wimadoc edited

WimaDok/main.aux

@@ -69,31 +69,47 @@
 \@writefile{toc}{\contentsline {subsection}{\numberline {3.3}WiMA\xspace  Flight View and WiMA\xspace  Menu}{10}}
 \newlabel{sec:wimaFlightView}{{3.3}{10}}
 \@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.1}How to synchronize a Flight Plan with the WiMA\xspace  Menu}{10}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.2}How to use the Settings Section}{10}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.2}What's the Mission Section and how to use it}{10}}
 \newlabel{sec:settingsSection}{{3.3.2}{10}}
+\@writefile{toc}{\contentsline {paragraph}{\nonumberline How to partition a flight plan}{10}}
+\newlabel{sec:AaR}{{3.3.2}{10}}
 \@writefile{toc}{\contentsline {paragraph}{\nonumberline What's the AaR Path}{10}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.3}How to use the Mission Section}{10}}
-\@writefile{toc}{\contentsline {paragraph}{\nonumberline How to change Mission Speed}{10}}
-\@writefile{toc}{\contentsline {paragraph}{\nonumberline How to change AaR Speed}{10}}
 \newlabel{fig:syncWima}{{13a}{11}}
 \newlabel{sub@fig:syncWima}{{a}{11}}
 \newlabel{fig:wimaViewMissionToolStrip}{{13b}{11}}
 \newlabel{sub@fig:wimaViewMissionToolStrip}{{b}{11}}
 \newlabel{fig:wimaMenu}{{13c}{11}}
 \newlabel{sub@fig:wimaMenu}{{c}{11}}
-\newlabel{fig:missionSection}{{14b}{11}}
-\newlabel{sub@fig:missionSection}{{b}{11}}
-\newlabel{fig:vehicleSection}{{14c}{11}}
-\newlabel{sub@fig:vehicleSection}{{c}{11}}
-\newlabel{fig:statisticsSection}{{14d}{11}}
-\newlabel{sub@fig:statisticsSection}{{d}{11}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.4}How to use the Vehicle Section}{11}}
+\@writefile{toc}{\contentsline {paragraph}{\nonumberline How to change Mission Flight Speed}{11}}
+\@writefile{toc}{\contentsline {paragraph}{\nonumberline How to change AaR Speed}{11}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.3}What's the Vehicle Section and how to use it}{11}}
 \@writefile{toc}{\contentsline {paragraph}{\nonumberline How to upload and clear mission}{11}}
+\newlabel{sec:SRTL}{{3.3.3}{11}}
 \@writefile{toc}{\contentsline {paragraph}{\nonumberline What's Smart Return to Launch}{11}}
-\@writefile{toc}{\contentsline {paragraph}{\nonumberline How to configure Smart Return to Launch}{11}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.5}What's the Statistics Section}{11}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.6}I can't find the WiMA\xspace  Menu}{11}}
-\@writefile{toc}{\contentsline {subsection}{\numberline {3.4}ArduPilot Simulator}{12}}
+\newlabel{fig:smartRTLconfirmStart}{{14a}{12}}
+\newlabel{sub@fig:smartRTLconfirmStart}{{a}{12}}
+\newlabel{fig:smartRTLconfirmExecute}{{14b}{12}}
+\newlabel{sub@fig:smartRTLconfirmExecute}{{b}{12}}
+\@writefile{lof}{\contentsline {figure}{\numberline {14}{\ignorespaces Confirmation process of a smart RTL.\relax }}{12}}
+\newlabel{fig:qgcSettings}{{15a}{12}}
+\newlabel{sub@fig:qgcSettings}{{a}{12}}
+\newlabel{fig:generalSettings}{{15b}{12}}
+\newlabel{sub@fig:generalSettings}{{b}{12}}
+\newlabel{fig:wimaSettings}{{15c}{12}}
+\newlabel{sub@fig:wimaSettings}{{c}{12}}
+\@writefile{lof}{\contentsline {figure}{\numberline {15}{\ignorespaces How to configure WiMA\xspace  smart RTL.\relax }}{12}}
+\newlabel{sec:configSRTL}{{3.3.3}{12}}
+\@writefile{toc}{\contentsline {paragraph}{\nonumberline How to configure Smart Return to Launch on low Battery.}{12}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.4}What's the Statistics Section and how to use it}{12}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.5}I can't find the WiMA\xspace  Menu}{12}}
+\newlabel{fig:missionSection}{{16a}{13}}
+\newlabel{sub@fig:missionSection}{{a}{13}}
+\newlabel{fig:vehicleSection}{{16b}{13}}
+\newlabel{sub@fig:vehicleSection}{{b}{13}}
+\newlabel{fig:statisticsSection}{{16c}{13}}
+\newlabel{sub@fig:statisticsSection}{{c}{13}}
+\@writefile{lof}{\contentsline {figure}{\numberline {16}{\ignorespaces The different sections of the WiMA\xspace  menu.\relax }}{13}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.4}ArduPilot Simulator}{13}}
 \global\@namedef{scr@dte@section@lastmaxnumwidth}{10.84047pt}
 \global\@namedef{scr@dte@subsection@lastmaxnumwidth}{18.37163pt}
 \global\@namedef{scr@dte@subsubsection@lastmaxnumwidth}{32.36331pt}

WimaDok/main.tex

@@ -209,13 +209,14 @@ The flight plan can be displayed by checking the \verb|Mission| radio button abo
 
 \subsubsection{Circular Survey}
 \label{sec:circularSurvey}
-The Circular Survey (green area in fig. \ref{fig:flightPath}, containing circular tracks) is a flight pattern provided by \wima. It is similar to the Survey pattern of the standard \qgc application. The Circular Survey was adapted for mobile coverage measurements. It consists of circle segments refereed to as transects. Ideally, the transects are connected with each other such that the path between entry and exit point is as short as possible. Currently this goal is approximated by a heuristics. The solution might not always be the global optimum. The \verb|Reference| point (Circle with R symbol and Reference tag, see fig. \ref{fig:flightPath}) defines the center of the circle segments. It is supposed to be placed on the base stations position.
+The Circular Survey (green area in fig. \ref{fig:flightPath}, containing circular tracks) is a flight pattern provided by \wima. It is similar to the Survey pattern of the standard \qgc application. The Circular Survey was adapted for mobile coverage measurements.
 \begin{wrapfigure}{r}{0.35\textwidth}
 	\includegraphics[width=0.3\textwidth]{pics/circularSurveyItemEditor}
 	\centering
 	\caption{The circular survey item editor. Can be found at the right edge of the screen.}
 	\label{fig:circularSurveyItemEditor}	
-\end{wrapfigure}
+\end{wrapfigure} It consists of circle segments refereed to as transects. Ideally, the transects are connected with each other such that the path between entry and exit point is as short as possible. Currently this goal is approximated by a heuristics. The solution might not always be the global optimum. The \verb|Reference| point (Circle with R symbol and Reference tag, see fig. \ref{fig:flightPath}) defines the center of the circle segments. It is supposed to be placed on the base stations position.
+
 Circular survey parameters can be edited with the circular survey editor (see fig. \ref{fig:circularSurveyItemEditor}). The \verb|Altitude| input box adjusts the altitude of the survey's way-points. The distance between adjacent circle segments can be modified by changing the \verb|Delta R| value. The circle segments are approximated by polygonal structures, consisting of way-points. Two arbitrary adjacent way-points of a circle segment have a maximum angle between them. This angle can be adjusted by editing the \verb|Delta Alpha| input box. The \verb|Delta Alpha| value can assume everything between 0.3$^{\circ}$ and 90$^{\circ}$. The higher the value the rougher the circle appears. The survey will contain the less way-points the higher the \verb|Delta R| and the \verb|Delta Alpha| values are. The number of way-points impacts the recreation and upload time. In general the following holds. The less way-points the better. Use only as many way-point as you really need.
  
 Short transects are often undesired, to remove them, the minimal transect length can be specified by the \verb|Min. Length| value. 
@@ -255,46 +256,92 @@ The \wima flight view extends the \qgc flight view by the \wima menu, which offe
 	\end{subfigure}
 \end{figure*}
 \subsubsection{How to synchronize a Flight Plan with the \wima Menu}
-See sec. \ref{sec:wimaFlightView} and especially sec. \ref{sec:syncWima}.
-\subsubsection{How to use the Settings Section}
+See sec. \ref{sec:wimaPlanView} and especially sec. \ref{sec:syncWima}.
+\subsubsection{What's the Mission Section and how to use it}
 \label{sec:settingsSection}
-The settings section (see fig. \ref{fig:settingsSection}) is used to partition the flight plan generated with \wima plan view (see sec. \ref{sec:wimaPlanView}). The
+The settings section (see fig. \ref{fig:missionSection}) is used to partition the flight plan generated with \wima plan view (see sec. \ref{sec:wimaPlanView}). This gives the possibility to work through large flight plans (containing thousands of way-points) in a step wise manner.
+\paragraph{How to partition a flight plan}
+The flight plan generated with the \wima plan view can be partitioned using the \verb|Next Waypoint|, \verb|Max Waypoints| and the \verb|Overlap| input boxes (see fig. \ref{fig:missionSection}).   
 
+\paragraph{What's the AaR Path}
+\label{sec:AaR}
+The abbreviation AaR means arrival and return and refers to the way-points which are not part of the actual measuring process. Those way-points are used to guide the UAV from service area to measurement area, hence the name. 
+\paragraph{How to change Mission Flight Speed}
+The mission flight speed can be changed by altering the value of the \verb|Mission Speed| input box (see fig. \ref{fig:missionSection}). This affects measurement points only. The AaR path way-point speed can be altered as well (see the following section). 
+\paragraph{How to change AaR Speed}
+The AaR (see sec. \ref{sec:AaR}) flight speed can be changed by altering the value of the \verb|AaR Speed| input box (see fig. \ref{fig:missionSection}). This affects AaR path way-points only. The measurement way-point speed can be altered as well (see the previous section).
+\subsubsection{What's the Vehicle Section and how to use it}
+The vehicle section (see fig. \ref{fig:vehicleSection}) is used to upload and clear the vehicle mission. Additionally this section contains the interface to trigger a smart return to launch. 
+\paragraph{How to upload and clear mission}
+Missions can be uploaded and clear using the \verb|Upload| and \verb|Remove| buttons (see. fig. \ref{fig:vehicleSection}). During upload a green progress button will be displayed. After success the text \verb|Done| will be displayed. An error message will be displayed otherwise.
+\paragraph{What's Smart Return to Launch}
+\label{sec:SRTL}
+Most return to launch (RTL) implementations choose the direct way from the vehicles current to it's takeoff position as a return path. \wima's smart RTL algorithms chooses a return path based on the save area defined by the user (see sec. \ref{sec:wimaAreas}). A smart RTL can be triggered by pressing the \verb|Smart RTL| button. As a security measure pressing this button the user will asked to confirm the action (see fig. \ref{fig:smartRTLconfirmStart}). After confirmation the vehicle will be paused at it's current position and a return path will be displayed. Again the user is asked for confirmation (see fig. \ref{fig:smartRTLconfirmExecute}). On success the return path will be uploaded and executed.
+If configured (see sec. \ref{sec:configSRTL}) a smart RTL will be triggered on low battery voltage. The confirmation procedure is the same as described above.
+\begin{figure*}
+	\centering
+	\begin{subfigure}[t]{0.29\textwidth}
+		\centering
+		\includegraphics[width=0.8\textwidth]{pics/smarRTLGuidedAction1}
+		\caption{After a smart RTL was triggered the user is asked to confirm the action by moving the slider to the right hand side.}
+		\label{fig:smartRTLconfirmStart}
+	\end{subfigure}
+	\begin{subfigure}[t]{0.29\textwidth}
+		\centering
+		\includegraphics[width=0.8\textwidth]{pics/smarRTLGuidedAction2}
+		\caption{The user is asked to confirm the calculated return path.}
+		\label{fig:smartRTLconfirmExecute}
+	\end{subfigure}
+	\caption{Confirmation process of a smart RTL.}
+\end{figure*} 
+\paragraph{How to configure Smart Return to Launch on low Battery.}
+\label{sec:configSRTL}
+\begin{figure*}
+	\centering
+	\begin{subfigure}[t]{0.49\textwidth}
+		\centering
+		\includegraphics[width=0.3\textwidth]{pics/qgcSettings}
+		\caption{Click the gear logo followed by the QGC logo to enter QGC settings.}
+		\label{fig:qgcSettings}
+	\end{subfigure}
+	\begin{subfigure}[t]{0.49\textwidth}
+		\centering
+		\includegraphics[width=0.3\textwidth]{pics/generalSettings}
+		\caption{Choose the general settings.}
+		\label{fig:generalSettings}
+	\end{subfigure}
+	\newline
+	\begin{subfigure}[t]{0.6\textwidth}
+		\centering
+		\includegraphics[width=0.8\textwidth]{pics/wimaSettings}
+		\caption{The battery threshold (in percentage) below which smart RTL will be initiated can be set by altering the value of the Low Battery Threshold input box. The low battery handling can be enabled/disabled by checking/unchecking the \verb|Enable low battery handling| check box.}
+		\label{fig:wimaSettings}
+	\end{subfigure}
+	\caption{How to configure \wima smart RTL.}
+\end{figure*} 
+\subsubsection{What's the Statistics Section and how to use it}
 \begin{figure*}[ht!]
 	\centering
-	\begin{subfigure}[t]{0.24\textwidth}
-		\centering		
-		\includegraphics[width=0.95\textwidth]{pics/settingsSection}
-		\caption{The settings section of the \wima menu.}
-	\end{subfigure} 
-	\begin{subfigure}[t]{0.24\textwidth}		
+	\begin{subfigure}[t]{0.3\textwidth}		
 		\includegraphics[width=0.95\textwidth]{pics/missionSection}
 		\centering
 		\caption{The mission section of the \wima menu.}
 		\label{fig:missionSection}
 	\end{subfigure}
-	\begin{subfigure}[t]{0.24\textwidth}		
-	\includegraphics[width=0.95\textwidth]{pics/vehicleSection}
-	\centering
-	\caption{The vehicle section of the \wima menu.}
-	\label{fig:vehicleSection}
+	\begin{subfigure}[t]{0.3\textwidth}		
+		\includegraphics[width=0.95\textwidth]{pics/vehicleSection}
+		\centering
+		\caption{The vehicle section of the \wima menu.}
+		\label{fig:vehicleSection}
 	\end{subfigure}
-	\begin{subfigure}[t]{0.24\textwidth}		
-	\includegraphics[width=0.95\textwidth]{pics/statisticsSection}
-	\centering
-	\caption{The statistics section of the \wima menu.}
-	\label{fig:statisticsSection}
+	\begin{subfigure}[t]{0.3\textwidth}		
+		\includegraphics[width=0.95\textwidth]{pics/statisticsSection}
+		\centering
+		\caption{The statistics section of the \wima menu.}
+		\label{fig:statisticsSection}
 	\end{subfigure}
+	\caption{The different sections of the \wima menu.}
 \end{figure*}
-\paragraph{What's the AaR Path}
-\subsubsection{How to use the Mission Section}
-\paragraph{How to change Mission Speed}
-\paragraph{How to change AaR Speed}
-\subsubsection{How to use the Vehicle Section}
-\paragraph{How to upload and clear mission}
-\paragraph{What's Smart Return to Launch}
-\paragraph{How to configure Smart Return to Launch}
-\subsubsection{What's the Statistics Section}
 \subsubsection{I can't find the \wima Menu}
 See the introduction of sec. \ref{sec:wimaFlightView}.
 

WimaDok/main.toc

@@ -21,15 +21,15 @@
 \contentsline {subsubsection}{\numberline {3.2.12}Editing Flight Plans}{10}
 \contentsline {subsection}{\numberline {3.3}WiMA\xspace Flight View and WiMA\xspace Menu}{10}
 \contentsline {subsubsection}{\numberline {3.3.1}How to synchronize a Flight Plan with the WiMA\xspace Menu}{10}
-\contentsline {subsubsection}{\numberline {3.3.2}How to use the Settings Section}{10}
+\contentsline {subsubsection}{\numberline {3.3.2}What's the Mission Section and how to use it}{10}
+\contentsline {paragraph}{\nonumberline How to partition a flight plan}{10}
 \contentsline {paragraph}{\nonumberline What's the AaR Path}{10}
-\contentsline {subsubsection}{\numberline {3.3.3}How to use the Mission Section}{10}
-\contentsline {paragraph}{\nonumberline How to change Mission Speed}{10}
-\contentsline {paragraph}{\nonumberline How to change AaR Speed}{10}
-\contentsline {subsubsection}{\numberline {3.3.4}How to use the Vehicle Section}{11}
+\contentsline {paragraph}{\nonumberline How to change Mission Flight Speed}{11}
+\contentsline {paragraph}{\nonumberline How to change AaR Speed}{11}
+\contentsline {subsubsection}{\numberline {3.3.3}What's the Vehicle Section and how to use it}{11}
 \contentsline {paragraph}{\nonumberline How to upload and clear mission}{11}
 \contentsline {paragraph}{\nonumberline What's Smart Return to Launch}{11}
-\contentsline {paragraph}{\nonumberline How to configure Smart Return to Launch}{11}
-\contentsline {subsubsection}{\numberline {3.3.5}What's the Statistics Section}{11}
-\contentsline {subsubsection}{\numberline {3.3.6}I can't find the WiMA\xspace Menu}{11}
-\contentsline {subsection}{\numberline {3.4}ArduPilot Simulator}{12}
+\contentsline {paragraph}{\nonumberline How to configure Smart Return to Launch on low Battery.}{12}
+\contentsline {subsubsection}{\numberline {3.3.4}What's the Statistics Section and how to use it}{12}
+\contentsline {subsubsection}{\numberline {3.3.5}I can't find the WiMA\xspace Menu}{12}
+\contentsline {subsection}{\numberline {3.4}ArduPilot Simulator}{13}

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -160,14 +160,14 @@ Item {
                     spacing:                    ScreenTools.defaultFontPixelHeight * 0.3
 
                     SectionHeader{
-                        id: settingsHeader
-                        text: qsTr("Settings")
+                        id: missionHeader
+                        text: qsTr("Mission")
                     }
                     GridLayout {
                         columns: 2
                         rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
                         columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
-                        visible:            settingsHeader.checked
+                        visible:            missionHeader.checked
 
                         QGCLabel {
                             text: qsTr("Next Waypoint")
@@ -195,42 +195,6 @@ Item {
                             fact:               wimaController.overlapWaypoints
                             Layout.fillWidth: true
                         }
-                    }
-                    GridLayout {
-                        columns: 2
-                        rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
-                        columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
-                        visible:            settingsHeader.checked
-
-                        FactCheckBox {
-                            text:       qsTr("Show All")
-                            fact:       wimaController.showAllMissionItems
-                            Layout.fillWidth: true
-                        }
-
-                        FactCheckBox {
-                            text:       qsTr("Show Current")
-                            fact:       wimaController.showCurrentMissionItems
-                            Layout.fillWidth: true
-                        }
-
-                        FactCheckBox {
-                            text:       qsTr("Reverse")
-                            fact:       wimaController.reverse
-                            Layout.fillWidth: true
-                        }
-                    } // Grid
-
-                    SectionHeader{
-                        id: missionHeader
-                        text: qsTr("Mission")
-                    }
-                    GridLayout {
-                        columns:            2
-                        rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
-                        columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
-                        visible:            missionHeader.checked
-                        width:              parent.width
 
                         QGCLabel {
                             text:                   qsTr("Mission Speed")
@@ -259,16 +223,41 @@ Item {
                             Layout.fillWidth: true
                         }
 
+                        FactCheckBox {
+                            text:       qsTr("Show All")
+                            fact:       wimaController.showAllMissionItems
+                            Layout.fillWidth: true
+                        }
+
+                        FactCheckBox {
+                            text:       qsTr("Show Current")
+                            fact:       wimaController.showCurrentMissionItems
+                            Layout.fillWidth: true
+                        }
+
+                        FactCheckBox {
+                            text:       qsTr("Reverse")
+                            fact:       wimaController.reverse
+                            Layout.fillWidth: true
+                        }
+
                     }
 
-                    GridLayout {
-                        columns:            2
+                    GridLayout {// Buttons
+                        columns: 2
                         rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
                         columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
                         visible:            missionHeader.checked
-                        width:              parent.width
+                        width:              missionHeader.width
+
+                        QGCButton {
+                            id: buttonResetPhase
+                            text:               qsTr("Reset Phase")
+                            onClicked:          wimaController.resetPhase();
+                            Layout.columnSpan:  2
+                            Layout.fillWidth: true
+                        }
 
-                        // Buttons
                         QGCButton {
                             id: buttonPreviousMissionPhase
                             text:                   qsTr("Reverse")
@@ -282,15 +271,7 @@ Item {
                             onClicked:          wimaController.nextPhase()
                             Layout.fillWidth: true
                         }
-
-                        QGCButton {
-                            id: buttonResetPhase
-                            text:               qsTr("Reset Phase")
-                            onClicked:          wimaController.resetPhase();
-                            Layout.columnSpan:  2
-                            Layout.fillWidth: true
-                        }
-                    } // Grid
+                    } // Grid Buttons
 
                     SectionHeader{
                         id: vehicleHeader