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orb:mom [2016/09/19 03:13]
raffael [Postdeployment (Rover)]
orb:mom [2016/09/19 12:41] (current)
sam
Line 335: Line 335:
  
 <note> <note>
-To be able to send waypoints and other commands to the Rover, a software called APM planner (preinstalled) has to be used. +To be able to send waypoints and other commands to the Rover, a software called APM planner has to be used. If not preinstalled: [[orb:config_fpspc|Field Station Operator : Installation Procedure]]
 </note> </note>
  
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  color=lightgrey;  color=lightgrey;
  node [style=filled,color=white];  node [style=filled,color=white];
- "Pre-Mission Checklist OK" -> "FBS Checklist OK" -> "dGPS Survey-in COMPLETE" -> "Rover Checklist OK" -> "Open APM Planner"; + "INDOORS: Prepare with Checklist" -> "OUTDOORS: Setup Field Station" -> "dGPS Survey-in COMPLETE" -> "Load WP to Rover" -> "When ready to driveARM";
-                "Open APM Planner" -> "Load WP File" -> "Write WP File to rover" -> "Flight DataActions";+
  label = "Predeployment";  label = "Predeployment";
  }  }
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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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 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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