PcWin Manual
Contents
1. Yawrate Figure 4 The Charting Interface Window Configuration an Control Screen The configuration screen provides the operator interface for tuning and adjusting tracking parameters and the controls for setting up a coordinate system and a reference frame Tracking Status Pos 0 030 3 128 0 000 R 323 8 B 0 0 DOP 0 000 RF 12 OM 0 Tracking Parameters Control Parameters Calibration Parameters DOP mx Da OKF ehm PX poo PIX po RE ma e a RF fit jo 20 NKF R 10 00 Se MN S i E Dm bag bm RFin 20 00 R Acpt 5 00 PR 300 PIR fio g et DA RF dT fois Kv oo Dv Im SE p P I auto Net Ks p Ds po Cscale poo poo poo auto Height h RF auto Orientation Pwr D PII 7 ModejAlign witt vj TaskjTaskt TT Micro tracking f Met U Fiter Beacons f Met ta pri Ci Si ro Ra Figure 5 The Configuration Interface Window The user may select the units of display for the current tracking position data The tracking status provides information for the current position orientation tracking accuracy and operating state HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM iTrack LLC 18 December 30 2013 Tracking Parameter Maximum value of the DOP to be considered fine tracking MA filter coefficient for the RF tracking position Kalman filter covariance value for the R2. Firmware upgrade TS 400 Firmware Upgrade Tool C 1Track LLC ITRACK Communication Interface List Siicon Labs CP210x USB to UART Bridge COM _ cfg 115200 t CAN e USB CO WLAN Disconnect USB Connected to ID 12 Firmware 2 4 7815 Firmware C iTrack uCTRL TS400 PIC TM 400 TM 400 hex E Upgrade i Online Upgrade Navigation System Dashboard Sanatize Store Log Figure 1 The Main Interface Window of the Firmware Upgrade Tool Follow these steps in order to properly upgrade the AVC 410 firmware 1 Indicate how to connect the AVC 410 to the PC with the USB cable with the CAN interface cable or through the wireless interface 2 Make sure that the AVC 410 is powered and turned on 3 Select the appropriate interface port from the drop down menu If needed press Scan to refresh the list of interface ports 4 Click on Connect to establish communication The status line should indicate that the link is successful If no firmware is found then the software may dispay an inteface window to install new firmware Follow procedures for Sanitization to do so HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 14 December 30 2013 If a valid firmware is found the status line will indicate the firmware version and module ID number Follow steps 6 through 8 to install new firmware
3. Positions may be marked during tracking by clicking the system engage button This will leave yellow marks on the map Marked positions can be stored to a file by pressing the F2 function key for later use or they can be loaded from file using the F3 function key Marked positions are cleared by pressing the F5 function key The color of the marked points can be changed by pressing the F7 function key Changing the color will only affect new marker locations and will leave the existing marker locations in their current color The color Align Frame code RRGGBB is saved with each marker location and can be used to Store F2 indicate a series or a marking task Load F3 Register F4 Clear All F5 A different background can be loaded to represent the current operating space by pressing the F6 function key Load Frame Map ei Capture Frame Map F9 New Marker Color E 3 HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICI w Show Axes Fa PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITR Marker Chime Track LLC 21 December 30 2013 The location and orientation of the reference frame can be configured with the RO and RA commands as described in the system user manual These commands can also be issued from the graphical user interface window The RO command is issued by double clicking on the RO location The RA command for orientating the reference frame is issued using the context menu command to Ali
4. The system uses a limited internal FLASH memory to store tracking data at desired HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 20 December 30 2013 intervals Since the internal logging is not dependent on the communication link to the PC logging data can be stored at a higher sampling rate However the time frame for the logging episode is limited to the available FLASH memory typically around hour at 100 ms logging interval Logging data is stored in binary format A parsing script for MATLAB and for Excel are available to interpret and convert the logging data to conventional data files PCWin Dashboard Window AHRS Config Navigation Charts LOG Stats Comm Calibration Scan Data Capture Configuration Realtime logging of tracking data captured through the host API Filename Capture Status Line 446 Tracker Log Manage and download the onboard data logging features Start Stop Sample time hoo ms Clear data Figure 6 Data Logging Window Tracking Overlay Window The navigation overlay window provides a user interface for managing beacons and trajectories for the position tracking systems The position tracking overlay window can be used to graphically monitor the tracking position in the operating space This window is only available for the TS 400 series tracking systems
5. WIRELESS INTERFACE CONFIGURATION W T5400 Wireless Configuration QW A IEGIE A DFAC TECHNOLOGIES COMPANY i Status i Configuration y Certificates si Network Module Status Radio Statistics Module Firmware Version Radio Firmware Version Link Status SSID HAC Address BSSID Transmit Rate Mb s Signal Level dBm Hoise Level dBm IP Address Subnet Mask _ Default Gateway Primary DNS Secondary DNS Up Time Sec PCWIN LITE The PCWin LITE program is a DOS command based stand alone firmware upgrade tool only The program does not require installation in the operating system but can be copied on a thumb drive i Maintenance CONNECT WITH RELIABILITY Device Type SPI Module Status 1 61 5 0 21 p1 210 Connected Edzko 000B6B77D133 00236975ACAS 36 D D D 192 168 10 102 255 255 255 0 192 168 10 1 24 247 24 53 24 178 162 3 1278 Quatech Contact us l Technical Support and used on a computer from the command prompt The syntax of the program is as follows T5400 PCWin Fe oxe lt Com gt lt 3 Where com is the index of the COM port to interface to the system s is for sanitization or p is for firmware programming p firmware hex gt The screen capture below illustrates the use of the PCWin LITE program HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITR
6. 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM iTrack LLC sala December 30 2013 During the simple operating task the vehicle will follow the Shoot Move Shoot motion style according to the specified parameters in the dashboard window Setting Description GQ Current time in the time lapse operation The Level gain is used to set the strength of the response to a change in orientation roll or pitch as measured from the accelerometers Keep in mind that the response to orientation from accelerometer will always be somewhat slow due to the behavior of the noise filters The Pitch gyro parameter adjusts the strength of the response to the angular rate is sensor gyro in the pitch direction fwd bckwd Control action based on gyro input gain can significantly speed up the response to big changes in the platform orientation Too much gain can cause erratic or nervous behavior of the leveling actuators The Roll gyro parameter adjusts the strength of the response to the angular rate Gyro roll sensor gyro in the roll direction left right Control action based on gyro input can gain significantly speed up the response to big changes in the platform orientation Too much gain can cause erratic or nervous behavior of the leveling actuators The Gyro Dead Band value can be used to configure a range for the gyro signal to Gyro consider noise Values within this range are not used by the leveling controll
7. Click on the Browse button to select the appropriate firmware file Click on Upgrade to erase the previous firmware and program the new firmware When the Upgrade is completed you may disconnect and close the software ST eh 9 RI Once connected to the system the user may interface with the system through the user interface console and through the dashboard The console provides a command line text interface to interact directly with the AVC 410 whereas the dashboard provides a graphical user itnerface to operate the system Please refer to the operating manual for the AVC 410 for a comprehensive explanation on the system setup and operation The following sections describe the usert interfaces in more detail Each window is supported with online Help documentation Pressing F1 on any of the itnerface windows will bring up the online help with information to assist the user on the features and functionality of the interface elements The current version of the software is listed in the About window which can be accessed through the system menu The system menu also lists the option to enable data logging of the Console and Dashboard interface windows by default System Sanitization System sanitization performs a complete cleanup and erases the tracking and navigation data The purpose for sanitization is that no user settings and configuration values remain in non volatile memory The sanitization certification document i
8. NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM
9. path to another location by continuing to paint from a different location A Circular curve instead of a straight path can be inserted by holding the CTRL key when the mouse button is released To complete the path the right mouse button should be clicked Once a path is created the user may apply smoothing to improve the path following performance s To apply smoothing either press the Smoothing from the Trajectory context submenu key in the graphical operating space or select the command Storing and retrieving a trajectory Filling Creating a path from text Task information path length perimeter length current waypoint surface area target location HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM iTrack LLC 23 December 30 2013 PCWin Dashboard Window F amp Backeround Frabeacon FE AMSI Bon 103 5 7 40 7 Bon 102 46 8 40 7 Ben 100 j0 0 0 0 Bon 101 41 1 0 0 Figure 8 Navigation Overlay Window The following context menus are available by clicking on the right mouse key Trajectory Background Rls Name Set Orig Set Axis Select Color F7 HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM iTrack LLC 24 December 30 2013 A Command toolbar can be act
10. 1Irack LLC Positioned for the Future OPERATING INTERFACE amp FIRMWARE UPGRADE SOFTWARE USER MANUAL TS 400 Firmware Upgrade Tool C vlrack LLC Interface List Eatiel USB Serial Port COM3 D cfg 115200 Scan C WLAN C CAN e USB DA Connect USB Disconnected Firmware Microsoft Windows VERSION 1 0 REV 4 DECEMBER 30 2013 ITRACK LLC HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 es USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 2 December 30 2013 HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 3 December 30 2013 INTRODUCTION This document contains the Installation and operating instructions for the Firmware Upgrade software application This software should also be used to sanitize the TM 400 when needed The user can interface with the TM 400 or AVC 400 modules through the USB interface CAN interface or the Wireless Network 802 11b g n The USB interface is implemented using the SiLabs CP2102 USB module or the FT232 USB module depending on the hardware revision The CAN interface supports devices from Intrepid Systems e g ValueC AN and KVaser e g Diagnostic Cable When the TM 400 is connected to a PC for the first time the PC will need a driver for the appropriate interface t
11. 2 shows a snapshot of the console interface window The console font may be changed by pressing F6 on the keyboard A font selection window is dispayed where the font type font size and color may be slected The selection will be saved as the default font for the Console window The console window has a limited history size for the text contents The contents may be saved usign F2 or cleared with F5 at any time during normal operation Clearing the Console history will not affect the operation of the system HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 16 December 30 2013 Dashboard Window The Dashboard button in the main user interface window opens a multi tab graphical user interface screen that allows the user to manage and monitor the system The following sections discuss each of the tabs in the Dashboard user interface window Attitude Heading Reference System AHRS E PCwWin Dashboard Window Orientation Position X 196 8in Y 196 6in Z 79 0in DOP 0 006 Figure 3 The Attitude Heading Reference AHRS Window The AHRS window displays the current heading roll and pitch orientations of the tracking system along with the current tracking position and DOP value The operator may calibrate the system by double clicking on either one of the monitor controls Double clicking on the compass
12. ACK LLC COM iTrack LLC 30 December 30 2013 c CAWINDOWS system32 cmd exe cmd Microsoft Windows XP Version 5 1 2688 ICC Copyright 1985 2661 Microsoft Corp AITrack UCTRL TS4 0 PC GUI TS40 PCWIN_LT Release gt TS49 PCWIN_LT exe ITS4 8 PC Win Lite ver 1 8 ISyntax T5480 PCWin_lt exe com gt lt s p firmware hex gt IC iTrack UCTRLY TS4 8 PC GUI T5S40 PCWHIN_LT Release gt TS408_ PCWIN_LT exe 2 p TM 4080 hex T5408 PC Win Lite ver 1 6 SB Connected ID 14 Bootloader V 2 8 Firmware V 2 4 7815 ecompressing HexFile Reading HexFile Hex File Info TM 400 Transferring Firmware Transferring Firmware xl ces 99 Cleaning up Upgrade Done X ITrack uCTRL TS408 PC GUI TS400 PCWIN_LT Release gt HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM iTrack LLC 31 December 30 2013 STYLUS PEN OVERLAY The Overlay program provides the ability to capture a note from the IOGEAR stylus notes manager software and insert a tracking grid overlay on the note The grid relates to the current tracking position and orientation of the system The snapshot below illustrates the result of the grid overlay on a stylus note ORTHROP GRUMMAN Positioning by iTrack TS 400 For demonstration only C 20 Time 09 38 25 Date 10 22 12 Engineer John Doe Vehicle UCAS 47 A HEADQUARTERS 2200
13. F measurement input to the tracking filter A large value will consider the error on the RF input to be big and therefore its influence on correcting the vehicle tracking location to be small Kalman filter covariance value for the range measurement of the course tracking filter Kalman filter covariance value for the range measurement of the fine tracking filter Maximum allowed error between the expected and measured range for a new range measurement to be considered a valid input RF dT Cycle time Automatically switch beacon antennas based on tracking orientation Pseudo height calculation Adjust antenna height based on average range error Auto Orientation Micro Tracking Filter Beacons RF tracking active or inactive Le use range measurements to correct for vehicle location or not Use primary beacon antennas for tracking Use secondary beacon antennas for tracking Control Parameter Proportional and Integral gains for the vehicle control in X forward direction PY PIY Proportional and Integral gains for the vehicle control in Y sideways direction PR PIR Proportional and Integral gains for the vehicle heading control Path following speed Vehicle speed when turning In of path following speed Steering gain HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM iTrack LLC 19 December 30 2013 Damping for th
14. e settings can be used to re configure the 900 MHz communication interface Mobile Device Server The system can connect to a Mobile Device Server on the internet that can host the tracking data for wireless mobile devices like phones and PDA s Time Lapse Photography Settings The Timelapse dashboard provides a number of tools and parameter settings that are specific to the Rover for Time Lapse Photography PCWin Dashboard Window Timer Lapse Time 00 00 00 sec Drie tina Stop time Veloc ramp 10 1 1000 SET Leveling ico 5000 Simple Mode Gyro Pitch gain 4 Speed 1000 1200 1200 To Roll gain 4 Gyro Roll gain Steering D 1200 1200 o deadband 2 Gyro deadban SET Duration 60 sec GO Levelling The Rover has the ability to maintain horizontal platform orientation by means of articulating the individual wheel suspensions Shoot Move Shoot The typical system operating scenario for Time Lapse is to move the vehicle over a certain displacement then stop and set exposure to the camera When exposure is complete the vehicle will again move over a certain displacement and so on Simple Mode A simple operating task without any tracking feedback can be used to cause minimum disturbance to the vehicle motion and orientation The simple mode consists of a constant speed and steering command over a specified time period HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN
15. e steering control Transmit power setting of the tracking radios Integration setting of the tracking radios Calibration Parameter Antenna offset from the center of the vehicle in m of the primary tracking antenna Vive 4 Antenna offset of the secondary tracking antenna Compass bias values for each axis Compass scaling factors for each axis Retrieve parameters from the vehicle controller Store current parameter values to the vehicle controller Load parameter values from file Store parameters to file Print a configuration sheet for the vehicle controller kA Initialize the coordinate system u e pi E en k RO Set the origin of the reference frame to the current vehicle location RA Set the primary axis x axis of the reference frame to the current vehicle location A detailed explanation of the parameters and control functions can be found in the Application Programming Interface documentation Logging and Retrieving Tracking and Navigation Data The system provides two methods for data logging The first method is based on capturing the tracking information in the Firmware Upgrade tool to file in real time The time interval for logging is limited to the update rate of tracking information in the PC software The time frame for logging is virtually unlimited and only depends on storage capacity in the PC The second method for data logging is based on internal capturing and storing of tracking information
16. e who uses this computer 9 Everyone Just me 7175400 PCWIN Contirm Installation The installer is ready to install T5400 POW IN on your computer Click Nest to start the installation HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC l1l December 30 2013 el T5400 PCWIN Installation Complete ilrack LLC TS400_PCWIN has been successtully installed Click Close to exit Uninstall TS400 PCWIN To remove the software from your PC simply execute the software installation again The installer will detect that there is already a version installed on your machine and it will display the following screen with your options Te 15400 POWIN Welcome to the 15400_PCWIN Setup Wizard iTrack LLC Select whether you want to repair or remove TS400_PCWIN Co Repair T5400_PCWIN Remove TS400_PCwIN HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 12 December 30 2013 Alternatively you may select TS400 PCWin from the Add and Remove Programs through the Windows Control Panel HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 13 December 30 2013 AVC 410 FIRMWARE MAINTENANCE
17. er The see value should be approximately equal to the noise level on the gyro sensor signals The parameter can be adjusted until the erratic behavior of the actuators disappears Drvie time Interval time Stop time Exposure time The ramp for the vehicle velocity between exposures Forward speed set point Steering Steering set point Duration Duration of the task Level gain UWB RF Scan Window The Scan window provides the capability to capture an RF tracking waveform from the P400 series radio in the tracking system to a specific beacon HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 28 December 30 2013 PCWin Dashboard Window AHRS Charts Config LOG Stats Comm Navigation Scan The window may be resized to convenience The user may capture the current data and graphical chart by double clicking on the scan chart area The data will then be available in any other Windows based software that provides the ability to paste from the clipboard By selecting paste special the user may select to insert the tracking data as a regular bitmap an enhanced metafile or as a table of numeric values text HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM ilrack LLC December 30 2013
18. gn Axes These functions described above are also available from the context menu see above that can be brought up by clicking the right mouse key in the graphical operating space PCWin Dashboard Window Figure 7 Tracking Overlay Window Navigation Overlay Window The navigation overlay window provides a user interface for managing beacons and trajectories for the autonomous navigation systems This window is only available for the AVC 410 and AVC 100 series autonomous navigation systems When the window is activated the beacons if available and tracking location will be displayed A custom background can be selected as a graphical representation of the operating space A new background can be selected by pressing the F6 function key or selecting from the context menu A new background can also be captured from the display of another application for example from an explorer window showing a display of Google Earth To do so move the Navigation HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 22 December 30 2013 Overlay Window on top of the external application window and resize to match the area to be captured Then press the F9 function key to capture the graphics display of the window underneath the Navigation Overlay window as the new background If no beacons are present in the current
19. ivated to help the user with operating the system remotely PcWin Vehicle Command Interface Figure 9 The Command Toolbar Start from the beginning of the trajectory Enter Recording mode and store to trajectory i I Go to target Generate a stroke pattern in the current trajectory Trajectory must enclose an area Show waypoints of the trajectory Retrieve active trajectory from the vehicle controller Set vehicle location as origin of the reference frame nni HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 25 December 30 2013 System Statistics and health Monitoring PCWin Dashboard Window AHRS Config Navigation Charts LOG Econ 100 Econ 101 Econ 107 Econ 102 Econ 106 Boon 103 Econ 105 Boon 104 Figure 10 System Statistics and health Monitoring Window Communication Settings PCWin Dashboard Window Find WLAN Configuration When connected through the CAN interface or the USB interface these settings can be used to re configure the wireless network module AC4790 Configuration HEADQUARTERS 2200 NORTH SQUIRREL ROAD ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 26 December 30 2013 VYhen connected to the CAN interface or the VVLAN interface thes
20. led if it is not detected on the target machine SiLabs USB Bridge driver must be installed see introduction Setup Procedure Open a web browser and enter the following URL http www itrack llc com Products FWU USB TS400_ PCWIN Setup msi The browser may ask you to save or run the application Choose to run The setup will show a series of screens that allow you to customize the installation for your machine The following steps are part of the proper setup procedure ee T5400 PCOWIN Welcome to the 15400_PCWIN Setup Wizard Track LLC The installer will guide you through the steps required to install TS400_PCWIN on your computer WARNING This computer program it protected by copyright law and international treaties Unauthorized duplication or distribution of this program or any portion of it may result in severe civil or criminal penalties and will be prosecuted to the maximum extent possible under the law Cancel HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 st USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM iTrack LLC 10 December 30 2013 T T5400 PCWIN Select Installation Folder The installer will install TS400_PCWIN to the following folder To install in this folder click Next To install to a different folder enter it below or click Browse Folder E Program Fdezvlrack TGAUU DAIN Install TS400_ PCW IN for yourself or for anyon
21. nor orn oe nse nse e eee enen nore see ee tere sene eee eee eee eee ee tee eee error ene tee tere nnmnnn annann nananana 16 Data Chart Te Ce TE 16 ConliPuralion an CONE OL S GOC IN s a uu vo ven d nd e V aaa iaia aa iaa aama 17 Logging and Retrieving Tracking and Navigation Data nnncincin sene nenen enen set ere setet eee nore e nese e eter ete teren eee meter eee teren ene e nete 19 Tracking Overlay WINAOW p jau rr da EREE Ea ERE AENEA EAE a A AARE 20 Navigation Overlay WINdoW illa 21 System Statistics and health Monitoring nia 25 Communication Settings ij ins urt Ark neti NNRiNNNTeNNNaTiTNNE NNT NOUN aiaa aiara aaia 25 Time Lapse Mr En ugeet 26 VE RE Scan VEER 27 WIRELESS INTERFACE CONFIGURATION irsidir ia 29 PCWIN N a ad d d and eect 29 SIYLUS PEN OVERLAY a ci 31 HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 6 December 30 2013 HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC T December 30 2013 LIST OF FIGURES Figure 1 The Main Interface Window of the Firmware Upgrade Tool cssccsccsscssccsccesccsccnccecccsccncceccesccsscescesccsccesees 13 Figure 2 The Console Interface Window Lillian 15 Figure 3 The Attitude Heading Reference AHRS WindOW sssesessessseosessssosecsesc
22. o communicate to the hardware The appropriate drivers can be downloaded from any of the following sites http www silabs com products mcu Pages USBtoUARTBridgeVCPDrivers aspx http www ftdichip com Drivers VCP htm http www kvaser com index php option com_php amp Itemid 258 amp eaninput 7330130002418 http intrepidcs com osc_store product_info php products_id 103 The USB interface should be configured to communicate at 115200 baud rate HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 4 December 30 2013 HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC D December 30 2013 TABLE OF CONTENTS INTRODUCTION ct 3 i resacteceusactcersuncecerevactcerssace 5 LISFOFE FIGURES e 7 INSTALLATION cale 9 BROCI UU OO S U aj da di 9 Setup Procedura 9 Uminstal T5400 PCWIN i AAEE A EARRA ERARA AEEA AAAA EAE 11 AVC 410 FIRMWARE MAINTENANCE L csssssesssssssesssssssessssesseesssssseesssssseessssseeesesnseeesesassnesessanesssnas 13 Firmware UP ET nenin 13 System Sa KNN Du AG OT dr td aaia 14 GRAPHICAL USER INTERFACES dja vedi das n nash n ud r s nd nd des nda q add da dh nd dun n na shnd rron 15 User Interface Console ip DEAR EADE EEN 15 P S 16 Attitude Heading Reference System AHRS nana ana ncn cenon
23. s provided separately upon request Follow these steps in order to properly sanitize the TM 400 firmware 1 Connect the TM 400 to the PC with the USB cable 2 Make sure that the TM 400 is powered and turned on 3 Select the Comport for the USB interface in the TS400 PCWin software 4 Click on Connect to establish communication The status line should indicate that the link is successful 5 Click on Sanitize to erase the firmware and data everything except the boot loader from the TM 400 6 When the Sanitization is completed you may disconnect and close the software HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 15 December 30 2013 GRAPHICAL USER INTERFACES User Interface Console When connected through the system via the USB or WLAN interface the user can open the Interface Console Window The console provides a test based dialog prompt with the system for operation configuration etc Ze PEN 540U Console FZ save F5 Clear Fo Font ANS 418 Ver 3 0 1469 iTrack LLC Current time Day 14 88 45 36 ANS 418 Ver 3 0 1469 iTrack LLC ID 221 5YS x100 Built on 07 14 2013 at 00 08 46 Figure 2 The Console Interface Window A detailed description of the capabilities and syntax of the Console Interface is provided in the Application Programming Interface API documentation Figure
24. secsescsecseccssosecsescsecsesosecsecssscsecseesseesee 16 Figure 4 The Charting Interface WindOW essessessessecsecsecsesecsessecsessecsecsecsecsecsesecsecsecsecsecsecsecseossoseseesecseesessessecsesssesese 17 Figure 5 The Configuration Interface Window ssessessecsscsesessecsecsessecsecseoseosecsesecoeesecsecsecsecsecsecssoseseesecsecsecsessecsecssessoe 17 Figure 6 Data Logging MIDI 20 Figure 7 Tracking Overlay Vu I e E 21 Figure 8 Navigation Overlay WINGOW geigupindcingin iv urano N RN 23 Figure 9 The Command 00 bpaf Limana 24 Figure 10 System Statistics and health Monitoring Window sessssessssessssecsssecsssecsesecsesecssseosesecsssecsssecsesecsssecsssecseseoe 25 HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC B8 December 30 2013 HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 9 December 30 2013 INSTALLATION A Microsoft Windows PC based software application is available for the firmware maintenance of the TS 400 This application can identify the firmware version and revision the system ID and the serial number of the modules The software is available for download from iTrack s web site Requirements PC XP Vista 7 with NET Framework The NET framework will be automatically instal
25. system or of no clear indication in the background is available for the beacon locations then it may be necessary to have an alternative for calibrating the background image to actual dimensions in the operating space To do so the user must identify two locations in the background that are clearly visible and have a known separation distance Move the mouse to the first location and click the right mouse button to bring up the context menu Select Calibrate from the Background submenu This will activate a calibration ruler that starts in the first identified location As you move the mouse the ruler will indicate the current length of the location to where the mouse points to By holding down the left mouse button the distance will freeze and moving the mouse will now scale the map to make the distance correspond to the value displayed by the ruler By freezing the distance with the left mouse button when the value indicates the range between the two identified locations and then moving the ruler endpoint to the second location and releasing the mouse button there the user can calibrate the map to the actual operating space Adjusting beacons Setting and adjusting the reference frame Adjusting the reference frame when there are no beacons in the system Creating a trajectory in the work space is as easy as painting a line on the map When the left mouse button is released the trajectory remains and the user can create a straight
26. window will set the current orientation of the tracking module to 0 whereas double clicking on the roll and pitch window will set the current roll and pitch angles to 0 The units for display of the current tracking position can be set in the Configuration and Control Screen Data Chart Interface The Data chart screen provides for a real time running chart of tracking data The scale of the chart window is self adjusting The window may be resized to convenience The scale can be manually adjusted by scrolling the mouse wheel over the chart area If the manual scaling does not respond then you may have to click on the selected signal checkbox once again The user may capture the current data and graphical chart by double clicking on the chart area The data will then be available in any other Windows based software that provides the ability to paste from the clipboard By selecting paste special the user may select to insert the tracking data as a regular bitmap an enhanced metafile or as a table of numeric values text HEADQUARTERS 2200 NORTH SQUIRREL ROAD st ROCHESTER MICHIGAN 48309 USA PHONE 248 648 4777 FAX 248 648 4799 e HTTP WWW ITRACK LLC COM Track LLC 17 December 30 2013 The following snapshot illustrates an example of the Data Chart Interface window E PCWin Dashboard Window AHRS Charts Config LOG Stats Scan Overtay Chat Data Range Course Fine v DOP I Wheels
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