Hemav Planner

What is Hemav Planner?

HEMAV Planner es la herramienta para la planificación, configuración, seguimiento y análisis del vuelo del UAV. Actualmente el SW de control HEMAV Planner (HP), tiene soporte para las plataformas de vuelo HAR8, HAR9, HP2 (configuración bungee y catapulta) y HP2k.

Minimum system requirements

Intel core i3 or similar 4GB of RAM Windows 7, 8, or 10 Minimum 700MB of Adobe Reader space installed

Index

Hemav Planner Screens

  • Flight Data - Flight Data

  • Side Buttons

  • Flight information and warnings

  • Flight information

  • Warnings and alerts (right side)

  • Map

  • HUD ##### Flight plan – Plan de vuelo

  • Side menu

  • Geographical information

  • Waypoints edition

  • Acciones sobre del mapa (clic derecho)
    ##### Configuración

  • Compass calibration

  • Calibration of accelerometers

  • Accelerometer leveling

  • Compare parameters

  • Write parameters

  • Save to file

  • Image Check

  • Download internal logs

Simulation

Battery levels

GeoValla “FenceZone”

Update

Hemav Planner Screens

The first window we find when starting the program is the screen platform selection.

The operation of the program depends on the platform you choose. Only in the case of the fixed wing HP2 will give us the option of catapult or bungee.

Once the platform has been selected, the program is divided into three main screens:

  • Datos de vuelo: Seguimiento y control de la misión

  • Plan de vuelo: Planificación de la misión

  • Configuración: Modificar parámetros y calibraciones de las plataformas. Para acceder a cada una de estas pantallas, lo haremos a través del menú superior.

Flight Data - Flight Data

Flight Data is the screen intended for field operation. It includes the preflight checklist, the mission follow-up during the flight, the execution of control actions (start mission, return to house, emergency landing…), essential information during the flight and the notices. Below are the buttons and fields for information on this screen.

  • Auto: changes the flight mode to automatic.

  • ARM/Removal: performs engine assembly for HAR8 and HAR9, leaves the platform waiting to be launched in the case of the HP2 and HP2K.

  • Set WP: allows us to send the platform to a different WayPoint of the current one.

  • Clear route: clears the waymarks and photographs made of the screen.

  • Loiter: Modify the flight mode to Loiter. We can choose between maintain height or go down to 50 m. The drone maintains flight altitude and is static at the point when the button is pressed. In the case of the wing fixed, spins around the point where the Loiter has been activated.

  • RTL: change the flight mode to RTL (return to launch)

  • Stopping photos: stop making photo shoots. (HAR8 and HAR9)

  • Start photos: take photo captures again. (HAR8 and HAR9)

  • Disarm: changes the status to disarmed and stops the motors.

  • Emergency land: activate the “Emergency land” flight mode and activate the parachute to make the emergency landing.

We have two information areas, left side (green background) where displays essential information in real time and the the right where possible warnings and alerts are indicated to have in account. Flight information:

  • Battery voltage: except HAR8, all platforms give battery voltage information. [Volts]

  • Distance to WP: remaining distance to the next waypoint. [meters]

  • Flight time: total time of the flight from takeoff. [seconds]

  • Height: height of the platform in relation to the launch site. [meters]

  • Next WP: indicates the identifier of the next waypoint. [integer]

  • GS: ground speed. [meters/second] AS: air speed. [meters/second]

  • Flight mode: indicates the flight mode (Auto, Loiter, RTL, …)

  • Status: tells us if the platform is in an armed state (‘armed’) or disarmed.

  • Autopan: allows us to decide if the map is self-centered when the platform is on the move.

  • Wind direction: wind speed and direction [meters/second] In this same column, we have the button for pre-flight requirements and messages.

  • Pre-flight: indicates the checks we will have to make in the platform. You have to check and click on the each section.

  • MODE CAL (HP2 and HP2K): Modifies the flight mode to manual so that to do the calibrations without the wing servos working.

  • MODE TEST (HP2 and HP2K): Modifies the flight status to STABILIZE to to be able to check the proper functioning of the wing servos.

  • PREFLIGHT CALIBRATION: sirve para calibrar el PITOT del HP2 y HP2k. Al finalizar, presionar aceptar.

  • Messages: this pop-up window shows all the messages, both from the program and those received from the platform. It is advisable to keep it open during the flight.

Initially, this window is hidden by showing only an arrow. If you receive any important notices, the side and we will see the error or problem in red. We can’t close until the mistake is solved. If we press the arrow, the window opens, where it indicates us:

  • GPS signal quality

  • Drone Vibration(VIBE) - opens a window with more information

  • EKF Status (Drone Sensor Errors) - opens a window with more information

  • Number of photographic captures

  • Number of available GPS satellites

  • HDOP: Indicates the accuracy of the GPS in horizontal. We should always check that the number shown is less than 2.

  • If there are any additional alerts, they will be shown here in red. Additional writing is added at the bottom.

Map based on Google maps. To zoom in and out, we can do it with the mouse wheel or if we have a trackpad (in laptops) we will do it with two fingers. With the right click we can do the action of “Trigger camera NOW”, which will make an extra photographic capture.

In the lower central part, we have a simplified HUD that indicates the roll and pitch of the platform through the artificial horizon in degrees.

Flight plan

On the “flight plan” screen we can plan the mission. You can plan manually or with the help of the program on the basis of a polygon drawn on top of a plot.

In this menu we will find the main actions to plan a mission.

  • Guardar polígono: una vez dibujado el polígono, podemos guardar un archivo .poly para poder cagarlo en futuras misiones.

  • Cargar polígono: podemos cargar un archivo .poly con un polígono. Solo se puede tener un polígono activo, si cargamos un polígono, se borrará el que tenemos en pantalla.

  • Activar/desactivar dibujar polígono: con esta herramienta conmutamos entre dibujar poligono y añadir WayPoints.

  • Crear misión: nos crea una misión automáticamente dentro del polígono dibujado. Nos abre el survey grid del mission Planner. No hace falta modificar nada, al escoger una plataforma al inicio, nos carga los datos básicos para un vuelo automático. En el caso de HP2 y HP2K hay que añadir la senda de ascenso y descendo en funcion de la dirección del viento.

  • Buscar localización: Podemos buscar una ciudad, pueblo o zona y nos centra el mapa en ella.

  • Gráfico de elevación: Una vez creada la misión, podemos ver una gráfica de comparación con los datos de elevación del terreno con los datos de elevación de la plataforma. Es importante recalcar que estos datos son extraídos de Google maps, por lo que son aproximado y solo pueden ser tomar como referencia. Recomendable realizar esta comprobación en todas las planificaciones.

  • Limpiar: podemos borrar el polígono, la misión o ambos.

  • Guardar WPS: podemos generar un archivo .waypoints o .txt con los datos de los waypoints.

  • Abrir WPS: podemos cargar archivo .waypoints o .txt con los datos de los waypoints.

  • Leer WPS: una vez conectada la plataforma al programa, podemos leer los WPS que el dron tiene en su memoria.

  • Escribir WPS: una vez conectada la plataforma al programa, podemos escribir los WPS en la memoria -del dron. ### Información geográfica En la barra de información geográfica encontraremos:

  • Home location: if the platform is connected, we can geolocate the starting point of the flight.

  • Coordinates of geolocation of the platform

  • If there is a polygon drawn, it indicates the size in hectares.

  • Si hay una misión creada con la herramienta automática, nos indica el tiempo de vuelo estimado. Atención:Si cargamos una misión directamente con los WP creados anteriormente no nos puede calcular este tiempo. Solo nos proporciona esta información al crear el ‘survey grid’.

  • Weather information for the area. It allows us to see the information weather for the current day and the next four days.

  • Fence ALT 230m: allows you to set the maximum height of the platform to “230m instead of the default 150m. This parameter is saved on the platform when writing the WPs.

  • Pointer geolocation (mouse)

Once the mission is created we can review and edit each WP and its parameters. Each row identifies a waypoint:

  • Number: Waypoint identifier

  • P1 – P4: parámetros del comando. Por ejemplo: el comando DO_CHANGE_SPEED acepta en P2 el valor de velocidad en m/s.

  • Alt: height through which the platform must pass by the waypoint.

  • Angle: diferencia de altura con el siguiente WP en grados (no editable)

  • Dist: distancia en metros al siguiente WP (no editable)

  • Delete: delete the row/waypoint.

  • Lat: latitud del waypoint. (coordenadas GEO)

  • Lon: longitud del waypoint. (coordenadas GEO) Una vez editados los WP, debemos apretar el botón de guardar. Despues de guardar, tenemos la opcion de actualizar los datos, por si vemos algún valor incorrecto, o hemos movido un waypoint des del mapa. Podemos borrar multiples WP a la vez con la tecla Suprimir.

Atención:no modificar los datos sin conocimientos de los parámetros usados en ArduPilot. Hemav Planner crea automáticamente los WPS y los parámetros necesarios para cada plataforma. Puedes consultar [aquí](https://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html#common-mavlink-mission-command-messages-mav-cmd) la lista completa de comandos.

Actions on the map (right click)

By right clicking on the map, we have:

  • Borrar WP: clic derecho encima de un waypoint para poder bórralo.

  • Insertar WP: nos permite insertar un WP después del WP deseado.

  • Auto WP: nos permite crear misiones tipo espiral, circunferencia, etc…

  • Map tool: permite modificar ciertos parámetros del mapa.

  • File load/Save: permite cargar datos al mapa como las

  • Set Home Here: permite definir el punto de inicio. Esto es útil para hacer simulaciones o planificar las misiones en campo antes de conectar la plataforma

In the configuration screen we can calibrate and load parameters to our platform

Para calibrar la brújula, debemos usar los valores por defecto solo modificando el Fitness, que debe ser relaxed (si calibrando en default no calibra correctamente) y seleccionar el botón de start. Las 3 barras inferiores irán progresando hasta llegar al final. Durante la progresión de las barras, debemos orientar el dron primeramente sobre sus 6 ejes, los mismos del accel calibration, y posteriormente rotar 360º sobre cada uno de esos ejes. Una vez realizada la calibración, en caso de ser correcta, el dron emitirá tres pitidos ascendentes. En caso de ser errónea emitirá uno, o dos descendentes. Tras una calibración correcta es necesario reiniciar el dron.

Follow the instructions on the screen by clicking and pressing enter.

Follow the instructions you see on the screen when you click.

We can load a parameter file to compare them, and if we want, “use them on the connected platform.

Write parameters to the connected platform.

Create and save parameter file.

This tool allows us to make a visual control of the images and the calibration plates captured with the Micasense after the flight. We must load the upper folder of the SD card, type 0001SET, that is, the folder containing all the subfolders that Micasense creates.

Once the correct folder is loaded, we can go through the entire image set with 5 image jumps. It is important to check that the images do not detect the sky, parts of the platform type “legs”, cables, etc. With this tool you can also see if there are clouds in our images.

Mas abajo, encontramos el botón para hacer la comprovación de las placas de calibración. Esta herramienta nos indicará el numero de placas de calibración y su numero de serie. También nos informa en que parte del image set se encuentran.

Simulation

Finally, in the upper right menu you will find the simulation button (airplane icon). This tool is very useful to practice planning and fictitious flights. The procedure is very simple, we must click on the button of the platform we want to simulate. Previously, it may be advisable to increase the number of Sim Speed to speed up the simulations. The rest of the parameters are not recommended to be modified. Once the parameters are loaded, we can close the simulation window. Once we are connected to the simulated model, from the flight data and flight plan tab we will interact with the simulated drone as if it were a real platform.

Battery levels

Una forma de controlar el nivel de la batería es con el indicador de voltaje de batería de la pantalla de datos de vuelo, pero si no se conocen les valores máximos y mínimos de tensión es mejor guiarse por los datos de batería que aparecen en la esquina superior derecha. Estos indicadores de batería constan de un icono y un valor en porcentaje. El icono indica según su color, el porcentaje restante:

Green icon if the remaining battery is greater than 30%.

Orange icon if the remaining battery is between 30% and 10%.

Icono rojo si la batería restante es menor del 10%. En este caso, la plataforma entrará en modo RTL (HAR8 y HAR9) o DO_ LAND_START (HP2 y HP2K).

GeoValla “FenceZone”

In Hemav Planner we have two GeoVallas or FenceZone. An inner fence (circular) that tells us the safe zone where to plan our mission. An exterior (octagonal) fence that delimits the maximum distance in which our platform can operate. If the platform passes the outer fence, it will enter RTL mode.

The default radii and heights of these fences are different for each platform. The lower and upper limits of the fence itself are also indicated.

On all platforms, the maximum default height is 150 m. Remember you can increase this height to 230 m in the “FLIGHT PLAN”

Update

When we open the application, if there is an internet connection, it will automatically check for updates. If there is a newer version, it will ask us if we want to update. In this window, the most important changes of the new version will be indicated.

  • If the internet connection is not stable, it is preferable not to update. If we do update the version, the system will start downloading the files automatically. Once this process is completed, the application will automatically restart. If at any point in the process, an error occurs, it is possible that the application has become corrupted due to problems with the connection to the server. In this case, it will be necessary to reinstall the application.