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3. Set up UAV & NAV (At Site)

Once at the field site:

  • Unpack the UAV from case and extend all legs.
  • Extend all arms and remove protective covers from the propellers.
    • Check that all propellers and arms are secured.
  • Attach all antennas:
    • Color coded to dots on the UAV; 2 red, 2 blue, 1 yellow.
    • Carrier link attachment to top of UAV: screw in.
    • Carrier link block: 2 long antennas.
    • GCS: Flat antennas (do not turn on yet).
  • Mount the sensor:
    • With the lidar facing back (opposite RGB), use the central locking system to secure sensor to UAV using ring lock.
    • Rock slightly to ensure sensor is fully attached.
  • Mount the batteries:
    • Lock on each side (you should hear a click).
  • ALL ANTENNAS SHOULD BE CONNECTED AT THIS PT (including UAV, GCS, and CarrierLink).
  • Connect batteries to UAV by connecting the yellow-capped cables. You will hear the UAV start to hum as the SWIR cooling system turns on.
  • Connect the carrier link to the laptop through the USB top port.
  • Turn on the Garmin GPS.

Calibration

  • Connect the sensor to the laptop using 2 ethernet cables and the USB connection.
  • Once connected, open Hyperspec III:
    • Place the white reference under sensor and remove the cap from the sensor on the bottom.
    • Open the "Live Video" for both the VNIR (nano) and SWIR.
    • In the live video windows, select "crosshair" and place it in a bright, uniform white area.
    • Adjust the exposure so that the max gain is at 80-90% in each window:
      • VNIR: 3500-3800 cts
      • SWIR: 5000 cts
    • Enter your altitude into each window to see calculated speed at the bottom. VNIR and SWIR speeds should be max 0.5 m/s apart.
    • Frame period: min 5ms, same or greater than exposure.
    • Gain = HIGH
    • Distance to object: e.g., 50m above tree crowns.
    • Note down your calculated speeds and altitude (distance to objects).
  • Still in Hyperspec III:
    • Open "setup GPS".
    • Import the kml polygon file for your flight area of interest for both the VNIR and SWIR windows (must do this twice).
    • Check to see if there is an x for the UAV location in relation to the polygon. UAV must be OUTSIDE of polygon at this point and for GPS initialization. Calibration tarps must be INSIDE the polygon.
  • Still Hyperspec III:
    • Open the "capture" window.
    • Set to on-board storage, set folder prefix.
    • Click "connect dark reference", ensure lens cap gets put on, and click GO.
    • Once this is done, check the box that says "enable GPS triggering" and click GO. It will ask if the lens cap is now OFF (remove the cap) and click GO again.
    • You should note that there is a Pause button. This should remain and means you are good to go.
  • Close Hyperspec III.

Ground Control & Controller Prep

  • Open HA Ground Control on laptop:
    • You should see your flight plan. If you need to load your plan, go to file in HAGC and import your saved plan from earlier.
    • Set the speed and flight altitude that you calculated during calibration above in the survey section on the right hand of the screen.
    • Adjust the plan as needed (including launch, tarps, flight lines, etc.).
    • Save plan and click upload to UAV (should appear at the top of the screen if you are connected via carrier link. After pressing it you will see a green progress bar).
  • Once uploaded: Disconnect the laptop, remove both ethernet cables.
  • Connect the lidar cable (white) to the VNIR port!
  • Turn on the controller:
    • Press the power/lock button (top center) and let it turn on.
    • Press & hold the left DISARM button for a few seconds to power on NAVBAY, you will hear a beep.
    • Press & hold the radio power button centered on back of control (on top of the navbay system).
    • Check if the radio is on: blue light top left.
    • You should see green lights as well that relay the NAVBAY battery level (4 batteries for 25% sections).
    • The presence of a red LED on the far left indicates that there may be a hardware malfunction with the controller. If this occurs, power cycle the controller and NavBay.
  • Connect Controller to Garmin:
    • Open GNSS (an app on the controller) and click connect.
  • Open HA Ground Control on controller: Download the flight plan from the UAV.
    • To download you may have to click the file button on ground control and select download from UAV.
    • You should now see your flight plan on the controller and location of yourself and the UAV.
    • Enter correct flight specs (speed, altitude) if they have changed.
    • After changing anything, re-upload the plan to the UAV.
  • Remove the lidar and spec covers.
  • If you move locations after you connect the GPS, you way need to reset it. You will get an error that operator location is not set on the controller - go into GNSS and reconnect.