D435i Click-to-track

• Familiarize yourself with position-control flight first
• The following procedure is demonstrated on Windows

Warning

Note:
Due to the publication date of this tutorial and upgrades to product features and code:
1. The ground control station version may differ from the version shown in this tutorial
2. The names and order of custom demos in the function scripts may differ slightly
3. If you encounter any problems while using this product, contact after-sales support.

Connect the ground control station to the UAV

After opening the Prometheus ground control station, click Connection Settings. A connection window will appear.

1. After opening the Prometheus ground control station, click Connection Settings
2. Connection settings window
3. Click to select this connection setting
4. Click Connect. The Prometheus ground control station starts connecting to the UAV
5. Click Disconnect. The Prometheus ground control station starts disconnecting from the UAV

• After clicking Connect or Disconnect, click X in the upper-right corner of the connection settings window to close it

Check whether the connection is normal

1. Prometheus ground control station main interface after closing the connection settings window

• If no custom demos appear, connect first, and then click Load Function Scripts

Start LiDAR-based localization and check whether the data is normal

1. Right-click a blank area in the ground control station, select Positioning Source Switching, and click MID360 (switch to LiDAR-based localization). After successful startup, the positioning source will change to Valid, and the heartbeat packet in the upper-right corner of the ground control station will change from red to blue.

2. Check the positioning source data. After startup, the position data should converge toward (0,0,0). If the positioning data is not near (0,0,0), disconnect and reconnect the ground control station, and restart localization.

Start the feature demo

1. Click Function Scripts
   • Enter the feature demo selection screen
2. No feature demo is loaded by default

1. Click Load Function Scripts
2. Feature demos loaded from the onboard computer
   • These feature demos are the function scripts configured for this hardware

Display the video stream

• If no video stream is displayed, click Play on the main interface to pull the stream

Control the UAV to take off

When flying with the battery, it is recommended to pull the stream and display the image before takeoff

1. Click Arm and Take Off, and drag the slider that appears to arm the UAV and take off
2. After arming and takeoff, the UAV will hover 1.5m above the takeoff point

3. Click d435i Target Tracking to start the feature

4. Right-click a blank area on the page, select Video Stream Switching, and select Processed Data Stream Note: After starting the tracking script, wait approximately 10s before switching to the processed data stream.

5. At the bottom of the ground control station, set the mouse action to Click

After a target is detected, a green detection box appears. Click the detected target, and the UAV will automatically track the target and hover while remaining stationary relative to it. The tracking distance is 2m

Caution

• This demo's model was trained using a vertically placed horizontal target and primarily recognizes the width of the object. Replacing the target or placing it horizontally will result in an inaccurate tracking distance. Confirm whether the flight site permits an inaccurate tracking distance.
• Track a target: left-click the detection box; cancel tracking: right-click the detection box.

6. After you click, tracking starts. The UAV will automatically track the target and hover while remaining stationary relative to it. The tracking distance is 2m

7. Right-click the target to stop tracking and return to detection mode. The UAV will hover at its current position.