Introduction to Modifying Common Function Parameters

Modify Parameters Using the Prometheus Ground Station

Control Module

1. Connect to the UAV first.
2. Click System Settings.
3. Click Parameter Settings.
4. Click Control Module.
5. Click Load.
6. A message confirms that the parameters were loaded successfully.
7. The parameters currently used to control the UAV are refreshed.

Communication Module

1. Connect to the UAV first.
2. Click System Settings.
3. Click Parameter Settings.
4. Click Communication Module.
5. Click Load.
6. A message confirms that the parameters were loaded successfully.
7. The parameters currently used to control the UAV are refreshed.

Trajectory Control

1. Connect to the UAV first.
2. Click System Settings.
3. Click Parameter Settings.
4. Click Trajectory Control.
5. Click Load.
6. A message confirms that the parameters were loaded successfully.
7. The parameters currently used to control the UAV are refreshed.

Parameter Descriptions

• Eight/omega: Angular velocity. A larger value makes tracking more difficult. Unit: rad/s.
  • The default value of 0.3 can be used. The angular velocity does not need to be changed regardless of how the figure-eight radius changes.
• Eight/radial: Radius. A smaller value makes tracking more difficult. Unit: m.
  • The larger the radius, the higher the UAV speed.

Modify Parameters

• Double-click the parameter to modify with the left mouse button.

1. Enter the target value and press Enter.
2. A message confirms that the parameter was set successfully. At this point, however, it is saved in the ground station and has not been uploaded to the UAV.

• Disconnect from the UAV.

• Connect to the UAV.

• Reload the parameters and check whether the change took effect.

1. Click Load.
2. A message confirms that loading was successful.
3. If the modified value is loaded, the parameter was modified successfully.

Adjust Landing Function Parameters

GX40 Version

• Use the NoMachine remote-access software or a monitor, keyboard, and mouse to access the UAV's onboard computer.

• Open the file at the following path.

• File path:

/home/amov/p600_experiment/src/p600_experiment/launch_spirecv/gimbalx_aruco_with_landing.launch

1. If the UAV tracks too quickly while moving toward the landing QR code, decrease kp_x.
   • If the UAV tracks too slowly while moving toward the landing QR code, increase kp_x.

<param name="kp_x" type="double" value="0.4" />

2. When the UAV tracks the QR code and adjusts its position to reach this altitude, the flight controller's landing procedure runs. The default can be used and does not need to be changed.
   • If the UAV moves up and down and cannot land, increase the landing altitude.

<param name="land_height" type="double" value="0.7" />

G1 Version

• Use the NoMachine remote-access software or a monitor, keyboard, and mouse to access the UAV's onboard computer.

• Open the file at the following path.

• File path:

/home/amov/p600_experiment/src/p600_experiment/launch_spirecv/gimbal_aruco_with_landing.launch

1. If the UAV tracks too quickly while moving toward the landing QR code, decrease kp_x.
   • If the UAV tracks too slowly while moving toward the landing QR code, increase kp_x.

<param name="kp_x" type="double" value="0.3" />

2. This is the distance maintained from the tracked target. The default can be used and does not need to be changed.

<param name="tracking_distance" type="double" value="10.0" />	

G1 Version

• Use the NoMachine remote-access software or a monitor, keyboard, and mouse to access the UAV's onboard computer.

• Open the file at the following path.

• File path:

/home/amov/p600_experiment/src/p600_experiment/launch_spirecv/gimbal_yolov5_tracking.launch

1. If the target remains still but the UAV oscillates back and forth during tracking, decrease kp_x.
   • If the target remains still but the UAV tracks very slowly, increase kp_x.

<arg name="map_size_x_" value="50.0"/>
<arg name="map_size_y_" value="50.0"/>
<arg name="map_size_z_" value="5"/>
<arg name="map_origin_x_" value="-25.0"/>
<arg name="map_origin_y_" value="-25.0"/>

<arg name="ground_height" value="0.5"/>

2. LiDAR obstacle-avoidance speed and acceleration

<arg name="max_vel" value="0.6" />
<arg name="max_acc" value="0.3" />

3. Distance between the UAV and obstacles during LiDAR obstacle avoidance

• Open the file at the following path.

• File path:

/home/amov/p600_experiment/src/p600_experiment/launch_planning/advanced_param_octomap_outdoor.xml

<param name="grid_map/obstacles_inflation"     value="0.4" /> 

Communication Node Network Configuration Parameters

• Code path to modify: p600_experiment/src/p600_experiment/launch_basic/P600_outdoor_communication.launch
• Enter the correct ground station IP address in P600_outdoor_communication.launch. The default is 192.168.45.245.

<arg name="ground_station_ip" default="192.168.45.245"/>

• The contents of P600_outdoor_communication.launch are as follows:

<launch>

    <arg name="swarm_num" default="1"/>
    <arg name="autoload" default="true"/>
    <arg name="uav_control_start" default="gnome-terminal -- /home/amov/p600_experiment/src/p600_experiment/scripts/p600_outdoor_onboard.sh"/>
    <arg name="close_uav_control" default="gnome-terminal -- rosnode kill `rosnode list | grep -v /communication_bridge | grep -v /rosout | grep -v /rosapi | grep -v /rosbridge_websocket`"/>
    <arg name="swarm_control_start" default=""/>
    <arg name="close_swarm_control" default=""/>
    <arg name="ground_station_ip" default="192.168.45.245"/>
    <arg name="uav_id" default="1"/>
    <arg name="is_simulation" default="0"/>
    <arg name="swarm_data_update_timeout" default="5"/>

    
    <arg name="prometheus_moudles_url" default="/home/amov/p600_experiment/src/p600_experiment/"/>
    
    <arg name="uav_control_yaml" default="config/prometheus_control_config/uav_control_outdoor.yaml"/>
    
    <arg name="uav_command_yaml" default="config/prometheus_control_config/uav_command_pub.yaml"/>
    <include file="$(find p600_experiment)/launch_basic/minihomer_bridge.launch">
		
        <arg name="swarm_num"                 value="$(arg swarm_num)" />
        <arg name="autoload"                  value="$(arg autoload)" />
		<arg name="uav_control_start"         value="$(arg uav_control_start)" />
		<arg name="close_uav_control"         value="$(arg close_uav_control)" />
		<arg name="swarm_control_start"       value="$(arg swarm_control_start)" />
		<arg name="close_swarm_control"       value="$(arg close_swarm_control)" />
        <arg name="ground_station_ip"        value="$(arg ground_station_ip)"/>
        <arg name="uav_id"                    value="$(arg uav_id)"/>
        <arg name="is_simulation"             value="$(arg is_simulation)"/>
        <arg name="swarm_data_update_timeout" value="$(arg swarm_data_update_timeout)"/>
        <arg name="prometheus_moudles_url"    value="$(arg prometheus_moudles_url)"/>
        <arg name="uav_control_yaml"          value="$(arg uav_control_yaml)"/>
        <arg name="uav_command_yaml"        value="$(arg uav_command_yaml)"/>
	</include>

    	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
	</include>
</launch>

Modify Source Files on the Onboard Computer

• Use the NoMachine remote-access software or a monitor, keyboard, and mouse to access the UAV's onboard computer.

Remotely Connect to the Onboard Computer with NoMachine

Remotely Connect to the Onboard Computer from a Windows Computer

• Double-click to open NoMachine.

• Keep clicking OK.

• Click Add to add a new connection.

1. Enter a name for the remote connection.
2. Enter the target IP address.
3. Click Add.
4. Keep the default values for the other settings.

• Double-click the new remote connection to connect.

1. Select this option, which is selected by default.
2. Enter the username: amov.
3. Enter the password: amov.
4. Select the option to remember the username and password.
5. Click OK to verify the credentials.

• After verification succeeds, the following screen appears. Keep clicking OK.

• The remote onboard-computer interface opens.