 Sensors Magnetometer 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 ea EMBENTION Ah LJ rR co NI T E cod Veronte SUM v1 7 docx w P I P E pag 15 41 lii m bias_x kx Start calibration bias_y ky Y ad Precalibrate x Actual calibrate X Y Zi New calibrate X Y Zi Figure 10 Setup Devices Sensor Encoder 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 ground2. e Offset the entire graph will be displaced the offset value e Graph Points o Encoder RAW real encoder captured data o Encoder Calibration S value corresponding to the encoder data e UVar Input variable for the encoder e RVar Output variable for the encoder data The calibration wizard can also be used for calibrating encoders Follow the described steps for performing the calibration ea EMBENTION LJ C3 NI T E cod Veronte SUM v1 7 docx P l P E pag 18 41 wv Variables Test Minimum Move the encoder arc werty thet the fo org vate ete arnele to bs mnr Ee VEN 5 upoetec Jver Jser var sole LERS Rvar User vatani Biba gt 0 TE Arge Ercoder va dje U Nez Previous Nee Maximun Finish ph te 5 ET 4 Sow Te angie to Ns amama VEE ORSEL 2i2 acq2 Ercoder vate mee C N 11 Port l 20 512 J _ Fre cus Previcus reise Figure 14 Encoder Configuration Wizard 4 2 3 3 Other 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 Channels Minimun 0 Maximun 100 Period 10 s Show on the checklist Figure 15 Stick Configuration Configured parameters can be shown on the checklist in order to test the system prior to change flight phase kai EMBENTION ww LIE RONTE cod pag Veronte SUM v1 7 docx 19 41 To activate t
3. Part Number Adress G ft n 4 Orientation Advancec Distance to mass center A mil me AITODIOL gt CD a CA GI E wi O co a tJ Q 3 Figure 7 Setup Veronte Veronte orientation within the aircraft must be entered in the interface 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 4 2 2 Connection Select pinout connection for available Veronte connectors Connection to Veronte check Veronte HUM Hardware User Manual Select between the allowed signal types for selected pin Select device type between actuator sensor and aux Select the device installed e Actuator Rudder camera pan camera tilt aux e Sensor Temperature flow gas level Give a name to the device To be shown on labels Table 6 Connection Pinout 4 2 3 Devices Enter connected devices configuration Choose the device from the list and configurable information will be displayed ea EMBENTION 2 LJ C3 NI T E cod Veronte SUM v1 7 docx pP i m pag 13 42 Actuators Configure control and auxiliary actuators and motors Payload Enter payload and camera configuration Sensor Configure sensor introducing limits and event information Other Configure auxiliary devices Table 7 Device Configuration 4 2 3 1 Actuators Actuators tab permits to set actuator movement and phy
4. 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 mad x ak Figure 11 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 ea EMBEMNTION ay LJ co NI T E cod Veronte SUM v1 7 docx P 1 P E pag 16 41 DIAS X 9 29702584814227595 KX 0 586923625767523 Start calibration blas y _9 12203297925805784 KY 0 2973864362346599 blas z 9304061118583464 KZ 9 36988663216152706 Precalibrate X 016959064 Y 0 39181286 Z 014473684 Actual calibrate X 016959064 Y 0 39181286 Z 014473684 New calibrate X 0 09799161 Y 0 3247512 Z 05023342 Figure 12 magnetometer calibration values Encoder Encoder display permits to configure encoders on the system It permits to set the calibration parameters and the input and output variables as shown ea EMBEMNTION fib LJ C3 NI T E cod Veronte SUM v1 7 docx wr P l P pag 17 41 Uar mone Ofset 20 Wizard Ryar mone 0 1 63 5 1000 Encoder RAW g Encoder Calibration 1a2574 4 4 0 5 10 15 20 25 30 45 40 45 50 55 Figure 13 Setup Devices Sensor Encoder In order to calibrate an encoder the following values must be completed on the display
5. ea EMBENTION Ww LJ C3 NI T E cod Veronte SUM v1 7 docx P ot P E pag 29 41 Figure 26 Map Settings 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 gt Ta Th N Ne 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 27 Background image example ea EMBENTION LJ EE R Co N T E cod Veronte SUM v1 7 docx P I P E pag 30 41 Figure 28 Background image positioning Figure 29 Background image manager 5 2 Gauge Display Configure drag and drop displays for each telemetry variable and place it at any place on the screen ea EMBEMNTION LJ C3 NI T E cod Veronte SUM v1 7 docx P I P E pag 31 41 GAUGE Speed SELECTED AIR v BAR LASEL RADIAL CHART Decimals m s X Scale Medium v Ground speed Ground speed Down Min 09 Max 800 Opacity 80 Ground speed East Degrees 270 Zz Ranges oie Ground speed North ae eae m Guidance Acceleration X body 20 gt 100 HE A Guidance Acceleration Y body 0 0 gt 0 0 B r a Guidance Acceleration Z body Guidance Attitude Pitch Guidance Attitude Ro Guidance Attitude Yaw Guidance banking Guidance do
6. 2 2 Upgrade Veronte checks for updates on system start up A setup wizard will be displayed in order to guide the user on the update process For manual updates follow the indications below 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 Air first next Veronte Ground and last Veronte Pipe Otherwise part of the system could become unreachable Caution Never turn off Veronte during the update process It could cause irreversible damage to the unit For manual Veronte upgrade open the setup toolbar select the upload tool and follow the following steps Cinfigunation manager upane 1 Import an update file uay 2 Select Update option 3 Choose Veronte to be updated from the list of linked Veronte units 4 Select update file from list 5 Press upload a progress bar will be displayed and Veronte will automatically reboot Note It is not possible to update a Veronte unit once the flight has started jingarr Figure 3 Upload Display 2 3 PC connection Veronte ground unit 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 control panel it must be set to IP 192 168 137 XXX where XXX c
7. Auto Loiter stkiian Hold wor IkStart Initial wo llkStop Calibration TPhota On board log Add entry to the log on board New Automation Figure 23 Automation Display Automations are a combination of events and actions All actions will be performed on event triggering Each event on the list will individually activate the associated actions Event groups permit to execute actions only once various events have been triggered When confirmation is active a pop up window will be displayed before action takes place so user can cancel it Type permits to select if once the event is triggered it remains as active event or if it is needed that all events take place at the same place to activate the action condition Phases where automation is active must be entered for avoiding automations to take place on undesired phases Following actions are available Phase Change flight phase Onboard log Record onboard information Table 14 Automation Actions ea EMBENTION 2 LJ C3 NI T E cod Veronte SUM v1 7 docx pP 1 P E pag 26 41 Activation events are Waypoint Execute actions on waypoint arrival Polygon Execute actions when inside or outside a defined area Select a preconfigured timer LENIE ET NN eon Etes B SEAN SEER be lewe O Table 15 Automation Activation Events 4 2 7 Checklist A checklist is configurable for each flight phase This checklist will be displayed on the V
8. Pipe permitting to display all available flightinformation as done during the flgith 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 ea EMBENTION
9. cod Veronte SUM v1 7 docx pP i P pag 20 41 On the left side of the Control interface user can enter as many flight phases as needed Control parameters will be defined for each phase user will be able to set automatic phase switch on automation display or use manual switch on Veronte Panel Takeoff Guidance Loop Arcade Climbing Takeoff Period Q0 Pursuit Descending Hold Loiter Hold di WE Loi Des Approach Mo change Guidance Attitude Pitch 05735988 w Value XW Guidance Attitude Roll Do w Value x Guidance yaw rate att w Value x New Phase Figure 17 Setup Control For each phase user must configure three main elements Guidance Select guidance type and main parameters Set control loops Configure arcade mode for assisted flight Table 10 Setup Control 4 2 5 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 Change When No Change is selected control parameters on phase entering will be maintained Table 11 Guidance Settings ea EMBENTION ww LIE RONTE l P E cod pag For each guidance type the following parameters are configurable For each control parameter introduce a fixed value or an aircraft variable to mai
10. ABLE 7 TABLE 8 TABLE 9 TABLE 10 TABLE 11 TABLE 12 TABLE 13 TABLE 14 TABLE 15 TABLE 16 TABLE 17 TABLE 18 TABLE 19 TABLE 20 TABLE 21 LIE RONTE PID ELEMENTS FIXED VALUE SETTINGS ARCADE MODE SETTINGS AUTOMATION DISPLAY CHECKLIST TELEMETRY TOOLBAR MAP SETTINGS BACKGROUND IMAGE EXAMPLE BACKGROUND IMAGE POSITIONING BACKGROUND IMAGE MANAGER GAUGE CONFIGURATION FIGURE 31 PFD CONFIGURATION STICK CONFIGURATION STICK DISPLAY MISSION TOOLBAR WAYPOINT PARAMETERS POLYGON CREATION MISSION MAPPING MISSION 1 MAPPING CREATION MAPPING PARAMETERS MAPPING MISSION SIDE PANEL VERONTE PANEL LOG TOOLBAR REPORT INFORMATION POST FLIGHT TOOLBAR USER PERMISSIONS SETUP TOOLBAR SETUP TABS VERONTE PIPE PREFERENCES SETUP VERONTE CONNECTION PINOUT DEVICE CONFIGURATION ACTUATOR CONFIGURATION TELEMETRY CONFIGURATION SETUP CONTROL GUIDANCE SETTINGS CONTROL TYPE PID CONTROL STATUS AUTOMATION ACTIONS AUTOMATION ACTIVATION EVENTS CHECKLIST CONFIGURATION TELEMETRY TOOLBAR WORKSPACE CREATION STICK CONFIGURATION MISSION TOOLBAR POST FLIGHT TOOLBAR P cod pag Veronte SUM v1 7 docx 3 41 ea EMBENTION Q Acronyms LJ C3 NI T E cod Veronte SUM v1 7 docx pP j P pag 4 41 HUM Hardware User Manual O ID Identification S PFD Primary Flight Display o RPAS_ Remotely Piloted Aircraft o SUM Software User Manual S SRS Software Requirements Specifications wp Waypoint S O ea EMBEN
11. EN TO SE GER ee Gee 31 SEN GIG MEE EE OE OE E OE OO EE A A see 32 GB BLIGH PLAN OE N EE DR 34 6 1 WAYPOINT CREATION ee ese ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 34 SR EIEN Dae RR RR N OO N ER N OO OT N EN 35 7 OPERATION sosio sies eed Ga od ae oe ee oe Go do Ge oe ea oe Ge ee oe od Ga Ge ea Go de eo Ee EG GE we ie 38 8 OE ie Re ee DE EG Da ee A N Ee DO GE Do oe EG wees ER N GR EE ee ea Ne Gee 40 9 POS TELIGEU ooo oe EE Ge asus bees Ge EG GE Ge GE Ge couche EE DE GO GO EG oe EE GE GE 41 Mig AT EP ORE arctic svete Ee Oe er Ge E SR GE oe Ee EO GE RD Ao Ge 41 ed EE AE RR N OE OE RE EE EE 41 Figures and Tables FIGURE 1 VERONTE SYSTEM OVERVIEW essens ode enoni a a ER aa E ai 5 FOURE 2 INTERFACE weripeini deiran iner ei ie ee EENES es Ge Ge ee Go si ei ee ee ee ee be ee ei 6 FIGURES UPLOAD DI PEA Fases es es Ge ego eed ee ed ee Ne GR Ged es de De ee de Ge GE ee GE mailed 7 FIGLIGE 4 SECU POOLBA IR bias eg keer Ne GR eon We ge N oe AG A Ge to ee Ge ee Ke be ag ara 9 FIGURE VERONTE PIPE PREFERENEES suis ie Din NS ge Dae ed SS ie Due os de oe Doe SS oe NG Pe bie Ese GE 10 PUG INE 6 VERGNTE PIPE lt ANT S ase ses er ee Ge Ee Ge Ge de ek Ge lee Ge ee Ge 11 FIGURE 7 SETUP VERON E ee esse ee RE ed ee RE er ee se ep ee E OG EG ER Ge 12 FIGURE 8 SETLUP DEVICES ACTUATOR S sies ese AG EO EG EG oe Ge EG OE GN rs ea 13 FIGURE SIGNEONVE NTIG N ees es ese ann eto ie eN eo e
12. M LOG RECORD VIEW DETAILS PDF REPORT Figure 44 Log Toolbar 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 Create PDF piot Reference Clouds ica Rain E Wind kd Path C Users jea Desktop Pipe output rou Open PDF after creating Figure 45 Report Information ea EMBENTION Ch LJ C3 NI T cod Veronte SUM v1 7 docx F l P E pag 41 41 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 HEOR E Figure 46 Post Flight Toolbar G Play Pause Manage tour play 24 11 21 JE AAS Time Control the time progress O eet Download Veronte files and export data Table 21 Post Flight Toolbar 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 9 2 Tour Flight data can be played on Veronte
13. TION LJ C3 NI T E cod Veronte SUM v1 7 docx pP l P E pag 5 41 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 system Supported operations include Telemetry View real time onboard 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 o more operators can work simultaneously Veronte powered systems have two main elements air and ground segments wr LUERGONTE Figure 1 Veronte System Overview Veronte Air includes any necessary element to communicate with ground segment take flight measures c
14. an be any number selected by user except from 106 Once the IP has been changed network interface must be selected in Veronte Pipe preferences ai EMBENTION Q LJ C3 NI T E cod Veronte SUM v1 7 docx pP l P E pag 8 41 3 USER MANAGEMENT On startup Veronte Pipe will require to enter a username and password It is recommended that each user has their own user in order to avoid safety issues User configuration can be set on the user toolbar Any user can create users with not more permissions than those associated to his user The following capabilities can be assigned to each user Telemetry Watch mission progress create and manage telemetry displays Configuration Create and edit configurations and update Veronte Flight Planning Create and edit missions Telecommand Start flight and command Veronte actions Post Flight Download flight information and analyse recorded data Table 1 User Permissions ea EMBENTION Aa LJ Co NI T E cod Veronte SUM v1 7 docx wr P 1 P E pag 9 41 4 SETUP In order to configure Pipe or any Veronte device or Pipe application use the setup toolbar Use the open toolbar to open a configuration and load data on the combo box to configure it Veronte Setup dialog can be opened on the main menu Figure 4 Setup Toolbar Open Veronte configurations Discard all changes Save all modified data tosd Select configuration to edit or create a new one User can se
15. be joined creating the desired route with the link tool Aa Et ee A VA g 2 y 9 4 6 N B e Latitude 57 978365 Lrrgtuie OON MAA Z At scie S000 gt 4 Rae we Figure 37 Mission 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 ea EMBENTION LJ rR Co NI T E cod Veronte SUM v1 7 docx F l P E pag 36 41 1 Mission mission mapi Timer a Start 2 2 End 0 0 Add to mission a Dvemite mission Figure 38 Mapping Mission 1 For creating a new mission select the desired area for mapping G EXENA Di CO bel FF a 5069 m D DI dd Figure 39 Mapping Creation Enter the reguested parameters so the mission can automatically be generated ea EMBENTION a LIERONTE Ww cod Veronte SUM v1 7 docx F l P E pag 37 41 Aircraft Camera Timer ae Width resolution Speed mis TAS r Height resolution Attitude AGL m Foca length mm Width sensor mm Image Height sensor mm GED Forward overlap w w OA o o g Sideward overlap oF Tee D Create Figure 40 Mapping Parameters Click o
16. cod Veronte SUM v1 7 docx pag 1 41 LEROnNTE P P E Software User Manual Veronie Pipe ea EMBEMNTIOF e Table of Contents LJ C3 NI T E cod Veronte SUM v1 7 docx pP i P pag 2 41 LOVERVIEW esse dd seide si skei ee ee be ee de ee N N oe ei EE N Ri ee oi sk Ge EG ee GN ee oe di 5 Ms YS EI GVERVIE Vi uie ede E Ge ee Ee RD Ee Ge ee Ee ee 5 1 2 VERONTE PIPE INTERE NEE oe oe GR GE NG Ge N Ge GE ER tance DE EG ee GE RE RE EG ee EE ee 6 2 INSTAELA HIOM ie ai sa ei ee ot See ee ed EG ee ee ed Ge ee sed Ge Ge Ge Ge GN Ge Gee GR Ge Ge Ge 7 2 1 VERONTE PIPE INSTALLATION sc oe oe An see ee ee Ee ee Ge Se Se ee Ge oe oe Se ee Ge Ge oi ee daa Ge EG GE Ge EG Ee Ge ee 7 FR Be DE EE RE NEE EA N N EE N N ET ENG 7 2 3 PE CONE TON EG N EG EE EG Ge Ee N ene nia Ee 7 3 USER MANAGEMENT ees ses eens ese ed si Ge ed ke wee ek eed EG GES Ge be eb ER ie GE GO ek GO AG EG ed ok GR Ge 8 io EE N EN OE EE N EE N E EO Ee NG Oe N A N ee 9 A VERGNTE PIPE si tenes id sans ae eo ee ee ee GE EE Ee EE ee ER Ee EE Ee EG Ee EE Ge EG 10 BD VERONTE AUTOPILOT es ee oe oe ee R De Ge GE ee Ge RE Ge OE GE EG Ee Ge GE 11 5 TELEMETRY CONFIGURATION ccsccccccscccccsccccansccccanscccensccccessccccsscccccsscccansccccansccccsnccccesscccssssccess 28 Bg MAP ISR LV asie Ee ie EE N De AG seuss ED ES Ee Ee ER ee 28 52 AIG DIEPERE ee MOE RE oe Ge WE EE GR AS OG N EG be AG GE A 30 ts 3 PRIMARY FLUGHT DISPLAY od SE ES DER GE SE ee Ge ER EE EEN
17. e Workspace configuration Use this panel in order to enter custom sounds to the system 4 1 2 Units There are multiple system variables defined on the system arranged in categories For each category user can set as many custom units as desired by entering the corresponding conversion formula by entering multiple points on the graph ea EMBENTION Als LIER vw p I P Velocity Length Angle Acceleration Temperature 7 Magnetic flux density Potential difference 1 Current i i i E cod Veronte SUM v1 7 docx pag 11 41 mv Name Custom Symbol Custom Defau tt W Pressure L1 Time 1 Angular velocity i volumetric flow rate Custom type Percentage i he i he i ber Transfer Rate i he Custom i he he pe i te r i r i 7 x ao Y ao oa Y 10 Y 10 a4 z a a sa if ys Ha id s San ss I 1 na 13 Ja g5 15 OF TE nd 10 11 ay V Figure 6 Veronte Pipe Units 4 2 Veronte Autopilot 4 2 1 Veronte Introduce Veronte identifi cation and aircraft layout Part Number Introduce Veronte part number Address Veronte identification number for datalink options Introduce a 3 character ID for the aircraft Select aircraft type Table 5 Setup Veronte Once selected aircraft type layout must be entered so the system can configure aircraft distribution ea EMBENTION Ab LJ C3 NI T E cod Veronte SUM v1 7 docx gt a P i P E pag 12 41
18. eated set any workspace as default in order to open it automatically on system start Telemetry toolbar is shown below ET EF Figure 25 Telemetry Toolbar Select the workspace to be displayed or create a new one else For saving current telemetry configuration ry Lock Configured displays can be moved freely and resized along the screen Press lock to avoid display free movement Ed oeeis Displays any configurable fields Table 17 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 18 Workspace Creation The following 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 PFD Configure Primary Flight Display preferences e Stick Configure virtual sticks for manual control 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
19. eronte Panel and must be completed prior to exiting from a phase Precalibrate Name Check gravity center Check pressure sensors value eo Check propeller is tight enough but moves ma a Check trim servos motor start amp rotation IF STICK remove motor bat put MANUAL ia la IF STICK move sticks and check PWMs value show only first IF STICK put motor bat and check controls Configure calibration parameters Calibrate New Element Figure 24 Checklist 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 configurable items are described below ea EMBENTION LJ C3 NI T E cod Veronte SUM v1 7 docx pP l P pag 27 41 prase saeco phase on weh e eN LEEN EN Table 16 Checklist Configuration There are some preconfigured checklist items Atmosphere Calibrate static pressure for altitude estimation ONH Cparams Enter sensor parameters for calibration Calibrate Start calibration Required prior to Stand By 4 2 8 HIL Simulator Refer to the HIL Simulator manual in order to configure the HIL parameters ea EMBENTION Ab LJ C3 NI T E cod Veronte SUM v1 7 docx wr P P E pag 28 41 5 TELEMETRY CONFIGURATION Telemetry settings allow user to customize any information to be displayed on the screen for monitoring the operation Custom workspaces can be cr
20. 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 flight the following actions 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 7 EMBENTION Q LIERONT E cod Veronte SUM v1 7 docx P E pag 39 41 Change phase Phases permit to set the vehicle configuration to an specific performance Click on a phase to initiate this phase Activate manual mode 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 Abort mission Go Home button can be configured to appear in the Veronte panel It can be configured on the automations panel ea EMBENTION Ad LJ C3 NI T E cod Veronte SUM v1 7 docx wr P I P E pag 40 41 8 LOG 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 PIN TO TOP CUSTO
21. he automatic movement use the activation button on the virtual stick configured on the workspace 4 2 4 Telemetry Telemetry tab 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 Log User Log Table 9 Telemetry Configuration Configures the variables to send throughout the datalink channel Sets the variables to be stored on system Log User Log for custom applications Saves data at the maximum frequency available on the system Recording time depends on the selected variables 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 Data Link 0 4 2 5 Control User can configure platform control parameters for setting Name On board time Ground speed Guidance ground speed Indicated air speed Guidance Indicated air speed Longitudinal horizontal velocity Lateral horizontal velocity Capture A error 1 Oo CAN sd erro Purs Kl 1 i CAN A RX error No ready to flight Uvar disabled User variable 1 bits 18 Enabled Compress IE ME Mm EK Ie Disabled Figure 16 Setup Telemetry performance during the operation Caution Only for experienced users kai EMBENTION Minimum Maximus mkm il a Rat Pam Decimal the unmanned system ww LJ C3 NI T E
22. lect from linked Veronte or opened one Close selected configuration Duplicate Create a copy of selected configuration Upload For saving the loaded data to a linked Veronte Details Displays configurable fields Table 2 Setup Toolbar Configurable items are distributed on tabs the following structure is followed Veronte autopilot ENE TE TE rasara Table 3 Setup Tabs Veronte Pipe Veronte Pipe preferences Units Configure unit preferences Table 4 Veronte Pipe Preferences kai EMBENTION 2 FP 4 1 Veronte Pipe 4 1 1 Preferences Veronte Pipe preferences permit to configure general application parameters E pag 10 41 select the PC network interface used for interfacing with Veronte systems Preferences Units Network Interface Realtek Poe FE Family Controller T Local IF Address Local Submet Mask Multicast IP Port UI Scale ALERT AUDIOCLIP Play UD Play Wi Play U2 Play U3 Fay Lie Play U5 Fay U Play U7 Fay UB Play US Play Change Default Change Default Change Default Change Default Change Default Change Default Change Default Change Default Change Default Change Default Change Default LJ C3 NI T E cod Veronte SUM v1 7 docx P User must Figure 5 Veronte Pipe Preferences IU Scale permits to set the interface scale for adapting the application screen to the screen size on the system Alert Audioclips can be associated to system alerts on th
23. ll be shown Mame Rolling Rolling Mode On a FID 3 Guid Guidance y EE Guidance Headin eee roll rate 9 Rall Heading Attitude Roll rate Rall Figure 19 PID Diagram For each block it is possible to configure the PID User variable 32bits 03 2 Figure 20 PID elements kai EMBENTION LJ C3 NI T E cod Veronte SUM v1 7 docx pP l P E pag 23 41 Set Point ao o o fme e Invert Change error sign e Wrap Wrap to pi 7 Tm It is used in some angular variables radians for avoiding numerical errors on the n to n change and keep continuity of the error signal 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 Ta 1 C K Gr N DF z T y Derivative time N Derivative filter constant For the derivation and integration models Trapezoidal and Backward Euler models have been integrated Tsz 1 TZ FI ND 2 5 ND oa where T is the is the time constant on a first order FPB When ND is set to O the FPB is disabled Sampling time has already been integrated K i Initial block permits to invert the input signal or apply a wrapper it is used for angles to be maintained between 1802 On the output block it is possible to set the maximum and minimum values for the variable Fixed Settings When fixed
24. mode is selected the following diagram is displayed ea EMBENTION 2 LJ C3 NI T E cod Veronte SUM v1 7 docx pP j P pag 24 63 Output transition from output value when phase starts to a new fixed value oi E Figure 21 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 5 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 2 9 Integral Guidance Attitude Roll T 25 Integral Guidance Indicted air speed T 3 0 Integral Figure 22 Arcade Mode Settings 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 6 Automation Automation configuration permits to set actions to be performed under predefined detected events ea EMBENTION Ab LJ E AR C3 N T E cod Veronte SUM v1 7 docx p l P E pag 25 41 TPhoto Confirmation Type event lolz pur des cmb Events Actions Phases flyingPur l akeotr woDes Climbing wpLoi Pursuit select od Descending stk
25. n crate and the mission will be generated eed Figure 41 Mapping Mission 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 ea EMBENTION Als LJ E FR C3 N T E cod Veronte SUM v1 7 docx P I P E pag 38 41 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 42 Side Panel Click on any Veronte to display its Veronte Panel it permits to control any telecommand actions MISSION AUTO MAN VERONTE ICON Figure 43 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
26. ntain Select loitering parameters and coordinates to perform the manoeuvre Select the waypoint to go on phase entering Enter hover parameters to be maintained during the hover 4 2 5 2 Loop Guidance indicated air speeg Guidance Heading Desired height over terrain fm J Current Longitude Direction Waypoint Current Coordinates Current Altitude Current Yaw ckwise inticlocky Longitude 00 Latitude G0 Altitude 00 Yow a0 Table 12 Control Type wf Value Value wf Value Line attraction Veronte SUM v1 7 docx 21 41 hd 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 OE Disables the PID controller On o Enables the PID controller Fed Sets the control parameters to a fixed value Table 13 PID Control Status 7 EMBENTION LJ C3 NI T E cod Veronte SUM v1 7 docx w E l F E pag 22 41 PID Settings When configuring a PID up to three control loops can be configured select on the combo box the desired option PID 3 w Guidance gt eh dans Guidantce Headin Ee roll rate 3 Roll Heading Attitude Roll rate Roll Figure 18 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 wi
27. ontrol the aircraft and control the payload Veronte Ground redirects stick and PC data to the air segment and manages bidirectional communications between Veronte Pipe and Veronte Air ea EMBENTION Als Ww LJ Co NI T E cod Veronte SUM v1 7 docx P ot P E pag 6l41 1 2 Veronte Pipe Interface Workspace on Veronte Pipe is distributed as shown on Figure 2 Figure 2 Interface Each section has the following functions e Menu User Manage user preferences Setup Configure Pipe and Veronte units Telemetry Select the way flight information is displayed Mission Create and edit flight missions Log View flight data log and introduce custom events Post Flight Tools for recorded data analysis License Manage Veronte licenses Help Shows help information available O O O O O 0 0 0 e Main Display Displays a selectable background map or a plain colour together with most important mission data e Veronte Panel UAV information and telecommand buttons e Side Panel Shows linked Veronte information e Telemetry Configurable drag amp drop flight information displays Menu items are displayed as toolbars which can be pinned to the top bar or moved freely along the screen ea EMBENTION 2 LJ C3 NI T E cod Veronte SUM v1 7 docx pP l P E pag 7 41 2 INSTALLATION 2 1 Veronte Pipe installation To install Veronte Pipe just execute Veronte_Pipe exe and follow the indications
28. r ek ie ee ee ee N ea ie ee eo le 14 FIGURE 10 SETUP DEVICES SENSOR ENCODER es es erns ed eared ini eg Ge ed ee Ge eg 15 FIGURE 11 MAGNETOMETER CALIBRATION PROCEDURE 0 esse ee see ee see ee ee ees see ee ee ee ee ee ee see ee ee ee ee ee ee 15 FIGURE 12 MAGNETOMETER CALIBRATION VALUES ee ees sesse see ee see ee ee ee ee ee ee ee ee ee ee ee ee ee dee ee ee ee ee ee ee 16 FIGURE 15 SETUP SDEVIGES SENSOR ENCODER ei set es nen Se Ee Ge Ge De EE EG Ne EG EG ge ee Ne 17 FIGURE 14 ENCODER CONFIGURATION WIZARD esse sie Ge Ge sen Ge ee Ge Gee ER GE Ge Ge IR Ge ee Ge Ge ER Ge ie Ee 18 FIGURE 15 S HEK EO NFIGURATIOMN iese ss ee EG se De ge REG ERG GE EG ve Ge EES ee Ag 18 FIGURE 16 SETUP TELEME ER ses ed ee ds en n ee Gie Ne oe gie se en sie ir ee ee eie sie Ge eie eie Pe de Ges 19 FIGLIRE T SETUP CONTRO ies NEE den n Ee Re bi on Ge egg oo GR oe ee Reg GE Ge NG GEE es 20 FIGURE is PID ARE HEELBRE ss ete es et pe ee eh ee ek de ee Re N n ek ee ee 22 AGURE 19 PID BIA SAM eposse Dee nei Dee Ne De eg eN Di ee di eN De Gr Bu es oe RE 22 kai EMBENTION amp FIGURE 20 FIGURE 21 FIGURE 22 FIGURE 23 FIGURE 24 FIGURE 25 FIGURE 26 FIGURE 27 FIGURE 28 FIGURE 29 FIGURE 30 FIGURE 32 FIGURE 33 FIGURE 34 FIGURE 35 FIGURE 36 FIGURE 37 FIGURE 38 FIGURE 39 FIGURE 40 FIGURE 41 FIGURE 42 FIGURE 43 FIGURE 44 FIGURE 45 FIGURE 46 TABLE 1 TABLE 2 TABLE 3 TABLE 4 TABLE 5 TABLE 6 T
29. sical limits This calibration must be performed in order to configure the actuator behaviour on the system Per each actuator user can set as many points as desired for calibrating the signal level for each actuator position 4 Note Maximum and minimum values must be set according to physical actuator limits Configured limits will never be exceeded by the system in any flight mode 0 419 5 92 00 F 0 000 515430 E 0 419 S 1600 Initial 00 Puke TET a D 10 20 30 40 50 60 70 80 3 100 s DA 03 2 J1 a in 12 13 ma 05 Figure 8 Setup Devices Actuators ea EMBENTION LJ C3 NI T E cod Veronte SUM v1 7 docx p P E pag 14 41 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 0 and 1 where 1 is max power and 0 is the point where the motor starts the moving For O motor position it is recommended to set a 5 signal margin in order 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 9 Sign Convention Example an elevator down position will generate a positive pitch so the elevator is considered positive on down position Main actuators rules emor oom op Table 8 Actuator Configuration
30. tick are shown below ea GMBENTION LJ co NI T E cod Veronte SUM v1 7 docx F l P E pag 33 41 Return Return cnr Figure 32 Stick Configuration Figure 33 Stick Display ea amp MBENTION Ab LJ E FR C3 N T E cod Veronte SUM v1 7 docx P I P E pag 34 41 6 FLIGHT PLAN For flight planning the mission toolbar must be used Figure 34 Mission Toolbar The main functions available are w e hal esr scree O we eee Gee e NN E seer setectasroun or waypoimis orres E aawe O adinen wayeoiitonaisepostoni O OO Kal Poson moses number of polygon sides and araw itonthemap OY o a i warring vraw TT apptcotons BAe veere OOOO O Table 20 Mission Toolbar 6 1 Waypoint Creation Use the Add WP tool and press on the map for creating waypoints then a display will appear for entering custom parameters Longitude Latitude Range 30 0 m Altitude 500 0 m AGL v Speed 14 0 MS TAS Line attraction Figure 35 Waypoint Parameters ea EMBENTION LJ C3 NI T E cod Veronte SUM v1 7 docx F l P E pag 35 41 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 aS Figure 36 Polygon Creation After the waypoints have been created it can
31. wn velocity Guidance east velocity Figure 30 Gauge Configuration 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 0 0 ft Speed m s LABEL RADIAL CHART 5 3 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 ea EMBENTION ER LJ co NI T E cod Veronte SUM v1 7 docx P ot P E pag 32 41 PFD PFD SELECTED AIR Width 400 0 Indicators 7 Control surfaces H Height a000 hy Pitch W Ailerons Control2 Color Sky lw Roll Iw Elevator Control 0 x Color Ground HE wi Rudder Control 3 lw Compass 30 TERT tec VS J PG I Lo Figure 31 PFD Configuration Some PFD display configurationas are shown as an example 5 4 Stick Virtual sticks can also be created for manually control the control channels from the computer Following setup options are available Scale Value Select the scale to show on the stick Stick Channel Select the channel to control with the stick Return When selected the stick automatically returns to middle position on stick release Table 19 Stick Configuration Configuration panel and drag and drop s
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