Ardupilot VSM User Guide
Contents
1. Action Result Wait Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Land Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Return Home Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Continue Aircaft continues mission 1 6 Configuration file Default configuration file of the Ardupilot VSM suits most needs and it is generally not necessary to modify it Configuration file location On Microsoft Windows Copyright 2014 Smart Projects Holdings Ltd 4 CONTENTS C Program Files x86 UgCS vsm ardupilot vsm ardupilot conf On GNU Linux etc opt ugcs vsm ardupilot conf On Apple OS X Users user name Library Application Support UGCS configuration vsm ardupilot conf 1 6 1 Common parameters All VSMs share a common set of configuration file parameters described in Common configuration file parameters Ardupilot VSM configuration file prefix is vehicle ardupilot 1 6 2 Serial port configuration Mandatory At least one serial port should be configured otherwise VSM will not try to connect to the vehicle e Name vehicle ardupilot serial_port Description Serial port configuration for more details see Serial port configuration Default Ardupilot serial port communication speed is 57600 bps Example vehicle ardupilot serial_port 1 name2. rate Optional e Name prefix port index baud baud index baud Description Baud rate for port opening baud index is an optional arbitrary name used when it is necessary to open the same serial port using multiple baud rates port index is an arbitrary port indexing name e Example vehicle ardupilot serial_port 1 baud 1 9600 e Example vehicle ardupilot serial_port 1 baud 2 57600 e Example vehicle ardupilot serial_port 2 baud 38400 Copyright O 2014 Smart Projects Holdings Ltd 1 7 Common configuration file parameters 7 1 7 3 3 Excluded port name Optional e Name prefix exclude exclude index regular expression e Description Ports which should not be used for vehicle access by this VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Filter is case insensitive on Windows exclude index is a arbitrary indexing name used when more than one exclude names are defined e Example vehicle ardupilot serial_port exclude 1 dev ttyS x e Example vehicle ardupilot serial_port exclude com1 1 7 3 4 Serial port arbiter Optional e Name prefix use_serial_arbiter yes no e Description Enable yes or disable no serial port access arbitration between VSMs running on the same machine It is recommended to have it enabled to avoid situation when multiple VSMs try to open the same port simultane
3. the UgCS 1 Ardupilot vehicle must be properly configured calibrated and tested using tools and instruction from the official Ardupilot web site prior to using it with UgCS UgCS does not support initial configuration setup and calibration of Ardupilot driven vehicles If more than one Ardupilot vehicle is planned to be used with UgCS it must be ensured that each vehicle has a unique system id as defined by the parameter SYSID_THISMAV otherwise UgCS will not be able to distinguish between different vehicles and it will not be possible to operate vehicles normally To change the parameter please use the official Ardupilot configuration software like Mission Planner Turn on the vehicle and plug in the radio modem paired with the vehicle or direct USB cable from the Ardupi lot board to the computer where VSM is running UgCS uses serial ports for communication with Ardupilot vehicles Standard communication devices like 3DR radio modems and their analogs and direct USB con nections are supported as long as OS driver for virtual serial port is installed and serial port is successfully created Please refer to your communication equipment manufacturer documentation about driver installation instructions Open Vehicles window in UgCS Client and wait until new vehicle appears there automatically Both Uplink and Downlink connections should be available Press Gain control and Editto select corresponding vehicle profile and change the defaul
4. Ardupilot VSM User Guide UgCS 2 2 93 eS uses Copyright 2014 Smart Projects Holdings Ltd ii CONTENTS Contents 1 Ardupilot VSM User Guide 1 1a Firstime vehicle CONTSCHON s sc c 2804 e065 O84 LAN BRD Pewee RSE bs 1 1 2 Mission execution Specifics s coe cro cai ne a aaa OR RA US a RR ee RR A 2 13 Command execution species o 22 4 ec roe eee eae ee 2 1 4 Telemetry information specifics c 3 Lo Faksai CONS ceo La un aa D A SU me Boek Ne nl Une pu 3 LE Comuuraliontle 2 288 he bad db ah do de ue ro dent bends 3 161 COMMON parameters LE Lou uit ENVIES ER SAN MMM ot eR ods MOR ES 4 1 6 2 Serial port configuration 4 1 6 3 Model name and serial number override 4 1 7 Common configuration file parameters 5 17 1 UoCS server cONTIGUIATION 2 LL sore ee aus da Re a e a 5 RS LS CONQUE A A PRES Ed 5 1 249 Serial portcontiguration s lt 2 54 eau ee RE pa dos onu 6 1 7 4 Network connection configuration 7 tes MISSION SUING BAIN ss dee das e Mic DE a de eee ee eS 8 2 Disclaimer 8 Copyright 2014 Smart Projects Holdings Ltd 1 Ardupilot VSM User Guide 1 Ardupilot VSM User Guide CO uses JAPM 1 1 First time vehicle connection See Disclaimer Please follow these steps to connect an Ardupilot vehicle to
5. amel name2 nameX value where name1 name2 nameX are arbitrary names separated by dots to divide a variable into logical blocks and a value which can be a number value or a text string depending on the context See below the description about common VSM configuration parameters 1 7 1 UgCS server configuration 1 7 1 1 Listening address Mandatory Name ucs local_listening_address IP address Description Local TCP address to listen for incoming connections from UgCS server Specify 0 0 0 0 to listen from all local addresses Example ucs local_listening_address 0 0 0 0 1 7 1 2 Listening port Mandatory Name ucs local_listening_port port number e Description Local TCP port to listen for incoming connections from UgCS server Default is 5556 Example ucs local_listening_port 5556 1 7 2 Logging configuration 1 7 2 1 Level Optional Name log level error warning info debug e Description Logging level Default info Example log level debug 1 7 2 2 File path Optional Name log file_path path to a file e Description Absolute or relative to the current directory path to a logging file Logging is disabled if logging file is not defined File should be writable Backslash should be escaped with a backslash Example log file var opt ugcs log vsm ardupilot vsm ardupilot log Example log file C Users John AppData Local UGCS logs vsm ardupilot vs
6. coml vehicle ardupilot serial_port l baud 57600 1 6 3 Model name and serial number override Optional e Name vehicle ardupilot custom name system_id system id Name vehicle ardupilot custom name model_name model name e Name vehicle ardupilot custom name serial_number serial number e Description In UgCS each vehicle is identified by a unique combination of model name and serial number represented as text strings By default Ardupilot vehicles are identified with a model name Ardupilot and serial number equal with the Mavlink system id read from the vehicle It can be overridden by these parameters where name is an arbitrary vehicle name system id is the original Mavlink system id which should be overridden model name is a new model name to be visible to the UgCS serial number is a new serial number to be visible to the UgCS Example vehicle ardupilot custom my_drone system_id 2 vehicle ardupilot custom my_drone model_name ArducopterQuad vehicle ardupilot custom my_drone serial_number 123456 Copyright 2014 Smart Projects Holdings Ltd 1 7 Common configuration file parameters 5 1 7 Common configuration file parameters VSM configuration file is a text file specified via command line argument config of the VSM application Example config etc opt ugcs vsm ardupilot conf Each configuration parameter is defined as a line in the configuration file with the following structure n
7. es correct angle values according to Mavlink specification Camera control No 1 3 Command execution specifics Copters Command Support Notes ARM Yes Arms vehicle DISARM Yes Disarms vehicle AUTOMODE Yes Sets Auto flight mode MANUALMODE Yes Sets Loiter flight mode RETURNHOME Yes TAKEOFF No LAND Yes EMERGENCYLAND No Planes Command Support Notes Copyright O 2014 Smart Projects Holdings Ltd 1 4 Telemetry information specifics ARM Yes DISARM Yes AUTOMODE Yes Sets Auto flight mode MANUALMODE Yes Sets Manual flight mode RETURNHOME Yes TAKEOFF No LAND No EMERGENCYLAND No Rovers Command Support Notes ARM No DISARM No AUTOMODE Yes Sets Auto flight mode MANUALMODE Yes Sets Manual flight mode RETURNHOME Yes TAKEOFF No LAND No EMERGENCYLAND No 1 4 Telemetry information specifics Nothing specific 1 5 Fail safe actions GPS Lost Action Result Wait Aircraft tries to maintain altitude Land Aircraft lands even if in loiter mode RC Lost Action Result Wait Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Land Aircraft lands even if in loiter mode Return Home Aircraft changes altitude to failsafe alt set via MissionPlanner and returns home Continue Aircaft continues mission Battery Low
8. m ardupilot log Copyright 2014 Smart Projects Holdings Ltd 6 CONTENTS 1 7 2 3 Maximum single file size Optional e Name log single_max_size size e Description Maximum size of a single log file When maximum size is exceeded existing file is renamed by adding a time stamp and logging is continued into the empty file size should be defined as a number postfixed by a case insensitive multiplier Gb G Gbyte Gbytes for Giga bytes Mb M Mbyte Mbytes for Mega bytes Kb K Kbyte Kbytes for Kilo bytes no postfix for bytes e Default 100 Mb Example log single_max_size 500 Mb 1 7 3 Serial port configuration Optional VSM which communicates with vehicles via serial ports should define at least one serial port otherwise VSM will not try to connect to the vehicles Port name and baud rate should be both defined prefix is unique for each VSM 1 7 3 1 Port name Optional e Name prefix port index name regular expression e Description Ports which should be used to connect to the vehicles by given VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Expression is case insensitive on Windows port index is a arbitrary port indexing name e Example vehicle ardupilot serial_port 1 name dev ttyUSB 0 9 com 0 9 e Example vehicle ardupilot serial_port 2 name com42 1 7 3 2 Port baud
9. ously Default yes e Example vehicle ardupilot serial_port use_serial_arbiter no 1 7 4 Network connection configuration Optional VSM which communicates with vehicles via network should define at least one network connection otherwise VSM will not try to connect to vehicles prefix is unique for each VSM 1 7 4 1 Local IP address for UDP Optional Name prefix detector con index udp_local_address IP address Description Local IP address to listen for incoming UDP packets on Specify 0 0 0 0 if you want to listen on all local addresses e Example vehicle ardrone detector 1 udp_local_address 0 0 0 0 1 7 4 2 Local UDP port Optional e Name prefix detector con index udp_local_port port number e Description Local UDP port to listen for incoming packets on Example vehicle ardrone detector 1 udp_local_port 14550 1 7 4 3 Remote IP address for UDP Optional Name prefix detector con index udp_address IP address Description Remote IP address to send outgoing UDP packets to Example vehicle ardrone detector 1 udp_address 192 168 1 1 Copyright O 2014 Smart Projects Holdings Ltd 8 CONTENTS 1 7 4 4 Remote UDP port Optional e Name prefix detector con index udp_port port number Description Remote UDP port to send outgoing packets to e Example vehicle ardrone detector 1 udp_port 14551 1 7 5 Mission dump path Optional e Name prefix mis
10. sion_dump_path path to a file Description File to dump all generated missions to Timestamp is appended to the name Delete the entry to disable mission dumping All directories in the path to a file should be already created Example vehicle ardupilot mission_dump_path C tmp ardupilot_dump 2 Disclaimer DISCLAIMER OF WARRANTIES AND LIMITATIONS ON LIABILITY a SMART PROJECTS HOLDINGS LTD MAKE NO REPRESENTATIONS OR WARRANTIES REGARDING T HE ACCURACY OR COMPLETENESS OF ANY CONTENT OR FUNCTIONALITY OF THE PRODUCT AND ITS DOCUMENTATION b SMART PROJECTS HOLDINGS LTD DISCLAIM ALL WARRANTIES IN CONNECTION WITH THE PRODUCT AND WILL NOT BE LIABLE FOR ANY DAMAGE OR LOSS RESULTING FROM YOUR USE OF THE PRODUCT INCLUDING BUT NOT LIMITED TO INJURY OR DEATH OF USER OR ANY THIRD PERSONS OR DAMAGE TO PROPERTY c THE SOFTWARE IS SUPPLIED AS IS WITH NO WARRANTIES AND CAN BE USED ONLY AT USERS OWN RISK Copyright O 2014 Smart Projects Holdings Ltd
11. t vehicle name to be convenient for you ARDUPILOTMEGA 1 35 G ol Release contol Edit Remove Release control Tail number ArduCopter 101 Platform ArduPilot Vehicles q Profile 3DR ArduCopter Quad Take off point altitude m 1 16 Downlink Yes Profiles Uplink Yes Payloads ArduCopter 103 es Tail number ArduCopter 103 gt Platform ArduPilot 69 Profile 3DR ArduCopter Quad Configuration Take off point altitude m Downlink Yes Uplink Yes ArduCopter 104 es Tail number ArduCopter 104 Platform ArduPilot e Profile 3DR ArduCopter Quad Take off pointaltitude m 1 16 Figure 1 New Ardupilot vehicle Copyright 2014 Smart Projects Holdings Ltd 2 CONTENTS Vehicle profile needs to be assigned to allow mission planning with this vehicle Image needs to be assigned to see vehicle location on the map 5 Repeat steps above for each your Ardupilot vehicle Supported vehicle types Copters Supported Ardupilot firmware versions 3 0 3 1 x recommended e 3 2 x Supported hardware platforms e APM Pixhawk Note Pixhawk with native firmware is not yet supported 1 2 Mission execution specifics Flight plan element action Support Notes Change speed Partial Changing of flight speed during the mission is currently broken for Ardupilot due to firmware bugs Panorama Partial Only clock wise movement is supported due to Ardupilot firmware bug UgCS provid
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