wima doc edited

WimaDok/main.aux

@@ -8,58 +8,92 @@
 \@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Inventory}{3}}
 \@writefile{toc}{\contentsline {section}{\numberline {3}Menus and Instructions}{3}}
 \@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Brief Summary}{3}}
-\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Flight view tool strip. Used to command the vehicle.}}{4}}
+\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Flight view tool strip. Used to command the vehicle.\relax }}{4}}
+\providecommand*\caption@xref[2]{\@setref\relax\@undefined{#1}}
 \newlabel{fig:flightViewToolStrip}{{1}{4}}
-\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Detail view of the QGC window, which appears after start-up. Marked in red is the button for switching to the Plan View Window, green indicates the Flight View button (current window) and marked in magenta is the button for switching to the WiMA Main Window.}}{4}}
+\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Detail view of the QGC window, which appears after start-up. Marked in red is the button for switching to the Plan View Window, green indicates the Flight View button (current window) and marked in magenta is the button for switching to the WiMA Main Window.\relax }}{4}}
 \newlabel{fig:QGCMainButtonExplain}{{2}{4}}
-\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Flight view top indicator strip. Show's data about a connected vehicle. Among others satellite count, telemetry quality, battery level etc.\xspace  are displayed.}}{5}}
+\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Flight view top indicator strip. Show's data about a connected vehicle. Among others satellite count, telemetry quality, battery level etc.\xspace  are displayed.\relax }}{5}}
 \newlabel{fig:flightViewTopIndicatorStrip}{{3}{5}}
-\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}WiMA\xspace  View}{5}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}WiMA\xspace  Plan View}{5}}
+\newlabel{sec:wimaPlanView}{{3.2}{5}}
 \@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.1}WiMA Tool Strip}{5}}
 \newlabel{sec:wimaToolStrip}{{3.2.1}{5}}
-\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces WiMA Toolstrip inside WiMA Main Window.}}{5}}
+\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces WiMA Toolstrip inside WiMA Main Window.\relax }}{5}}
 \newlabel{fig:WimaToolstrip}{{4}{5}}
 \@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.2}WiMA Areas}{5}}
 \newlabel{sec:wimaAreas}{{3.2.2}{5}}
-\@writefile{lof}{\contentsline {figure}{\numberline {5}{\ignorespaces WiMA\xspace  area with border polygon. Shown is a measurement area (green).}}{6}}
-\newlabel{fig:wimaArea}{{5}{6}}
+\newlabel{fig:wimaArea}{{5a}{6}}
+\newlabel{sub@fig:wimaArea}{{a}{6}}
+\newlabel{fig:WimaItemEditor}{{5b}{6}}
+\newlabel{sub@fig:WimaItemEditor}{{b}{6}}
+\@writefile{lof}{\contentsline {figure}{\numberline {5}{\ignorespaces WiMA\xspace  Area and corresponding item editor.\relax }}{6}}
 \@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.3}Saving and Loading WiMA\xspace  Missions}{6}}
 \newlabel{sec:savingLoadingWima}{{3.2.3}{6}}
 \@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.4}Clearing WiMA\xspace  Missions}{6}}
 \newlabel{sec:clearingWima}{{3.2.4}{6}}
 \@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.5}Uploading, Downloading and Clearing vehicle Missions}{6}}
 \newlabel{sec:uploadDownloadVehicle}{{3.2.5}{6}}
-\@writefile{lof}{\contentsline {figure}{\numberline {6}{\ignorespaces WiMA Item Editor at the right edge of the WiMA Main Window.}}{7}}
-\newlabel{fig:WimaItemEditor}{{6}{7}}
-\@writefile{lof}{\contentsline {figure}{\numberline {7}{\ignorespaces Flight path of a real vehicle (red line).}}{7}}
-\newlabel{fig:optimPaht}{{7}{7}}
-\@writefile{lof}{\contentsline {figure}{\numberline {8}{\ignorespaces Adjust the vertex by dragging it's handle.}}{7}}
-\newlabel{fig:vertexHandle}{{8}{7}}
-\@writefile{lof}{\contentsline {figure}{\numberline {9}{\ignorespaces Add vertices by hitting the plus sign.}}{7}}
-\newlabel{fig:vertexPlus}{{9}{7}}
-\@writefile{lof}{\contentsline {figure}{\numberline {10}{\ignorespaces Move any area by dragging its drag handle.}}{7}}
-\newlabel{fig:moveArea}{{10}{7}}
-\@writefile{lof}{\contentsline {figure}{\numberline {11}{\ignorespaces A valid configuration of Measurement, Service Area and Corridor.}}{8}}
-\newlabel{fig:validConfig}{{11}{8}}
-\@writefile{lof}{\contentsline {figure}{\numberline {12}{\ignorespaces WiMA\xspace  tool strip save/load dialog.}}{8}}
-\newlabel{fig:wimaViewSaveLoad}{{12}{8}}
-\@writefile{lof}{\contentsline {figure}{\numberline {13}{\ignorespaces Checking the Mission radio button, on the right hand side, displays the mission items.}}{9}}
-\newlabel{fig:wimaRadioButtons}{{13}{9}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.6}Inserting WiMA\xspace  Areas}{9}}
-\newlabel{sec:insertAreas}{{3.2.6}{9}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.7}Generating a WiMA\xspace  flight plan}{9}}
-\newlabel{sec:generatingFlightPlan}{{3.2.7}{9}}
+\@writefile{lof}{\contentsline {figure}{\numberline {6}{\ignorespaces Flight path of a real vehicle (red line).\relax }}{7}}
+\newlabel{fig:optimPaht}{{6}{7}}
+\@writefile{lof}{\contentsline {figure}{\numberline {7}{\ignorespaces Adjust the vertex by dragging it's handle.\relax }}{7}}
+\newlabel{fig:vertexHandle}{{7}{7}}
+\@writefile{lof}{\contentsline {figure}{\numberline {8}{\ignorespaces Add vertices by hitting the plus sign.\relax }}{7}}
+\newlabel{fig:vertexPlus}{{8}{7}}
+\@writefile{lof}{\contentsline {figure}{\numberline {9}{\ignorespaces Move any area by dragging its drag handle.\relax }}{7}}
+\newlabel{fig:moveArea}{{9}{7}}
+\newlabel{fig:validConfig}{{10a}{7}}
+\newlabel{sub@fig:validConfig}{{a}{7}}
+\newlabel{fig:wimaViewSaveLoad}{{10b}{7}}
+\newlabel{sub@fig:wimaViewSaveLoad}{{b}{7}}
+\@writefile{lof}{\contentsline {figure}{\numberline {10}{\ignorespaces WiMA\xspace  areas and WiMA\xspace  save/load dialogue.\relax }}{7}}
+\newlabel{fig:wimaRadioButtons}{{11a}{8}}
+\newlabel{sub@fig:wimaRadioButtons}{{a}{8}}
+\newlabel{fig:flightPath}{{11b}{8}}
+\newlabel{sub@fig:flightPath}{{b}{8}}
+\@writefile{lof}{\contentsline {figure}{\numberline {11}{\ignorespaces Mission radio button and an example flight plan.\relax }}{8}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.6}Inserting WiMA\xspace  Areas}{8}}
+\newlabel{sec:insertAreas}{{3.2.6}{8}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.7}Generating a WiMA\xspace  flight plan}{8}}
+\newlabel{sec:generatingFlightPlan}{{3.2.7}{8}}
 \@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.8}Navigating the Map}{9}}
 \newlabel{sec:navigatingMap}{{3.2.8}{9}}
-\@writefile{lof}{\contentsline {figure}{\numberline {14}{\ignorespaces The flight path generated from the areas depicted in fig. 11\hbox {}.}}{10}}
-\newlabel{fig:flightPath}{{14}{10}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.9}How to display the generated flight plan}{10}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.10}Circular Survey}{10}}
-\newlabel{sec:circularSurvey}{{3.2.10}{10}}
-\@writefile{lof}{\contentsline {figure}{\numberline {15}{\ignorespaces The circular survey item editor. Can be found at the right edge of the screen.}}{11}}
-\newlabel{fig:circularSurveyItemEditor}{{15}{11}}
-\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.11}How to synchronize the Data with Flight View}{11}}
-\@writefile{toc}{\contentsline {subsection}{\numberline {3.3}ArduPilot Simulator}{12}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.9}How to display the generated flight plan}{9}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.10}Circular Survey}{9}}
+\newlabel{sec:circularSurvey}{{3.2.10}{9}}
+\@writefile{lof}{\contentsline {figure}{\numberline {12}{\ignorespaces The circular survey item editor. Can be found at the right edge of the screen.\relax }}{9}}
+\newlabel{fig:circularSurveyItemEditor}{{12}{9}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.11}How to synchronize Data with Flight View}{10}}
+\newlabel{sec:syncWima}{{3.2.11}{10}}
+\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.12}Editing Flight Plans}{10}}
+\@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}}
+\newlabel{sec:settingsSection}{{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 upload and clear mission}{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}}
 \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

@@ -11,6 +11,7 @@
 \usepackage{framed}
 \usepackage{wrapfig}
 \usepackage{xspace}
+\usepackage{subcaption}
 
 \definecolor{shadecolor}{rgb}{0.9,0.9,0.9}
 
@@ -21,6 +22,10 @@
 
  \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}}
+ 
+
 \begin{document}
 
 \maketitle
@@ -78,13 +83,14 @@ The \textbf{\wima view} is used to generate flight paths from minimal user input
 
 
 \subsection{\wima Plan View}
-By clicking the wave symbol (see fig. \ref{fig:QGCMainButtonExplain}; magenta square) the WiMA view appears. After entering, at the left screen edge, the WiMA tool strip will appear (depicted in fig. \ref{fig:WimaToolstrip}). 
+\label{sec:wimaPlanView}
+By clicking the wave symbol (see fig. \ref{fig:QGCMainButtonExplain}, magenta square) the WiMA view appears. After entering, at the left screen edge, the WiMA tool strip will appear (depicted in fig. \ref{fig:WimaToolstrip}). 
 \subsubsection{WiMA Tool Strip}
 \label{sec:wimaToolStrip}
 
 \begin{wrapfigure}{r}{0.3\textwidth}
 	\centering
-	\includegraphics[width=0.18\textwidth]{pics/WiMAToolstrip}
+	\includegraphics[width=0.05\textwidth]{pics/WiMAToolstrip}
 	\caption{WiMA Toolstrip inside WiMA Main Window.}
 	\label{fig:WimaToolstrip}
 \end{wrapfigure}
@@ -92,26 +98,29 @@ The \wima tool strip is used for load/ save operations as well as editing tasks.
 
 \subsubsection{WiMA Areas}
 \label{sec:wimaAreas}
-The three areas, namely the measurement area, the service area and the corridor, can be defined using the corresponding buttons (see \ref{sec:insertAreas}). In the default mode the areas will be displayed as a half transparent polygon surrounded by a white lines. The polygon shape can be altered by using the drag and split handles shown in fig. \ref{fig:vertexHandle}, \ref{fig:vertexPlus} and \ref{fig:moveArea}. All areas will be listed at the right side within the WiMA Item Editor (see fig. \ref{fig:WimaItemEditor}). The WiMA Item Editor can be used to modify area parameters.
+The three areas, namely the measurement area, the service area and the corridor, can be defined using the corresponding buttons (see sec. \ref{sec:insertAreas}). In the default mode the areas will be displayed as a half transparent polygon surrounded by a white lines. The polygon shape can be altered by using the drag and split handles shown in fig. \ref{fig:vertexHandle}, \ref{fig:vertexPlus} and \ref{fig:moveArea}. All areas will be listed at the right side within the WiMA Item Editor (see fig. \ref{fig:WimaItemEditor}). The WiMA Item Editor can be used to modify area parameters.
 The Parameters \verb|Altitude|, \verb|Layers|, and \verb|Layer Dist.| are reserved for future use and don't yet have any impact. The \verb|Offset| parameter changes the distance between the area and its border polygon. The border polygon is a helper to provide sufficient clearance between the area and nearby obstacles, like trees or buildings. The border polygon can be deactivated by unchecking the \verb|Border Polygon| check box. This can be use full for service area and corridor. 
 Additionally the \wima item editor shows some statistics about the polygon, like area and number of nodes.
 
-The three areas have the following purpose.  The \wima measurement area defines, as the name indicates, the area of interest within which any measurements are performed. See \ref{sec:wimaAreas} for more information about \wima areas. The \wima service area is meant to be the place were takeoff and landing happens as well as battery exchange or repair work. See \ref{sec:wimaAreas} for more information about \wima areas. The \wima corridor connects the measurement area and the service areas and defines a path which the vehicles uses to travel between Service and Measurement Area. 
+The three areas have the following purpose.  The \wima measurement area defines, as the name indicates, the area of interest within which any measurements are performed. See sec. \ref{sec:wimaAreas} for more information about \wima areas. The \wima service area is meant to be the place were takeoff and landing happens as well as battery exchange or repair work. See sec. \ref{sec:wimaAreas} for more information about \wima areas. The \wima corridor connects the measurement area and the service areas and defines a path which the vehicles uses to travel between Service and Measurement Area. 
 
-A minimal configuration of areas consists of measurement and service area. In that case the two areas must be overlapping. The corridor can additionally be used to connect measurement and service area if overlapping of those two is not desired. A valid configuration including measurement, service area and corridor could look like in figure \ref{fig:validConfig}. The sum of all three areas is further refereed to as the joined area. 
+A minimal configuration of areas consists of measurement and service area. In that case the two areas must be overlapping. The corridor can additionally be used to connect measurement and service area if overlapping of those two is not desired. A valid configuration including measurement, service area and corridor could look like in fig. \ref{fig:validConfig}. The sum of all three areas is further refereed to as the joined area. 
 
-\begin{figure}[h!]
-	\includegraphics[width=0.4\textwidth]{pics/wimaArea}
+\begin{figure*}[h!]
+	\begin{subfigure}[t]{0.49\textwidth}
+		\includegraphics[width=0.8\textwidth]{pics/wimaArea}
 		\centering
 		\caption{\wima area with border polygon. Shown is a measurement area (green).}
 		\label{fig:wimaArea}		
-\end{figure}
-\begin{figure}
+	\end{subfigure}
+	\begin{subfigure}[t]{0.49\textwidth}
 		\centering
-	\includegraphics[width=0.3\textwidth]{pics/WiMAItemEditor}
-	\caption{WiMA Item Editor at the right edge of the WiMA Main Window.}
+		\includegraphics[width=0.65\textwidth]{pics/WiMAItemEditor}
+		\caption{\wima item editor at the right edge of the \wima plan view.}
 		\label{fig:WimaItemEditor}
-\end{figure}
+	\end{subfigure}
+	\caption{\wima Area and corresponding item editor.}
+\end{figure*}
 \begin{figure}
 	\centering
 	\includegraphics[width=0.3\textwidth]{pics/optimPath}
@@ -141,70 +150,73 @@ A minimal configuration of areas consists of measurement and service area. In th
 	\end{minipage}
 \end{figure}
 \begin{figure}
-\includegraphics[width=0.8\textwidth]{pics/validAreas}
-\centering
-\caption{A valid configuration of measurement, service area and corridor.}
-\label{fig:validConfig}
-\end{figure} 
-
-\subsubsection{Saving and Loading \wima Missions}
-\label{sec:savingLoadingWima}
-Pressing the \verb|File| button (see fig. \ref{fig:wimaViewSaveLoad}) of \wima tool strip (see \ref{sec:wimaToolStrip}) opens a menu offering saving and loading operations. At one hand all \wima areas and mission items can be saved using the \verb|.wima| file extension, at the other hand the mission items only can be stored using the \verb|.plan| file extension. The \verb|Open| button can be used to load previously stored files. 
-\begin{figure}
-	\includegraphics[width=0.3\textwidth]{pics/wimaViewSaveLoad}
+	\begin{subfigure}[t]{0.59\textwidth}
+		\includegraphics[width=0.9\textwidth]{pics/validAreas}
+		\centering
+		\caption{A valid configuration of measurement, service area and corridor.}
+		\label{fig:validConfig}		
+	\end{subfigure}
+	\begin{subfigure}[t]{0.39\textwidth}	
+		\includegraphics[width=0.8\textwidth]{pics/wimaViewSaveLoad}
 		\centering
 		\caption{\wima tool strip save/load dialogue.}
 		\label{fig:wimaViewSaveLoad}
+	\end{subfigure}
+	\caption{\wima areas and \wima save/load dialogue.}
 \end{figure} 
 
+\subsubsection{Saving and Loading \wima Missions}
+\label{sec:savingLoadingWima}
+Pressing the \verb|File| button (see fig. \ref{fig:wimaViewSaveLoad}) of \wima tool strip (see sec. \ref{sec:wimaToolStrip}) opens a menu offering saving and loading operations. At one hand all \wima areas and mission items can be saved using the \verb|.wima| file extension, at the other hand the mission items only can be stored using the \verb|.plan| file extension. The \verb|Open| button can be used to load previously stored files. 
+
 \subsubsection{Clearing \wima Missions}
 \label{sec:clearingWima}
-Press the \verb|File| button (see fig. \ref{fig:wimaViewSaveLoad}) of \wima tool strip (see \ref{sec:wimaToolStrip}) to open the dialogue window. Pressing the \verb|New| button deletes all contents within the WiMA Main Window. 
+Press the \verb|File| button (see fig. \ref{fig:wimaViewSaveLoad}) of \wima tool strip (see sec. \ref{sec:wimaToolStrip}) to open the dialogue window. Pressing the \verb|New| button deletes all contents within the WiMA Main Window. 
 
 \subsubsection{Uploading, Downloading and Clearing vehicle Missions}
 \label{sec:uploadDownloadVehicle}
-Press \verb|File| button (see fig. \ref{fig:wimaViewSaveLoad}) of \wima tool strip (see \ref{sec:wimaToolStrip}) to open the dialog window. With the \verb|Upload|, \verb|Download| and \verb|Clear Vehicle Mission| button, the mission items (if present) can be uploaded, downloaded or deleted from the vehicle.
+Press \verb|File| button (see fig. \ref{fig:wimaViewSaveLoad}) of \wima tool strip (see sec. \ref{sec:wimaToolStrip}) to open the dialog window. With the \verb|Upload|, \verb|Download| and \verb|Clear Vehicle Mission| button, the mission items (if present) can be uploaded, downloaded or deleted from the vehicle.
 
 
 \subsubsection{Inserting \wima Areas}
 \label{sec:insertAreas}
-The \verb|Measure|, \verb|Service| and \verb|Corridor| buttons of the \wima tool strip (see \ref{sec:wimaToolStrip}) are used to insert a measurement, service and corridor area, respectively. Only one of each can be inserted. To generate a flight plan, at least a measurement and a service area must be defined. In that case both must be overlapping.
+The \verb|Measure|, \verb|Service| and \verb|Corridor| buttons of the \wima tool strip (see sec. \ref{sec:wimaToolStrip}) are used to insert a measurement, service and corridor area, respectively. Only one of each can be inserted. To generate a flight plan, at least a measurement and a service area must be defined. In that case both must be overlapping.
 
 \subsubsection{Generating a \wima flight plan}
 \label{sec:generatingFlightPlan}
-The current version of \wima automatically updates the flight plan, after terminated user interaction. However using the \verb|Calculate| button (see fig. \ref{fig:wimaViewSaveLoad}) of the \wima tool strip (see \ref{sec:wimaToolStrip}), manual regeneration can be triggered. The flight plan will be generated such that all way-points are within or at least at the edge of the joined\footnote{The joined area is the sum of measurement, service area and corridor (see \ref{sec:wimaAreas}).} area. However it should be taken in account, that the vehicle could still leave the save area, even under fully functional operation. Depending on the software implementation of the vehicles flight stack (firmware), the flight controller could perform a path change. Additionally drifts caused by wind gusts could occur. An example can be seen in fig. \ref{fig:optimPaht}. The vehicles flight controller has no information about any \wima Areas, they exist exclusively within the \qgc application.
+The current version of \wima automatically updates the flight plan, after terminated user interaction. However using the \verb|Calculate| button (see fig. \ref{fig:wimaViewSaveLoad}) of the \wima tool strip (see sec. \ref{sec:wimaToolStrip}), manual regeneration can be triggered. The flight plan will be generated such that all way-points are within or at least at the edge of the joined\footnote{The joined area is the sum of measurement, service area and corridor (see sec. \ref{sec:wimaAreas}).} area. However it should be taken in account, that the vehicle could still leave the save area, even under fully functional operation. Depending on the software implementation of the vehicles flight stack (firmware), the flight controller could perform a path change. Additionally drifts caused by wind gusts could occur. An example can be seen in fig. \ref{fig:optimPaht}. The vehicles flight controller has no information about any \wima Areas, they exist exclusively within the \qgc application.
 \begin{figure}
-	\includegraphics[width=0.3\textwidth]{pics/wimaRadioButtons}
+	\begin{subfigure}[t]{0.39\textwidth}		
+		\includegraphics[width=0.65\textwidth]{pics/wimaRadioButtons}
 		\centering
 		\caption{Checking the Mission radio button, on the right hand side, displays the mission items.}
 		\label{fig:wimaRadioButtons}
-\end{figure}
-\begin{figure}
-	\includegraphics[width=0.6\textwidth]{pics/flightPath2}
+	\end{subfigure}
+	\begin{subfigure}[t]{0.59\textwidth}	
+		\includegraphics[width=0.9\textwidth]{pics/flightPath2}
 		\centering	
 		\caption{The flight path generated from the areas depicted in fig. \ref{fig:validConfig}.}
 		\label{fig:flightPath}
+	\end{subfigure}
+	\caption{Mission radio button and an example flight plan.}
 \end{figure}
-
 \subsubsection{Navigating the Map}
 \label{sec:navigatingMap}
-The three buttons  \verb|Center|, \verb|In| and \verb|Out| (see fig. \ref{fig:wimaViewSaveLoad}) of the \wima tool strip (see \ref{sec:wimaToolStrip}) can be used to center the view to a object of interest, and for zooming. The Map can be navigated by dragging the mouse pointer or touch screen.
+The three buttons  \verb|Center|, \verb|In| and \verb|Out| (see fig. \ref{fig:wimaViewSaveLoad}) of the \wima tool strip (see sec. \ref{sec:wimaToolStrip}) can be used to center the view to a object of interest, and for zooming. The Map can be navigated by dragging the mouse pointer or touch screen.
 
 \subsubsection{How to display the generated flight plan}
-The flight plan can be displayed by checking the \verb|Mission| radio button above the \wima item editor (see. fig. \ref{fig:wimaRadioButtons}), as depicted in fig \ref{fig:wimaRadioButtons}. An example of a generated flight path can be seen in figure \ref{fig:flightPath}. Within the green measurement area the program has generated a circular survey (see \ref{sec:circularSurvey} ). The survey has an entry and an exit point. The program has routed paths from the take off point to the surveys entry point and from the surveys exit point to the landing point. The paths have been chosen to be within the joined area and to be as short as possible. 
+The flight plan can be displayed by checking the \verb|Mission| radio button above the \wima item editor (see. fig. \ref{fig:wimaRadioButtons}), as depicted in fig \ref{fig:wimaRadioButtons}. An example of a generated flight path can be seen in fig. \ref{fig:flightPath}. Within the green measurement area the program has generated a circular survey (see sec. \ref{sec:circularSurvey} ). The survey has an entry and an exit point. The program has routed paths from the take off point to the surveys entry point and from the surveys exit point to the landing point. The paths have been chosen to be within the joined area and to be as short as possible. 
 
 \subsubsection{Circular Survey}
 \label{sec:circularSurvey}
-\begin{figure}
-	\includegraphics[width=0.25\textwidth]{pics/circularSurveyItemEditor}
+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.
+\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{figure} 
-
-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.
-  
-Circular survey parameters can be edited with the circular survey editor (see \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.
+\end{wrapfigure}
+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. 
 
@@ -212,11 +224,79 @@ If it is desired that the UAV flies with the same direction for all transects th
 
 To reduce calculation effort, the maximum number of way-points can be set using the \verb|Max Waypoints| input box. Transects are hidden and calculations aborted, if the number of way-points exceeds \verb|Max Waypoints|.
 
-\subsubsection{How to synchronize the Data with Flight View}
-
 
-\subsection{\wima Flight View}
 
+\subsubsection{How to synchronize Data with Flight View}
+\label{sec:syncWima}
+To synchronize the generated flight plan with the \wima flight view (see sec. \ref{sec:wimaFlightView}) press the \verb|Sync WiMA| button in the upper right corner (see fig. \ref{fig:syncWima}). The button will be visible only if a valid flight plan was generated and flash if data is not synchronized with the \wima flight view.
+\subsubsection{Editing Flight Plans}
+The generated flight plan can be edited in the same way as it would be done inside the standard plan view using the mission tool strip (see fig. \ref{fig:wimaViewMissionToolStrip}). After editing, the flight plan can be saved (see sec. \ref{sec:savingLoadingWima}) or synchronized with \wima flight view (see sec. \ref{sec:syncWima}).
+\subsection{\wima Flight View and \wima Menu}
+\label{sec:wimaFlightView}
+The \wima flight view extends the \qgc flight view by the \wima menu, which offers some useful tools like flight plan partitioning, smart return to launch, fast speed changing etc. By default the \wima menu is visible inside the flight view (see fig. \ref{fig:wimaMenu}). The menu can be hidden using the \verb|disable WiMA| slider at it's top. A slider showing the text \verb|enable WiMA| will remain a few seconds at the lower left corner of the flight view befor vanishing. Hovering the mouse at the lower left corner will make the slider visible again.
+\begin{figure*}
+	\begin{subfigure}[t]{0.3\textwidth}		
+		\includegraphics[width=0.4\textwidth]{pics/SyncWima}
+		\centering
+		\caption{Synchronize button located in the upper right corner of the \wima plan view.}
+		\label{fig:syncWima}
+	\end{subfigure}
+	\begin{subfigure}[t]{0.3\textwidth}		
+		\includegraphics[width=0.25\textwidth]{pics/wimaViewMissionToolStrip}
+		\centering
+		\caption{Mission tool strip located at the upper left corner of the \wima plan view.}
+		\label{fig:wimaViewMissionToolStrip}
+	\end{subfigure}
+	\begin{subfigure}[t]{0.3\textwidth}	
+		\includegraphics[width=0.9\textwidth]{pics/wimaMenu}
+		\centering
+		\caption{The \wima menu located at the lower left corner of the flight view.}
+		\label{fig:wimaMenu}
+	\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}
+\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
+
+\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}		
+		\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}
+	\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}
+	\end{subfigure}
+\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}.
 
 \newpage
 \subsection{ArduPilot Simulator}

WimaDok/main.toc

@@ -6,16 +6,30 @@
 \contentsline {subsection}{\numberline {2.2}Inventory}{3}
 \contentsline {section}{\numberline {3}Menus and Instructions}{3}
 \contentsline {subsection}{\numberline {3.1}Brief Summary}{3}
-\contentsline {subsection}{\numberline {3.2}WiMA\xspace View}{5}
+\contentsline {subsection}{\numberline {3.2}WiMA\xspace Plan View}{5}
 \contentsline {subsubsection}{\numberline {3.2.1}WiMA Tool Strip}{5}
 \contentsline {subsubsection}{\numberline {3.2.2}WiMA Areas}{5}
 \contentsline {subsubsection}{\numberline {3.2.3}Saving and Loading WiMA\xspace Missions}{6}
 \contentsline {subsubsection}{\numberline {3.2.4}Clearing WiMA\xspace Missions}{6}
 \contentsline {subsubsection}{\numberline {3.2.5}Uploading, Downloading and Clearing vehicle Missions}{6}
-\contentsline {subsubsection}{\numberline {3.2.6}Inserting WiMA\xspace Areas}{9}
-\contentsline {subsubsection}{\numberline {3.2.7}Generating a WiMA\xspace flight plan}{9}
+\contentsline {subsubsection}{\numberline {3.2.6}Inserting WiMA\xspace Areas}{8}
+\contentsline {subsubsection}{\numberline {3.2.7}Generating a WiMA\xspace flight plan}{8}
 \contentsline {subsubsection}{\numberline {3.2.8}Navigating the Map}{9}
-\contentsline {subsubsection}{\numberline {3.2.9}How to display the generated flight plan}{10}
-\contentsline {subsubsection}{\numberline {3.2.10}Circular Survey}{10}
-\contentsline {subsubsection}{\numberline {3.2.11}How to synchronize the Data with Flight View}{11}
-\contentsline {subsection}{\numberline {3.3}ArduPilot Simulator}{12}
+\contentsline {subsubsection}{\numberline {3.2.9}How to display the generated flight plan}{9}
+\contentsline {subsubsection}{\numberline {3.2.10}Circular Survey}{9}
+\contentsline {subsubsection}{\numberline {3.2.11}How to synchronize Data with Flight View}{10}
+\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 {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 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}