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orb:mom [2016/09/19 01:41]
raffael [Spares & Tools]
orb:mom [2016/09/19 12:41] (current)
sam
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 ==== Packing ==== ==== Packing ====
  
-The rover is packed with the struts at 180° in a standard travel bag.  +The rover is packed together with the Field Base Station in a (L x B X H)80 60 41 cm Zarges Eurobox (aluminum). The rover's camera head has to be removed from its body in order to fit it into the box. Also, the GPS communication antenna needs to be unscrewed. 
-[{{ :orb:screen_shot_2016-05-23_at_23.30.30.png?300 | }}] +
-  * outer dimensions: 53 71 32 cm (including wheels) +
-  * inner dimensions: 48 x 62 x 30 cm+
  
 +The empty box gets filled step-by-step in the following way:
 +
 +[{{ :orb:pack1.jpg?400 |The empty box}}] 
 +[{{ :orb:pack2.jpg?400 |Place the Field Base Solar Panel}}] 
 +[{{ :orb:pack3.jpg?400 |Insert two spare wheels to the side wall(optional)}}]
 +[{{ :orb:pack4.jpg?400 |Place the box with the spare parts on top of the solar panel}}]
 +[{{ :orb:pack5.jpg?400 |Cover this box with the intermediate foam layer}}]
 +[{{ :orb:pack6.jpg?400 |Place two additional spare wheels to the side (optional)}}]
 +[{{ :orb:pack7.jpg?400 |Gently place the rover on top of the intermediate foam layer, with the laser pointing to the right. Remove the camera head of the rover and let it hang towards the front. Stabilize it with packing material and avoid it from touching the solar panels}}]
 +[{{ :orb:pack8.jpg?400 |Insert the base station holder to the left of the rover}}]
 +[{{ :orb:pack9.jpg?400 |Put the base station into its place. Remove both its antennas and stick them to the top lid of the base station using the velcro tape.}}]
 +[{{ :orb:pack10.jpg?400 |Fill in the space above the wheels with the Ethernet cables and the space next to the base station with AC power supply adapters (if needed).}}]
 +[{{ :orb:pack11.jpg?400 |Place the Tools/Foam layer on top of the base station.}}]
 +[{{ :orb:pack12.jpg?400 |Place the Operator's laptop onto this foam layer.}}]
 +[{{ :orb:pack15.jpg?400 |Cover everything with an additional layer of foam/styrofoam. Be very careful with the solar panels}}]
 +[{{ :orb:pack16.jpg?400 |Close the lid of the box.}}]
 +
 +This packing list does not contain the tripod of the field base station nor its battery pack, which must both be carried to the mission location separately
  
 ===== Operating Limitations ===== ===== Operating Limitations =====
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 | Minimum ambient operating temperature               | -20°C (for cameras); -25°C (for remaining system)  | | Minimum ambient operating temperature               | -20°C (for cameras); -25°C (for remaining system)  |
-| Maximum windspeed                                   <fc #ff0000>tbd</fc>                               +| Maximum windspeed                                   60 km/h                                            
-| Maximum terrain steepness                           <fc #ff0000>15°</fc>                               +| Maximum terrain steepness                           20°                                                
-| Maximum obstacle height to be passed by the wheels <fc #ff0000>5 cm</fc>                              |+| Maximum obstacle height to be passed by the wheels  | 5-10 cm                                            |
  
 === Autonomy === === Autonomy ===
 (Estimated) power autonomy assuming no incoming solar energy and ambient temperature > -40 °C (Estimated) power autonomy assuming no incoming solar energy and ambient temperature > -40 °C
-| Standby with minimal communication (LoRa heartbeat every 1 min) | 300 h | +| Standby with minimal communication (LoRa heartbeat every 1 min)                  200 (not available)  
-| Driving with basic navigation only  12  +| Driving with basic navigation only                                               (not available)    
-| Driving plus digital elevation model (DEM) measurement | h |+| Driving plus digital elevation model (DEM) measurement (= armed state of rover)  ca. 3                |
  
  
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 <note> <note>
-To be able to send waypoints and other commands to the Rover, the [[http://ardupilot.org/planner/docs/common-install-mission-planner.html|Mission Planner]] software must be installed (Windows only)For Mac OS X and Linux you may install [[http://ardupilot.com/downloads/?category=35|APM Planner 2.0]].+To be able to send waypoints and other commands to the Rover, a software called APM planner has to be usedIf not preinstalled: [[orb:config_fpspc|Field Station Operator : Installation Procedure]]
 </note> </note>
  
-The normal operation procedures of the rover involve setting up the rover hardware for a field mission and ensuring correct communications. Several checklists are referenced which are at the bottom of this page. The general schema of normal operations is the following:+The normal operation procedures of the rover involve setting up the rover and base station hardware for a field mission and ensuring correct communications. Several checklists are referenced which are at the bottom of this page. The general schema of normal operations is the following:
  
 <graphviz dot> <graphviz dot>
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  color=lightgrey;  color=lightgrey;
  node [style=filled,color=white];  node [style=filled,color=white];
- "FBS Checklist OK" -> "dGPS Checklist OK" -> "Rover Checklist OK" -> "Open Mission Planner"; + "INDOORS: Prepare with Checklist" -> "OUTDOORS: Setup Field Station" -> "dGPS Survey-in COMPLETE" -> "Load WP to Rover" -> "When ready to driveARM";
-                "Open Mission Planner" -> "Load WP File" -> "Write WP File"; +
-                "Open Mission Planner" -> "Auto Grid WP" -> "Write WP File"; +
-                "Write WP File"->"Flight DataActions";+
  label = "Predeployment";  label = "Predeployment";
  }  }
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   subgraph cluster_3 {   subgraph cluster_3 {
     label="Deployment & Driving";     label="Deployment & Driving";
- subgraph cluster_1 { 
- color=lightgrey; 
- node [style=filled]; 
-         "Flight Data: Actions" -> "Set Mode: MANUAL" -> "Send Rover Commands" -> standby; 
- label="Manual Control"; 
- } 
  
  subgraph cluster_2 {  subgraph cluster_2 {
  node [style=filled];  node [style=filled];
- "Flight Data: Actions" -> "Set Mode: AUTO" -> "Start Waypoint Mission" -> standby;+ "Flight Data: Actions" -> "ARM System" -> "Start Waypoint Mission" -> standby;
  color=lightgrey;  color=lightgrey;
  label="Autopilot";  label="Autopilot";
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   subgraph cluster_4 {   subgraph cluster_4 {
     label="Postdeployment";     label="Postdeployment";
-    "Retrieve Rover" -> "Power Down FBS" -> "Deploy FBS Solar Panels for Recharge";+    "Retrieve Rover" -> "Power Down Rover with main switch" -> "Power Down FBS" -> "Deploy FBS Solar Panels for Recharge";
   }   }
      
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   standby -> "Retrieve Rover";   standby -> "Retrieve Rover";
  
 +}
 +</graphviz>
  
 +<note tip>The following is a checklist to be used as a reminder for every mission. The individual steps are further described in the chapter below.</note>
  
 +<code>
 +CONSTELLATION ROVER DRIVING CHECKLIST
  
-}+⁃place field station on tripod 
 +⁃connect antennas and tilt antennas by 45° on field station. 
 +⁃connect battery to field station 
 +⁃connect solar panel to field station 
 +⁃connect ethernet couplings to ethernet cables on field station 
 +⁃turn on / verify power-up of field station via LEDs 
 +⁃connect operator PC with ethernet cable to field station 
 +⁃open APM planner (octanis version) and verify MAV024 is visible under “unmanned systems” 
 +⁃WAIT for survey-in to occur 
 +⁃verify survey-in occured by looking at MAVLink inspector -> MAV024 -> GPS_RAW_INT -> fix_type = 4 (survey in occured) 
  
 +⁃verify rover battery is inserted and connected
 +⁃connect both rover antennas and orient them vertically
 +⁃connect rover to field station via ethernet cable
 +⁃connect rovers own solar panel
 +⁃turn on rover via mechanical switch (followed by 3 short beeps)
 +⁃wait for another short beep, meaning the internal computer has booted
 +⁃verify LIDAR is spinning (after ~1 min.)
 +⁃open APM planner (octanis version) and verify MAV025 is visible under “unmanned sytems”
 +⁃toggle switch to “Net”
 +⁃Click on “Web Monitor” in the navbar. A browser will open a website served from the rover. Verify the camera images and that the rover is represented in the scene.
 +⁃Go back to APM planner: In “unmanned systems”, right click on MAV025 and select “control this system”
 +⁃Draw waypoints on the map
 +⁃Send waypoints by click “Write…” button under the waypoints list. Verify that “operation completed” is displayed
 +⁃In the Flight plan view, click on the “Activate Engines”/“ARM” button (BE PREPARED: the rover will drive when you hit the button)
 +⁃GENTLY unplug the Ethernet cable from the rover
 +⁃the rover will now drive all the waypoints and stop at the last one
  
  
-</graphviz>+CONSTELLATION ROVER WRAP-UP CHECKLIST
  
 +⁃turn off rover via mechanical switch and wait at least 3min or until you hear a short beep
 +⁃if rover needs charging: plugin rover battery charger OR use plugin rover solar panels if sun is available
 +⁃unplug battery if rover is going to storage for more than 2 days
 +⁃disconnect all ethernet cables and store them
 +⁃turn off field station by longpressing the button until you hear 2 beeps. If 2 of 3 red LEDs are off, disconnect battery if not needed for charging.
  
 +</code>
 ==== One-time-only Predeployment (Rover) ==== ==== One-time-only Predeployment (Rover) ====
 These steps have to be performed after the rover arrived in Antarctica and is taken out of the box for the first time. These steps have to be performed after the rover arrived in Antarctica and is taken out of the box for the first time.
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 == Check for completed survey-in == == Check for completed survey-in ==
   * After one hour, press the button again for 4 seconds (until 1st beep) to turn on the Communication Gateway. Connect the Operator's Laptop via Ethernet to the base station.   * After one hour, press the button again for 4 seconds (until 1st beep) to turn on the Communication Gateway. Connect the Operator's Laptop via Ethernet to the base station.
-  * Open APM planner. If not done yet, open Tool Widgets --> Mavlink Inspector. It should receive messages from "system 24"+  * Open APM planner. If not done yet, open Tool Widgets --> Mavlink Inspector. It should receive messages from "MAV 24" 
 + 
 +{{ :orb:apm_control.png |}} 
   * In the mavlink inspector, expand the GPS_RAW_INT message and verify the field "Fix Type". It should display at least the number 4 to indicate that survey-in is complete. If this is not the case, turn off the Communication Gateway again (click button for 4sec until 1st beep) and come back later again to repeat these steps.    * In the mavlink inspector, expand the GPS_RAW_INT message and verify the field "Fix Type". It should display at least the number 4 to indicate that survey-in is complete. If this is not the case, turn off the Communication Gateway again (click button for 4sec until 1st beep) and come back later again to repeat these steps. 
  
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   * Make sure the on-board solar panels are plugged in.   * Make sure the on-board solar panels are plugged in.
   * Turn on the rover at its main switch. You should hear 3 beeps. Wait until you hear another beep to indicate that it has finished booted. The laser scanner should start to turn soon after.   * Turn on the rover at its main switch. You should hear 3 beeps. Wait until you hear another beep to indicate that it has finished booted. The laser scanner should start to turn soon after.
-  * With a second ethernet cable, connect the rover to the Field Base Station, while keeping the Operator's laptop connected and the Communication Gateway on (3 red LEDs on the Field Base Station must be on). APM planner should now receive messages from "system 25" (=the rover). This may only start to happen after a few minutes. +  * With a second ethernet cable, connect the rover to the Field Base Station, while keeping the Operator's laptop connected and the Communication Gateway on (3 red LEDs on the Field Base Station must be on). APM planner should now receive messages from "MAV 25" (=the rover). This may only start to happen after a few minutes. 
   * Wait to receive correct GPS messages (i.e. check the rover position on the map).    * Wait to receive correct GPS messages (i.e. check the rover position on the map). 
   * Click on the "Web Monitor" button to check that the following systems are up and running:   * Click on the "Web Monitor" button to check that the following systems are up and running:
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 == Send Waypoints to Rover == == Send Waypoints to Rover ==
-<fc #ff0000>ADD screenshot!</fc> 
  
 +{{:orb:waypoints_before_write.png|}}
 +
 +  * In APM planner, click the Flight Plan Tab.
   * Load the prepared waypoints from the file to APM planner (or follow the steps to draw new waypoints).    * Load the prepared waypoints from the file to APM planner (or follow the steps to draw new waypoints). 
   * In the "Unmanned Systems" widget, right-click on System 25 (Rover) and click "Control this System"   * In the "Unmanned Systems" widget, right-click on System 25 (Rover) and click "Control this System"
   * In the Mission Plan Widget, click "Write" to send the waypoints to the rover. Monitor the process and wait for completion ("done" is displayed in the bottom right corner). If "Operation timed out" is displayed, repeat the Write process.   * In the Mission Plan Widget, click "Write" to send the waypoints to the rover. Monitor the process and wait for completion ("done" is displayed in the bottom right corner). If "Operation timed out" is displayed, repeat the Write process.
-  * In the Control Widget, click on the green "ARM SYSTEM" button to start the mission. +
  
 <note tip>The rover will start moving to waypoint 0 immediately and you can now unplug its Ethernet Cable. The rover will continue transmitting messages to APM planner via LoRa and the Communication Gateway of the Field Base Station. <note tip>The rover will start moving to waypoint 0 immediately and you can now unplug its Ethernet Cable. The rover will continue transmitting messages to APM planner via LoRa and the Communication Gateway of the Field Base Station.
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 <note warning>Ensure predeployment has been properly completed.</note> <note warning>Ensure predeployment has been properly completed.</note>
  
-  - In Mission Plannerset Rover autopilot from [[http://ardupilot.org/rover/docs/manual-mode.html#manual-mode|MANUAL]] to  [[http://ardupilot.org/rover/docs/auto-mode.html#auto-mode|AUTO]] mode + 
-    - {{:orb:capturemode.png?300|}} +  * In APM plannerclick on the Flight Data Tab to change the view. 
-  - If AUTO mode is set, the mission can be started by sending the "MISSION_START" actionThe rover will complete the mission autonomously.+  * Make sure that the menu Tool Widgets -> Control is activated 
 +  * Click on "Activate Engine"  or  "ARM" in the Control widget 
 + 
 +[{{ :orb:flight_data_with_gps_and_msg_protocol.png?200 |}}] 
 + 
 +Note that the rover will then start to drive to the first waypoint immediatelyYou may now unplug the Ethernet cable from the rover and continue the control wirelessly
  
 ==== Postdeployment (Rover) ==== ==== Postdeployment (Rover) ====
  
-  - Collect the rover from last waypoint. +  - Collect the rover from last waypoint. Turn off the rover with its main switch. Wait to hear a beep before continuing 
-  - Check FBS battery and Rover battery. If under 20%, leave in sunlight to recharge. +  - Check FBS battery and Rover battery. If under 20%, leave in sunlight to recharge or use supplied AC wall adapter once returned to the base. Charging takes typically about 5 hours for the rover and max. 10 hours for the base station
-  - Stow rover in travel bag when not in use.+  - Stow rover and base station in the transport box as described above.  
 + 
 +<note important>If the rover is not going to be used for more than 5 days, physically disconnect the batteries inside the rover after having fully charged them</note>
  
  
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 Archived document for Risk management [[https://docs.google.com/spreadsheets/d/1Wv_9VBYR9FP9MtaIQLtzT1kCnbfRzU57DtLK2n6XmZ4/edit?usp=sharing|here]] Archived document for Risk management [[https://docs.google.com/spreadsheets/d/1Wv_9VBYR9FP9MtaIQLtzT1kCnbfRzU57DtLK2n6XmZ4/edit?usp=sharing|here]]
- 
-===== Checklists ===== 
- 
-The following documents must be available to Field Operators and Mission Control on launch/deployment day for mission execution.  
-[[octanis_1:normal_operations_checklist]] FIXME 
  
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