DJI A2, Wookong-M, Naza-M V2 autopilot, Phantom 2 vehicle User Guide
The DJI VSM User Guide provides instructions for connecting DJI autopilots to the UgCS software. It covers supported autopilots, first-time vehicle connection, mission execution specifics, command execution specifics, telemetry information specifics, fail-safe actions, waypoint turn types, and general purpose servo action setup. The document explains how to connect a DJI vehicle to UgCS using a 2.4Hz or 900MHz datalink. The document also specifies the supported autopilot models and provides configuration file details for various parameters, such as serial port configuration, waypoint turn type, and logging configuration.
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DJI VSM User Guide
UgCS 2.8.455
Copyright © 2015, Smart Projects Holdings Ltd
ii CONTENTS
Contents
1 Connecting DJI autopilots to UgCS
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Telemetry information specifics
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General Purpose servo action setup
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Configuring trigger_action parameters in vsm-dji.conf
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1.11.2 Serial port configuration
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1.12 Common configuration file parameters
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1.12.1 UgCS server configuration
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1.12.3 Serial port configuration
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1.12.4 Network connection configuration
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1.12.6 Automatic service discovery
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1 Connecting DJI autopilots to UgCS
1 Connecting DJI autopilots to UgCS
1
See
1.1
Supported autopilots
This document relate to the following DJI autopilots and ready to fly vehicles:
• A2
• Wookong-M
• Naza-M V2
• Phantom 2
For Phantom 2 Vision+, Phantom 3 and Inspire1 please see separate documents on
http://ugcs.com
site.
1.2
First time vehicle connection
Please follow these steps to connect a DJI vehicle to the UgCS:
1. To connect DJI vehicle to UgCS you need the 2.4Hz datalink (
http://www.dji.com/product/2-4g-bluetooth-datalink
) or 900MHz datalink. Direct USB cable to DJI vehicle cannot be used to connect it to UgCS.
2. For Windows setup you also need to download from DJI site and install driver for 2.4GHz datalink
(
http://download.dji-innovations.com/downloads/driver/DJI_WIN_Driver_-
Installer.exe
). For 900MHz datalink download and install this package (
http://download.dji-innovations.com/downloads/driver/DJI_Datalink_Driver_Installer_1.-
0.zip
). This step is not required if you are running UgCS on Linux or Mac.
3. Before connecting the vehicle to UgCS, please ensure all autopilot settings (fail-safe, control mode switch, compass calibration) are configured accordingly via DJI Assistant software. Please consult user manual of your autopilot for details.
4. Once the drone is connected it should appear in vehicles list. Both Uplink and Downlink connections should be available. Open Vehicles window from main menu and choose the corresponding vehicle for editing by clicking on the menu item and selecting Edit button. Now you can select the vehicle profile and change the default vehicle name to be convenient for you:
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2 CONTENTS
Figure 1: New DJI vehicle
Vehicle profile needs to be assigned to allow mission planning with this vehicle. Vehicle avatar should be assigned in vehicle profile to properly see the vehicle location on map.
Note
For Wookong M pilots:
Sometimes UgCS detects WKM autopilot as NAZA-M V2. If that is the case, you can set the correct profile manually. After that it will tie the profile with the vehicle automatically.
1.3
Mission execution specifics
• When vehicle acquires GPS lock it records the HOME location to current position.
• Mission upload sets the HOME location of the vehicle according to your mission configuration. (Home location in mission can be set explicitly or set automatically to 1st waypoint.)
• Fail-safe settings in mission properties are ignored.
• DJI has the following default fail-safe settings (these settings can be changed via DJI Assistant software):
Condition
On GPS signal loss
On RC signal loss
On low battery
Behavior
Land
Return to HOME position
Land
Notes
Happens when there are less than 6 satellites visible for more than 20 seconds
Default RTH altitude is 20m.
See autopilot User Manual for more information.
See autopilot User Manual for more information.
• Please use DJI Assistant software to control the failsafe settings of autopilot.
• Mission waypoint actions supported by DJI:
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1.4
Command execution specifics 3
Flight plan element / action
Camera control
Camera trigger
Wait
Yaw
Land
Support
No
Yes
Yes
Partial
No
Notes
Only Single-shot camera mode is supported for A2 and
Wookong autopilots when camera trigger is wired to
General Purpose servo output see
General Purpose servo action setup
for details.
Only one wait action per waypoint is allowed.
1) Only when hovering over the waypoint. Vehicle will always fly with nose pointing to next waypoint.
2) Only 1 Yaw action per
Waypoint is supported. (In case of multiple yaw actions the last one will be used.)
3) For Yaw action to succeed it must be used together with
"Wait" action.
Vehicle will hover over the last waypoint until operator takes over the control.
Panorama
Point Of Interest
Camera by time
No
No
Yes
Camera by distance Yes
Supported for A2 and Wookong autopilots when camera trigger is wired to General Purpose servo output see
for details.
Supported for A2 and Wookong autopilots when camera trigger is wired to General Purpose servo output see
for details.
• Mission can be uploded while vehicle is armed (in the air).
Warning
Uploading mission in the air is not recommended as it is possible to lose track of altitudes and "Return To
Home" functionality can be affected.
1.4
Command execution specifics
Command
ARM
DISARM
AUTOMODE
Support
No
No
Yes
Notes
Take off and start the mission. See
below.
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MANUALMODE
CLICK & GO
HOLD
CONTINUE
RETURN HOME
No
Yes
Yes
Yes
Yes
Should be executed only during mission flight. Used to pause the mission
Resume the mission. See
below.
Vehicle will fly to preconfigured altitude (default is 20m) and return to HOME position and land. See
below.
TAKEOFF
LAND
EMERGENCYLAND
CAMERA_TRIGGER
No
No
No
Yes Trigger camera shutter. See
General Purpose servo action setup
for details.
1.4.1
Notes on Auto mode
If vehicle does not move after successful "Auto mode" command please verify that you have uploaded the route to the vehicle. You can do that by checking log entries.
1.4.2
Notes on Continue command
Continue command can perform erratically if turn type is Bank or Adaptive bank. That can happen if sission has small segments. I that case Continue command can direct vehicle to skip one or more WPts.
1.4.3
Notes on Return Home command
WKM and NAZA autopilots sometimes ignore the "Return to home" command after mission is uploaded while the vehicle is armed (in the air).
1.5
Command availability
UGCS Client can show command buttons in different shades. You can always press all buttons disregarding of shade. Highlighted buttons suggest recommended commands, depending on vehicle current status.
Command availability:
State
Armed
Button shaded
Disarmed
Button highlighted
AUTOMODE,
CAMERA_TRIGGER,
RETURNHOME
AUTOMODE,
CAMERA_TRIGGER,
RETURNHOME
1.6
Telemetry information specifics
• Vehicle state (armed/disarmed) is controlled from RC transmitter. (Vehicle is armed automatically when "Auto
Mode" command is issued)
• Flight mode meaning
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1.7
Fail-safe actions 5
– Auto: Vehicle is executing mission or is returning to HOME position.
– Manual: Vehicle is holding position.
Note
User can take over the control from any mode at any time by flipping the "Mode Switch" on RC transmitter from "GPS" to "ATTI" to "GPS"
Sometimes DJI autopilot can report mode as "Manual" but cannot be controlled via RC transmitter. To take over the control please flip the "Mode Switch" on RC transmitter to gain manual control.
1.7
Fail-safe actions
Fail-safe actions can be set only in DJI Assistant software.
1.8
Waypoint turn types
There are 3 different routing planning modes for DJI autopilots: fixed-point turn mode (Stop and Turn), coordinated turn mode (Bank Turn) and adaptive coordinated turn mode (Adaptive Bank Turn). You can choose turn type for each Waypoint, Circle, Perimeter. The default turn mode in the system is Stop and turn.
Figure 2: Turn type
Turn type
Stop and Turn
Bank Turn
Adaptive Bank Turn
Support
Yes
Yes
Yes
Notes
Aircraft flies to the first fixed point accurately, stays at the fixed point and then flies to the next fixed point. See note below.
The route of aircraft is calculated with turning speed and turning angle. The aircraft would fly from one point to another point without stopping.
It is almost the same performance with Bank Turn mode. But the flight routine will be more accurately detailed with a planned flight routine in this mode.
Note
When using "Stop and Turn" Vehicle sometimes will wait on a waypoint for several seconds even when there is no wait action specified. Can happen in windy weather.
You can find more information about turning modes and supporting autopilots on the site
http://wiki.dji.com/
.
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6 CONTENTS
1.9
General Purpose servo action setup
DJI A2 and Wookong autopilots support general purpose servo action. It can be used to trigger camera.
You will need a device which can trigger camera remotely. Possible solutions:
• Gimbal with with camera trigger connector built in which supports PWM signal. (For example: Zenmuse Z15)
• Stand alone device to trigger camera via PWM signal (For example:
http://copter.ardupilot.com/wiki/common-pixhawk-auto-camera-trigger-without-chdk/#22_IR_trigger-
_device
)
Steps to configure camera trigger for use with UgCS mission flight:
• Connect gimbal or triggering device to general purpose servo output on autopilot:
– A2: output "F2"
– Wookong: output "F1"
(Consult DJI autopilot manual for more details on how to use GP servo outputs.)
• Configure the servo action in configuration file. By default the "vehicle.dji.trigger_action" parameter in vsmdji.conf file is set to -1000, 1000, for additional configuration see
Configuring trigger_action parameters in vsm-dji.conf
below.
• Create a mission with waypoint actions Camera-mode Single-shot.
1.9.1
Configuring trigger_action parameters in vsm-dji.conf
Parameter trigger_action accepts seven comma separated integers.
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5
6
7
2
3
Parameter number
1
Range
-1000..1000
-1000..1000
0..9
-1000..1000
0..9
-1000..1000
0..9
Description
Default servo position
1st servo position on action seconds to hold 1st servo position
2nd servo position on action seconds to hold 2nd servo position
3rd servo position on action seconds to hold 3rd servo position
If your trigger needs only 1 servo position change then last 4 parameters can be omitted.
Example:
The following line in vsm-dji.conf: vehicle.dji.trigger_action = 100, -200, 1
Produces the behavior:
• Autopilot will keep the GP servo at position 100 during the whole mission.
• On each waypoint which has the "Camera-mode: Single-shot" action the connected servo will:
– move to position -200,
– wait 1 second,
– move back to position 100.
1.10
GoPro video link
Vehicle can be configured to carry GoPro camera. In that case live video stream can be obtained via UgCS video streamer component which must be running on the host which is connected to GoPro WiFi access point.
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1.11
Configuration file
1.11
Configuration file
Default configuration file of the DJI VSM suits most needs and it is generally not necessary to modify it.
Configuration file location:
•
On Microsoft Windows:
C:\Program Files (x86)\UgCS\bin\vsm-dji.conf
•
On GNU/Linux:
/etc/opt/ugcs/vsm-dji.conf
•
On Apple OS X:
/Users/[user name]/Library/Application Support/UGCS/configuration/vsm-dji.conf
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1.11.1
Common parameters
All VSMs share a common set of configuration file parameters described in
Common configuration file parameters .
DJI VSM configuration file prefix is: vehicle.dji
1.11.2
Serial port configuration
Mandatory. This is the serial port name which appears when 2.4GHz or 900MHz datalink USB cable is plugged in.
At least one serial port definition should be present, otherwise VSM will not try to connect to the vehicle.
• Name: vehicle.dji.serial_port
• Description: Serial port configuration, for more details see
Serial port configuration . Default DJI port com-
munication speed is 115200 bps.
•
Example:
vehicle.dji.serial_port.1.name = com1 vehicle.dji.serial_port.1.baud = 115200
1.11.3
Waypoint turn type
Optional. Used to override the turn type for all waypoints in uploaded mission. Please see DJI GS manual for detailed explanation of turn types.
• Name: vehicle.dji.turn_type_override
• Pssible values: stop, bank, adaptive_bank
• Default: stop
•
Example:
vehicle.dji.turn_type_override = adaptive_bank
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1.12
Common configuration file parameters
VSM configuration file is a text file specified via command line argument - -config of the VSM application. Example:
--config /etc/opt/ugcs/vsm-ardupilot.conf
Each configuration parameter is defined as a line in the configuration file with the following structure: name1.name2....nameX = value where name1, name2 ... nameX are arbitrary names separated by dots to divide a variable into logical blocks and a value which can be a number value or a text string depending on the context. See below the description about common VSM configuration parameters.
1.12.1
UgCS server configuration
1.12.1.1
Listening address
Mandatory.
• Name: ucs.local_listening_address = [IP address]
• Description: Local TCP address to listen for incoming connections from UgCS server. Specify 0.0.0.0 to listen from all local addresses.
• Example: ucs.local_listening_address = 0.0.0.0
1.12.1.2
Listening port
Mandatory.
• Name: ucs.local_listening_port = [port number]
• Description: Local TCP port to listen for incoming connections from UgCS server. Default is 5556.
•
Example: ucs.local_listening_port = 5556
1.12.2
Logging configuration
1.12.2.1
Level
Optional.
• Name: log.level = [error
| warning
| info
| debug]
•
Description: Logging level.
• Default: info
• Example: log.level = debug
1.12.2.2
File path
Optional.
• Name: log.file_path = [path to a file]
• Description: Absolute or relative (to the current directory) path to a logging file. Logging is disabled if logging file is not defined. File should be writable. Backslash should be escaped with a backslash.
• Example: log.file = /var/opt/ugcs/log/vsm-ardupilot/vsm-ardupilot.log
• Example: log.file = C:\\Users\\John\\AppData\\Local\\UGCS\\logs\\vsm-ardupilot\\vsm-ardupilot.log
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1.12
Common configuration file parameters 9
1.12.2.3
Maximum single file size
Optional.
• Name: log.single_max_size = [size]
• Description: Maximum size of a single log file. When maximum size is exceeded, existing file is renamed by adding a time stamp and logging is continued into the empty file. [size] should be defined as a number postfixed by a case insensitive multiplier:
– Gb, G, Gbyte, Gbytes: for Giga-bytes
– Mb, M, Mbyte, Mbytes: for Mega-bytes
– Kb, K, Kbyte, Kbytes: for Kilo-bytes
– no postfix: for bytes
•
Default: 100 Mb
•
Example: log.single_max_size = 500 Mb
1.12.2.4
Maximum number of old log files
Optional.
• Name: log.max_file_count = [number]
• Description: Log rotation feature. Maximum number of old log files to keep. After reaching single_max_size of current log file VSM will rename it with current time in extension and start new one. VSM will delete older logs so the number of old logs does not exceed the max_file_count.
• Default: 1
• Example: log.max_file_count = 5
1.12.3
Serial port configuration
Optional. VSM which communicates with vehicles via serial ports should define at least one serial port, otherwise
VSM will not try to connect to the vehicles. Port name and baud rate should be both defined. [prefix] is unique for each VSM.
1.12.3.1
Port name
Optional.
• Name: [prefix].[port index].name = [regular expression]
• Description: Ports which should be used to connect to the vehicles by given VSM. Port names are defined by a [regular expression] which can be used to define just a single port or create a port filtering regular expression. Expression is case insensitive on Windows. [port index] is a arbitrary port indexing name.
• Example: vehicle.ardupilot.serial_port.1.name = /dev/ttyUSB[0-9]+
| com[0-9]+
• Example: vehicle.ardupilot.serial_port.2.name = com42
1.12.3.2
Port baud rate
Optional.
• Name: [prefix].[port index].baud.[baud index] = [baud]
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10 CONTENTS
• Description: Baud rate for port opening. [baud index] is an optional arbitrary name used when it is necessary to open the same serial port using multiple baud rates. [port index] is an arbitrary port indexing name.
• Example: vehicle.ardupilot.serial_port.1.baud.1 = 9600
•
Example: vehicle.ardupilot.serial_port.1.baud.2 = 57600
• Example: vehicle.ardupilot.serial_port.2.baud = 38400
1.12.3.3
Excluded port name
Optional.
• Name: [prefix].exclude.[exclude index] = [regular expression]
• Description: Ports which should not be used for vehicle access by this VSM. Port names are defined by a
[regular expression] which can be used to define just a single port or create a port filtering regular expression.
Filter is case insensitive on Windows. [exclude index] is a arbitrary indexing name used when more than one exclude names are defined.
• Example: vehicle.ardupilot.serial_port.exclude.1 = /dev/ttyS.
∗
• Example: vehicle.ardupilot.serial_port.exclude = com1
1.12.3.4
Serial port arbiter
Optional.
• Name: [prefix].use_serial_arbiter = [yes
| no]
•
Description: Enable (yes) or disable (no) serial port access arbitration between VSMs running on the same machine. It is recommended to have it enabled to avoid situation when multiple VSMs try to open the same port simultaneously.
• Default: yes
• Example: vehicle.ardupilot.serial_port.use_serial_arbiter = no
1.12.4
Network connection configuration
Optional. VSM which communicates with vehicles via network should define at least one network connection, otherwise VSM will not try to connect to vehicles. [prefix] is unique for each VSM.
1.12.4.1
Local IP-address for UDP
Optional.
• Name: [prefix].detector.[con index].udp_local_address = [IP-address]
• Description: Local IP-address to listen for incoming UDP packets on. Specify 0.0.0.0 if you want to listen on all local addresses.
• Example: vehicle.ardrone.detector.1.udp_local_address = 0.0.0.0
1.12.4.2
Local UDP port
Optional.
• Name: [prefix].detector.[con index].udp_local_port = [port number]
•
Description: Local UDP port to listen for incoming packets on.
• Example: vehicle.ardrone.detector.1.udp_local_port = 14550
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1.12
Common configuration file parameters 11
1.12.4.3
Remote IP-address for UDP
Optional.
• Name: [prefix].detector.[con index].udp_address = [IP-address]
• Description: Remote IP-address to send outgoing UDP packets to.
• Example: vehicle.ardrone.detector.1.udp_address = 192.168.1.1
1.12.4.4
Remote UDP port
Optional.
• Name: [prefix].detector.[con index].udp_port = [port number]
• Description: Remote UDP port to send outgoing packets to.
• Example: vehicle.ardrone.detector.1.udp_port = 14551
1.12.5
Mission dump path
Optional.
• Name: [prefix].mission_dump_path = [path to a file]
• Description: File to dump all generated missions to. Timestamp is appended to the name. Delete the entry to disable mission dumping. All directories in the path to a file should be already created.
• Example: vehicle.ardupilot.mission_dump_path = C:\\tmp\\ardupilot_dump
1.12.6
Automatic service discovery
VSM can respond to automatic service discovery requests form UgCS server.
When this parameter is not configured, service discovery is disabled.
Optional.
•
Name: service_discovery.vsm_name = [Service name]
• Description: Human readable service name.
• Example: service_discovery.vsm_name = Ardupilot VSM
1.12.7
Proxy configuration
Optional. VSM is able to communicate with vehicle via proxy service which redirects dataflow received from vehicle through TCP connection to VSM and vice versa using specific protocol. In other words proxy service appears as a router between vehicle and VSM. At the moment there is one implementation of proxy in UgCS called XBee
Connector which retranslates data from ZigBee network to respective VSM.
1.12.7.1
IP-address for proxy
Optional.
• Name: [prefix].tcp.[con index].proxy = [IP-address]
• Description: IP-address to connect proxy to. Specify local or remote address.
• Example: vehicle.ardupilot.tcp.1.proxy = 127.0.0.1
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12 CONTENTS
1.12.7.2
TCP port for proxy
Optional.
•
Name: [prefix].tcp.[con index].port = [port number]
• Description: TCP port to be connected with proxy through. Should be the same as in congiguration on proxy side.
• Example: vehicle.ardupilot.tcp.1.port = 5566
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HE ACCURACY OR COMPLETENESS OF ANY CONTENT OR FUNCTIONALITY OF THE PRODUCT AND ITS
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AND WILL NOT BE LIABLE FOR ANY DAMAGE OR LOSS RESULTING FROM YOUR USE OF THE PRODUCT.
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PROPERTY.
(c) THE SOFTWARE IS SUPPLIED AS IS WITH NO WARRANTIES AND CAN BE USED ONLY AT USERS OWN
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Key Features
- Connecting DJI autopilots to UgCS
- Supported autopilots
- First time vehicle connection
- Mission execution specifics
- Command execution specifics
- Telemetry information specifics
- Fail-safe actions
- Waypoint turn types
- General Purpose servo action setup
