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Mission items only (\verb|Show Phase| unchecked).^^E^^L
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Current phase only (\verb|Show Mission| unchecked).^^E^^L
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The battery threshold (in percentage) below which smart RTL will be initiated can be set by altering the value of the \verb|Low Battery Threshold| input box. The low battery handling can be enabled/disabled by checking/unchecking the \verb|Enable low battery handling| check box.^^E^^L
WimaDok/main.aux
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\@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Inventory}{3}}
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WimaDok/main.pdf
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WimaDok/main.synctex.gz
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WimaDok/main.tex
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\usepackage{wrapfig}
\usepackage{xspace}
\usepackage{subcaption}
\usepackage{cprotect} % for \verb|text| inside caption
\definecolor{shadecolor}{rgb}{0.9,0.9,0.9}
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\input{macros.tex}
\renewcommand{\theparagraph}{\arabic{section}.\arabic{subsection}.\arabic{subsubsection}.\arabic{paragraph}}
\renewcommand{\thesubparagraph}{\arabic{section}.\arabic{subsection}.\arabic{subsubsection}.\arabic{paragraph}.\arabic{subparagraph}}
% \renewcommand{\theparagraph}{\arabic{section}.\arabic{subsection}.\arabic{subsubsection}.\arabic{paragraph}}
% \renewcommand{\thesubparagraph}{\arabic{section}.\arabic{subsection}.\arabic{subsubsection}.\arabic{paragraph}.\arabic{subparagraph}}
\begin{document}
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The purpose of this document is to introduce the user to \wima (\textbf{Wi}reless \textbf{M}easurement \textbf{A}pplication) integrated in \qgc. \qgc is a ground control station software intended for the remote control of UAVs (\uav). A Documentation of the \qgc program can be found under \qgcdocurl. The WiMA extends the functionality of \qgc to simplify mobile UAV based coverage measurements.
\subsection{Scope}
The current goal of the \wima is to provide software able to generate flight plans form minimal user input. This guide contains information about how to use \wima.
\subsection{How to use this Guide}
......@@ -254,48 +255,93 @@ The \wima flight view extends the \qgc flight view by the \wima menu, which offe
\caption{The \wima menu located at the lower left corner of the flight view.}
\label{fig:wimaMenu}
\end{subfigure}
\caption{Different elements.}
\end{figure*}
\subsubsection{How to synchronize a Flight Plan with the \wima Menu}
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: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}).
The mission section (see fig. \ref{fig:missionSection}) is mostly used to partition the flight plan generated with \wima plan view (see sec. \ref{sec:wimaPlanView}). Additional speed and altitude can be adjusted from here. This gives the possibility to work through large flight plans (containing thousands of way-points) in a step wise manner.
\subsubsection{How to show the Mission Items}
The mission items can be made visible/invisible by checking/unchecking the \verb|Show Mission| check box (see fig. \ref{fig:missionSection}). An example can be seen in fig. \ref{fig:showAllCurrent} and \ref{fig:showAll}. The mission items consist of all items generated inside \wima plan view without the AaR path (see sec. \ref{sec:AaR}).
\subsubsection{How to show the current Phase}
The current mission items can be made visible/invisible by checking/unchecking the \verb|Show Phase| check box (see fig. \ref{fig:missionSection}). An example can be seen in fig. \ref{fig:showAllCurrent} and \ref{fig:showCurrent}.
\begin{figure*}
\centering
\begin{subfigure}[t]{0.3\textwidth}
\includegraphics[width=0.895\textwidth]{pics/showAllCurrent}
\centering
\caption{Mission items (gray) and current phase (green) overlayed.}
\label{fig:showAllCurrent}
\end{subfigure}
\begin{subfigure}[t]{0.3\textwidth}
\includegraphics[width=0.9\textwidth]{pics/showAll}
\centering
\cprotect\caption{Mission items only (\verb|Show Phase| unchecked).}
\label{fig:showAll}
\end{subfigure}
\begin{subfigure}[t]{0.3\textwidth}
\includegraphics[width=0.845\textwidth]{pics/showCurrent}
\centering
\cprotect\caption{Current phase only (\verb|Show Mission| unchecked).}
\label{fig:showCurrent}
\end{subfigure}
\caption{Mission Items displayed on the flight map.}
\end{figure*}
\paragraph{What's the AaR Path}
\subsubsection{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 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.
\subsubsection{Whats a Mission Phase}
\label{sec:missionPhase}
A mission phase refers to a partition of the mission items (see fig. \ref{fig:showAll}). An example of a partion can be seen in fig. \ref{fig:showAllCurrent} and \ref{fig:showCurrent} (green way-points).
\subsubsection{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 and the \verb|Reset Phase|, \verb|Reverse|, and \verb|Forward| button (see fig. \ref{fig:missionSection}). The entry of the \verb|Next Waypoint| corresponds starting point of the next phase. The numbering is related to the mission items. Using the \verb|Go Forward| or \verb|Go Reverse| buttons increases or decreases the \verb|Next Waypoint| value respectively (see sec. \ref{sec:goForwardReverse} for details). Manually editing the \verb|Next Waypoint| value sets the first point of the current phase to the way-point of the mission item with the entered number. The number of maximum way-points per phase (AaR path excluded) can be set with the \verb|Max Waypoints| input box.
\subsection{What's the Overlap}
\label{sec:Overlap}
The \verb|Overlap| it a the number of way-points two consecutive phases have in common. E.g. if the \verb|Overlap| $=2$ and the last two way-points of phase $n$ are 10 and 11, phase $n+1$ will start with way-points 10 and 11 (AaR path not included).
\subsection{What are the Go Reverse and Go Forward buttons for}
\label{sec:goForwardReverse}
The \verb|Go Forward| or \verb|Go Reverse| buttons are used to proceed to the next phase. The following notation will be used: the index of the first waypoint of Phase $n$ is denoted by $i^s_n$ and the index of the last way-point by $i^e_n$. The positive scalars $\Delta$ and $N$ denote the \verb|Overlap| (see sec. \ref{sec:Overlap}) and the maximum number of way points per phase (\verb|Max Waypoints|, see fig. \ref{fig:missionSection}). The \verb|Go Forward| button sets start index of the next of Phase ($n+1$) to $i^s_{n+1} = i^e_{n}-\Delta+1$ and the end index of Phase $n+1$ to $i^e_{n+1} = i^s_{n+1}+N-1$. A very similar result is delivered by the \verb|Go Reverse| button. It sets the start index of the next of Phase ($n+1$) to $i^s_{n+1} = i^s_{n}+\Delta-1$ and the end index of Phase $n+1$ to $i^e_{n+1} = i^s_{n+1}-N+1$. The indices are truncated, if they exceed the boundaries $1$ and $N$.
\subsection{What is the Reset Phase button for}
The reset button sets the start way-point to the first or last mission
\subsubsection{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}
\subsubsection{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{How to change Altitude}
The Altitude can be changed by altering the value of the \verb|Altitude| input box (see fig. \ref{fig:missionSection}). This value affects AaR path and measurement points.
\subsection{Can I invert/reverse a Phase}
\label{sec:invert}
A phase can be inverted by checking the \verb|Invert Phase| check box (see. fig. \ref{fig:missionSection}).
\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}
\subsubsection{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. Successfull uploaded mission items will be colored orange.
\subsubsection{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}
\begin{subfigure}[t]{0.49\textwidth}
\centering
\includegraphics[width=0.8\textwidth]{pics/smarRTLGuidedAction1}
\includegraphics[width=0.5\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}
\begin{subfigure}[t]{0.49\textwidth}
\centering
\includegraphics[width=0.8\textwidth]{pics/smarRTLGuidedAction2}
\includegraphics[width=0.5\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.}
\subsubsection{How to configure Smart Return to Launch on low Battery.}
\label{sec:configSRTL}
The smart RTL on low battery can be configured under general settings (see. fig. \ref{fig:smartRTLconfig}).
\begin{figure*}
\centering
\begin{subfigure}[t]{0.49\textwidth}
......@@ -314,12 +360,14 @@ If configured (see sec. \ref{sec:configSRTL}) a smart RTL will be triggered on l
\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.}
\cprotect\caption{The battery threshold (in percentage) below which smart RTL will be initiated can be set by altering the value of the \verb|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.}
\label{fig:smartRTLconfig}
\end{figure*}
\subsubsection{What's the Statistics Section and how to use it}
The statistics section is the last section of the \wima menu (see fig. \ref{fig:statisticsSection}). It shows the length of the current mission (phase) and the estimated flight time, based on the mission speed.
\begin{figure*}[ht!]
\centering
\begin{subfigure}[t]{0.3\textwidth}
......
WimaDok/main.toc
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\contentsline {section}{\numberline {1}Introduction}{3}
\contentsline {subsection}{\numberline {1.1}Purpose}{3}
\contentsline {subsection}{\numberline {1.2}Scope}{3}
\contentsline {subsection}{\numberline {1.3}How to use this Guide}{3}
\contentsline {section}{\numberline {2}System Description}{3}
\contentsline {subsection}{\numberline {2.1}Key Features}{3}
\contentsline {subsection}{\numberline {2.2}Inventory}{3}
......@@ -22,14 +23,21 @@
\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}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 {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 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}
\contentsline {subsubsection}{\numberline {3.3.3}How to show the Mission Items}{10}
\contentsline {subsubsection}{\numberline {3.3.4}How to show the current Phase}{12}
\contentsline {subsubsection}{\numberline {3.3.5}What's the AaR Path}{12}
\contentsline {subsubsection}{\numberline {3.3.6}Whats a Mission Phase}{12}
\contentsline {subsubsection}{\numberline {3.3.7}How to partition a flight plan}{12}
\contentsline {subsection}{\numberline {3.4}What's the Overlap}{12}
\contentsline {subsection}{\numberline {3.5}What are the Go Reverse and Go Forward buttons for}{13}
\contentsline {subsubsection}{\numberline {3.5.1}How to change Mission Flight Speed}{13}
\contentsline {subsubsection}{\numberline {3.5.2}How to change AaR Speed}{13}
\contentsline {subsubsection}{\numberline {3.5.3}How to change Altitude}{13}
\contentsline {subsection}{\numberline {3.6}Can I invert/reverse a Phase}{13}
\contentsline {subsubsection}{\numberline {3.6.1}What's the Vehicle Section and how to use it}{13}
\contentsline {subsubsection}{\numberline {3.6.2}How to upload and clear mission}{13}
\contentsline {subsubsection}{\numberline {3.6.3}What's Smart Return to Launch}{13}
\contentsline {subsubsection}{\numberline {3.6.4}How to configure Smart Return to Launch on low Battery.}{14}
\contentsline {subsubsection}{\numberline {3.6.5}What's the Statistics Section and how to use it}{14}
\contentsline {subsubsection}{\numberline {3.6.6}I can't find the WiMA\xspace Menu}{14}
\contentsline {subsection}{\numberline {3.7}ArduPilot Simulator}{15}
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src/FlightDisplay/FlightDisplayWimaMenu.qml
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......@@ -197,7 +197,7 @@ Item {
}
QGCLabel {
text: qsTr("Mission Speed")
text: qsTr("Measurement Speed")
Layout.fillWidth: true
}
FactTextField {
......@@ -224,19 +224,19 @@ Item {
}
FactCheckBox {
text: qsTr("Show All")
text: qsTr("Show Mission")
fact: wimaController.showAllMissionItems
Layout.fillWidth: true
}
FactCheckBox {
text: qsTr("Show Current")
text: qsTr("Show Phase")
fact: wimaController.showCurrentMissionItems
Layout.fillWidth: true
}
FactCheckBox {
text: qsTr("Reverse")
text: qsTr("Invert Phase")
fact: wimaController.reverse
Layout.fillWidth: true
}
......@@ -250,27 +250,27 @@ Item {
visible: missionHeader.checked
width: missionHeader.width
QGCButton {
id: buttonResetPhase
text: qsTr("Reset Phase")
onClicked: wimaController.resetPhase();
Layout.columnSpan: 2
Layout.fillWidth: true
}
QGCButton {
id: buttonPreviousMissionPhase
text: qsTr("Reverse")
text: qsTr("Go Reverse")
onClicked: wimaController.previousPhase()
Layout.fillWidth: true
}
QGCButton {
id: buttonNextMissionPhase
text: qsTr("Forward")
text: qsTr("Go Forward")
onClicked: wimaController.nextPhase()
Layout.fillWidth: true
}
QGCButton {
id: buttonResetPhase
text: qsTr("Reset Phase")
onClicked: wimaController.resetPhase();
Layout.columnSpan: 2
Layout.fillWidth: true
}
} // Grid Buttons
SectionHeader{
......
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