Route planning tools

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Main Page UgCS UgCS desktop User Manual

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Route planning tools are organized as a toolbar (see Mission editor) Usage algorithm for each tool:
1. Select tool on the toolbar;
2. Draw figure on a map. The figure may contain one or several base points;
3. Change parameters in tool inspector;
4. Optionally add actions in tool inspector.
Rule of thumb is that speed changes and actions take effect starting from the first calculated point of a figure in which changes are defined.

Note: On mouse hover over a selected waypoint, distance to the neighboring segments will display as hints on the corresponding paths. During the adjustments of any segment, distance to the neighboring segments will be displayed until the route is calculated.

Some parameters are common for almost all tools:
Flight speed – flight speed of the drone for this segment. The speed along the straight 3D line from current WP to next WP, it should not exceed the maximum speed specified in the vehicle profile settings. Must be a positive number.
Avoid obstacles - flag to be set if buildings have to be taken into account when planning the path. Do not uncheck, without specific need to do so.
Avoid terrain– flag to be set if the path has to maintain a minimum height over terrain relief (the corresponding value is one of vehicle parameters). Do not uncheck this flag, unless necessary.
Turn type– defines how vehicle passes segments. There are different ways of passing a waypoint for each autopilot. For Ardupilot these are Straight and Spline. For DJI autopilots, these are Stop and Turn (default), Bank and Adaptive bank. Please refer to vehicle’s manual for information about the supported turn types and functionality. Default turn types does not have an icon on the corresponding waypoints at route planning window, other turn types do.
Action execution parameters (not available for Takeoff, Waypoint, Landing):

  • Every point – actions will be generated on all waypoints;
  • At start – the algorithm will generate actions only on the first waypoint;
  • Forward passes – actions generated at all points during passage, payload disabled at turns (available only for Photogrammetry and Area scan tools).

Terrain follow

See Terrain follow

Take-off

Take-off tool is used to mark the target position after take-off. Vehicle is expected to launch from the ground level at the Takeoff position. Availability of this tool depends on vehicle type.

Waypoint

Waypoint tool is the default tool. To create a new waypoint, press and hold “Shift” key while simultaneously dragging up from the ground to the desired height or just double-click on the map. Therefore, not only the location but also the required altitude of the waypoint is set in one motion. The waypoint’s position can be adjusted more precisely later. To change latitude and longitude, the pin can be dragged by its base. Dragging the pin by its head changes the altitude of the waypoint. Alternatively, coordinates can be corrected in numerical form using the properties window of the waypoint. Multiple waypoints can be drawn in sequence. Each waypoint drawn, creates a new route segment connecting particular waypoints.

Photogrammetry

See Photogrammetry

Area scan

See Area scan

Creeping Line Search Pattern

See Creeping Line

Expanding Square Search Pattern

See Expanding Square

Facade scanner

Facade scanner

Circle

Circle tool makes the route to go around the specified point at a required distance the vehicle facing to the center (if autopilot supports it). If it is not required for the vehicle to face center, set Yaw angle to 0° and the vehicle will fly facing the flight direction. Creating a circle is similar to creating a waypoint. To change the radius of the circle, drag the circular part of the pin. The radius can be specified in the properties of the circle in numerical format. Like with waypoints, circles can be added to the route in sequence.
All common options available for this tool plus:
Number of laps number of full turns the drone has to make around the circle.
Fly clockwise flag indicates whether the drone will fly clockwise (checked) or counter clockwise (unchecked).
Number of approximating points number of basic waypoints generated. If left blank, this parameter will be automatically determined from the radius of the circle.
Follow terrain if enabled all generated waypoints have the same altitude from ground (AGL altitudes are equal). If disabled, all the points will have equal AMSL altitudes

Perimeter

Also all common options available for this tool plus:
Flight height altitude of flight along the perimeter. This altitude is not affected by the altitude type chosen for the route.
Number of laps number of times the drone flies along the perimeter.

Landing

Landing tool marks the landing position and parameters. Availability of this tool relates to vehicle type.
Landing waypoints are associated with descent rate parameter that is found in vehicle profile.

Note: The landing algorithm for planes in UgCS has two basic points – the waypoint at which the landing sequence starts and the landing point. The landing trajectory is a straight line between both of these points, provided there are no obstacles between them. The landing trajectory is calculated based on the glide slope parameter.

The glide slope parameter is set in the vehicle profile settings. It might be, for instance, 10%. This means that for each 100 m the plane travels to the landing point it decreases its altitude by 10 m.
The landing ground speed parameter is the speed set in vehicle profile. This speed should be set to a low value in case, if automatic flaps enabled for the plane, they are deployed.

Corridor mapping

See Corridor mapping

Modifier: Insert new route segment before the current one

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Click the insert new segment route icon to add a new segment before the current segment.

Modifier: Draw a curve with automatic points

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Activate «Curve points» by clicking the icon + hold left mouse button and drag cursor to draw a line without holding Ctrl button. For macOS it is not required to hold any key, just click the left mouse button and draw.


Another option is to draw a line on the map and UgCS will automatically set planning algorithms (WPs, points of perimeters, etc.) along the trajectory. To do so, hold Ctrl button on the keyboard + left mouse button and draw a line on the map. For macOS, hold alt (option).

Measurement tools

Several tools are available to ease mission planning Mission editor:
Distance measurement tool allows to draw a line and displays its length.
Area measurement tool allows to draw a polygon, and shows the size of the area.
Visibility range tool allows to place a point and find the distances to all obstacles around that point. The tracing is performed on a horizontal plane.
To deselect the current tool click the tool icon.