Difference between revisions of "Hydra"

Revision as of 16:59, 10 June 2017 (view source) Nltwikiadmin (talk | contribs) (Added Initial Description) ← Older edit		Revision as of 17:01, 10 June 2017 (view source) Nltwikiadmin (talk | contribs) m (→‎32px|left Scripts) Newer edit →
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		+	A script consists of both executable and non-executable lines.<br />
		+	Non-executable lines are either comments that you can use to document or empty lines.<br />
		+	A comment line always starts with # (pound sign) followed by an optional line of text.<br />
		+	Empty lines are typically used for formatting purposes to easier read the script.<br />
		+
		+	Executable lines have a single command with options that perform some kind of action.<br />
		+	Only one command per line is allowed.<br />
		+	Every command is terminated by a carriage return.<br />
	=== [[File:Tool_Zone.png|32px|left ]] No-fly zones ===		=== [[File:Tool_Zone.png|32px|left ]] No-fly zones ===

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Revision as of 17:01, 10 June 2017

Introduction

Components of a mission

The map

Markers

Markers are used to indicate points of interest in the arena.
They also indicate special locations such as the base station's GPS antenna and home location for a robot to return to.
Markers are indicated by in the arena view and selecting a marker will show its name.
A special marker indicated by shows the location of the home position of a robot.

To add a marker, select the marker icon . Click on the arena map to place the new marker. The bottom tip is the exact location.

To move a marker, select the edit marker icon . This allows you to select and move the marker to a new location.

To indicate the base station's GPS antenna location, use the GPS icon from the maker tool palette. Only one antenna location is allowed.

Markers can be renamed in the marker list.

To delete a marker, click on the marker's delete button in the marker list.

Routes

Scripts

One of the more powerful features of planning a mission is using a script to describe a unique motion per robot.
While routes give you basic motion from A to B with a specific speed, script allows you to stop, turn, and vary the speed from waypoint to waypoint based on timing.

Syntax

A typical script is structured like this:

# Automatic script for path "Route G"
# NOTE: All scripts require a version

    version 1.0

# 
# Path Specification
# 

    waypoint WP_1 at 34.1043337, -117.7239717
    waypoint WP_2 at 34.1043255, -117.7237885
    waypoint WP_3 at 34.1041385, -117.7237898
    waypoint WP_5 at 34.1041590, -117.7238949
    waypoint WP_4 at 34.1042097, -117.7239816

# 
# Move to home position of path
# 

    move to waypoint WP_1 at 2.00 m/s

# 
# Stop and turn to face first waypoint
# 

    stop
    turn to waypoint WP_2 for 2.0 seconds

# 
# Start mission on path
# 

    move to waypoint WP_2 at 2.00 m/s
    stop
    turn to waypoint WP_3 for 2.0 seconds
    move to waypoint WP_3 at 2.00 m/s
    stop
    turn to waypoint WP_5 for 2.0 seconds
    move to waypoint WP_5 at 2.00 m/s
    move to waypoint WP_4 at 1.00 m/s
    move to waypoint WP_1 at 2.00 m/s

# 
# Halt mission at last waypoint
# 

    halt

A script consists of both executable and non-executable lines.
Non-executable lines are either comments that you can use to document or empty lines.
A comment line always starts with # (pound sign) followed by an optional line of text.
Empty lines are typically used for formatting purposes to easier read the script.

Executable lines have a single command with options that perform some kind of action.
Only one command per line is allowed.
Every command is terminated by a carriage return.

No-fly zones

Rulers

This feature allows you to measure distances and orientation angle relative to true north.

Click on the ruler icon to add a new distance ruler to the map. In the arena view, click on the starting point of the measurement and drag the destination point. The distance and orientation will be displayed in real time while the ruler is created. Once the ruler is added, it will display its length in a fine print when unselected. When selected, both distance and orientation are displayed.

Click on the ruler edit icon to edit an existing ruler. Click on either end to reposition it, or click on the line connection the two ends to move the whole ruler.

About Mission files

Creating a new mission

From Lat/Long

Address lookup

From a GPS unit

About the Tool Pallet

Tool tips

Accessing a tool’s related sub-tools

Drawing element visibility

Special Tool Functions

Creating a simulator

Creating a script

Map modification Tools

Map parameter editing

Robot shifting

Map shifting

Markers

Purpose

Creating a marker

Editing a marker

Renaming

The Base Station Marker

Rulers

Purpose

Creating a ruler

Editing a ruler

Renaming

No-fly Zones

Purpose

Creating a no-fly zone

The Arena Boundary Zone

Editing a no-fly zone

Renaming

Routes

Elements of a route

Waypoints

Legs

Creating a route

Route options

Closed Loop

Smooth Path

Visual Aids

Route Length

Confidence

Sharp turn indication

Editing route elements

Inserting waypoints

Translating a route

Duplicating a route

Additional information

Renaming

Deleting

Locking

Fixing

Simulators

Creating a simulator

Robot & Simulator Operation

Device Status Display

Device name

Mission assignment

Heartbeat indicator

Battery indicator

RF Link quality indicator

INS Status

Device Track Display

RF Signal Mode

GPS Mode

Assigning the mission

Operational Controls

Play/Pause

Stop

Playback direction

Repeat/Oscillate

Go to beginning

Go to end

Line Up

Go to Home

Manual

Robot telemetry

Master Alarm

Scenario Operation

Heading text

Joystick-controlled Playback Speed

Mission Planner Settings

Distance Units

Max Track Samples

Track sample spacing

Telemetry samples

Local GPS unit

Equipment Settings

Setting up the wifi network

Connecting via ethernet

1. Plug in ethernet cable
2. Set PC to manual IP address 192.168.0.51 mask 255.255.255.0
3. Open browser to 192.168.0.50
4. Go to Dashboard. Click Stop wlan0.
5. Click Refresh. Make sure that it says “Interface is down”
6. Go to System. Click Restart Robot.
7. Launch Mission Planner.
8. Perform firmware upgrade.
9. Verify that new firmware is running.
10. Quit Mission Planner
11. Open browser to 192.168.0.50
12. Go to Dashboard. Click Start wlan0.
13. Disconnect ethernet cable.
14. Open browser to robot name e.g. Hydra-170401-1.local
15. Go to System. Click Restart Robot.
16. Launch Mission Planner.
17. Verify connectivity.