UgCS User Manual 4.9

Desktop application version 4.
User Manual
© 2022 SPH Engineering www.ugcs.com

UgCS User Manual v.4.9 1 of 108 www.ugcs.com
TABLE OF CONTENTS
1 SAFETY CONSIDERATIONS ..........................................................................................................................4
2 INSTALLATION AND SYSTEM REQUIREMENTS ...........................................................................................4
2.1 WINDOWS ....................................................................................................................................................5

2.2 LINUX ..........................................................................................................................................................5
2.3 MAC OS .......................................................................................................................................................6
3 USEFUL LINKS ..............................................................................................................................................6
4 LICENSE ACTIVATION ...................................................................................................................................6
5 OVERVIEW ....................................................................................................................................................6
6 STANDARD OPERATIONS .............................................................................................................................9
6.1 MISSION EDITOR: FLIGHT PREPARATION ...............................................................................................................9

6.2 MISSION EDITOR: FLIGHT EXECUTION ................................................................................................................45
6.3 TELEMETRY PLAYER ......................................................................................................................................50
7 MAIN MENU ................................................................................................................................................55
7.1 VEHICLES....................................................................................................................................................55
7.2 VEHICLE PROFILES ........................................................................................................................................57
8 CONFIGURATION ........................................................................................................................................62
8.1 CONNECTIONS .............................................................................................................................................62
8.2 VSM .........................................................................................................................................................62
8.3 GEOSERVERS ...............................................................................................................................................62
8.4 PAYLOADS ..................................................................................................................................................62
9 ADVANCED TOPICS ....................................................................................................................................63
9.1 SCREEN RESOLUTION ....................................................................................................................................63

9.2 SKIN ..........................................................................................................................................................63
9.3 LANGUAGE..................................................................................................................................................63
9.4 MEASUREMENT............................................................................................................................................63
9.5 SOUND ......................................................................................................................................................63
9.6 VIDEO ........................................................................................................................................................63
9.7 PERFORMANCE ............................................................................................................................................63
9.8 APPEARANCE...............................................................................................................................................63
9.9 3D MAP CACHING..........................................................................................................................................63
10 NO FLY ZONES............................................................................................................................................64
10.1 CREATING A CUSTOM NFZ .............................................................................................................................64
10.2 DISABLING NFZ ...........................................................................................................................................64
10.3 NFZ VISIBILITY .............................................................................................................................................72
10.4 NFZ AND ROUTE-CREATION ALGORITHMS..........................................................................................................72
11 IMPORTING 3RD PARTY MAPPING DATA .....................................................................................................73
11.1 IMPORTING GEOREFERENCED IMAGES AND GEO RASTER KML .................................................................................73

11.2 ADDING WMS SOURCES ................................................................................................................................73
11.3 IMPORTING 3RD PARTY ELEVATION DATA FROM LOCAL FILE .....................................................................................74
11.4 IMPORTING 3RD PARTY ELEVATION DATA FROM EXTERNAL SOURCE...........................................................................74
11.5 IMPORTING BUILDINGS ON A MAP .....................................................................................................................74
11.6 PHOTO PLACEMARK CREATION DURING PHOTOSHOOT (FOR DJI DRONES ONLY) .........................................................75
11.7 ADDING LAYERS ...........................................................................................................................................76

12 WORKING WITH PLACEMARKS ..................................................................................................................77
13 ORTHOMOSAIC ...........................................................................................................................................78
14 SHOW CAMERA POSITION..........................................................................................................................78
15 CUSTOM SECTORS......................................................................................................................................78
16 PROXY SETTINGS .......................................................................................................................................78
17 ADS-B ..........................................................................................................................................................79
17.1 RECEIVER ....................................................................................................................................................79

17.2 TRANSPONDER ............................................................................................................................................81
18 IMPORT ROUTE FROM KML ........................................................................................................................84
19 IMPORT ROUTE FROM CSV .........................................................................................................................86
20 JOYSTICK ....................................................................................................................................................86
20.1 FINE-TUNING AXES VIA THE GUI .......................................................................................................................88
21 UGCS ENTERPRISE CONFIGURATION ........................................................................................................91
21.1 SERVICE MANAGER........................................................................................................................................91

21.2 CHECKING THE COMPONENTS AND RUNNING THE APPLICATION .............................................................................91
21.3 DEPLOYING UGCS COMPONENTS TO SEPARATE COMPUTERS .................................................................................92
21.4 CONFIGURE CONNECTION FROM THE CLIENT TO THE SERVER USC ...........................................................................92
22 CUSTOM MAPS ...........................................................................................................................................93
22.1 MAP PROVIDERS...........................................................................................................................................93

22.2 UGCS GEOSERVER .......................................................................................................................................93
23 MULTIOPERATOR WORK ............................................................................................................................94

23.1 USER LIST MANAGEMENT ...............................................................................................................................94
23.2 COLLABORATION ON A MISSION .......................................................................................................................95
24 DRONE SPECIFICS .......................................................................................................................................96

24.1 COMMANDS ................................................................................................................................................96
24.2 ACTIONS ....................................................................................................................................................97
24.3 FAIL-SAFE ACTIONS .......................................................................................................................................98
24.4 TURN TYPES ................................................................................................................................................99
25 LICENSE TYPES AND FEATURE COMPARISON .........................................................................................100
26 UGCS VIDEO TRANSMITTER .....................................................................................................................103

26.1 OVERVIEW ................................................................................................................................................103
26.2 OPERATING UGCS VIDEO TRANSMITTER .........................................................................................................103
27 TROUBLESHOOTING ................................................................................................................................106
27.1 LOGS .......................................................................................................................................................106
27.2 ERRORS AND WARNINGS ..............................................................................................................................107

1 Safety considerations
Before flying with UgCS please consider the following statements:
1. It is the responsibility of the user to operate the system safely in order to avoid harming other
people, animals, legal property or encountering other damages by taking unnecessary risks.
2. The user must be familiar with, and comply with location-specific legal regulations before using
UgCS.
3. Make sure that the first waypoint is located close to the actual take-off point and there is no
significant vertical drop.
4. Make sure to specify correct altitude of the take-off point before the flight. Please refer to “Take-
off Altitude” paragraph of this manual. It is important to do this because the barometer readings can
change between power-on, route upload and take-off.
5. The automatic take-off and landing is not recommended in case of strong wind, as it can lead
to a crash. In a scenario like this, it is safer to take-off and land the vehicle in manual mode. Use
Automatic mode only in mid-air.
2 Installation and System Requirements

Users with advanced requirements can choose additional components during installation process.
System requirements for Simple installation
OS Windows macOS Linux
Windows 7 with SP1 or

Operating macOS 10.13 High Sierra Ubuntu 16.04 LTS
later; Windows 8; 64-bit 64-bit
system or later* 64-bit**
Windows 10*
CPU Core 2 Duo or Athlon X2 at 2.4 GHz
Memory Recommended: 4 GB of RAM
Hard drive 2 GB of free space
Graphics Graphics card with DirectX 10 support (shader model 4.0).

hardware Any card made since 2009 should work.
Network TCP/IPv4 network stack
Screen
Minimum supported screen resolution: 1024x768
resolution
*Note the software was not tested on server versions of Windows and OS X. Windows Vista is not
supported.
**UgCS client requires support of OpenGL Core profile version 3.2 or higher to run on Linux. If this
requirement is not met, UgCS client will fail to start. In that case Player.log file in
"~/.config/unity3d/SPH Engineering/UgCS [version_number]" will contain lines "Unable to find a
supported OpenGL core profile" and "No supported renderers found, exiting”.

System Requirements for Advanced Installation
OS UgCS client UCS VSM Emulator
Windows: Windows 7 with SP1 or later; Windows 8; Windows 10*

64 bit
Operating macOS: 10.13 High Sierra or later*
system 64 bit
Linux**: Ubuntu 18.04 LTS

64 bit
1 GHz processor (Intel Celeron or
CPU Core 2 Duo or Athlon X2 at 2.4 GHz better)
Memory 2 GB RAM recommended 512 Mb RAM
Hard drive 2 GB free space 256 Mb free space
Graphics card with DirectX 10

Graphics support (shader model 4.0).
VGA capable of 1024x768 screen resolution
hardware Any card made since 2009 should
work.
Network TCP/IPv4 network stack
Screen
Minimum supported screen resolution: 1024x768
resolution
*Note the software was not tested on server versions of Windows and OS X. Windows Vista is not
supported.
**UgCS client requires support of OpenGL Core profile version 3.2 or higher to run on Linux. If this
requirement is not met, UgCS client will fail to start. In that case Player.log file in"
~/.config/unity3d/SPH Engineering/UgCS [version number]" will contain lines "Unable to find a
supported OpenGL core profile" and "No supported renderers found, exiting”.
2.1 Windows
For quick installation, follow these steps:
1. Run the installer;
2. Follow the installation guide;
3. Read the license agreement carefully (see End User License Agreement in a separate file).
2.2 Linux
For Linux, .deb packages are available on our website ugcs.com. For Linux installation instructions
please go to http://apt.ugcs.com/doc.
NOTE: As of 3.0 UgCS requires OpenGL Core profile version 3.2 or higher.

2.3 mac OS
For quick installation, follow these steps:
1. Run the installer;
2. Follow the installation guide;
3. Read the license agreement carefully (see End User License Agreement in a separate file).
3 Useful links
Diverse basic instructions for setup and import
• https://wiki.ugcs.com/How_to
Detailed information on UgCS various application scenarios
• https://www.ugcs.com/photogrammetry-tool-for-land-surveying
Frequently asked question page with most common question
• https://wiki.ugcs.com/Faq
Visit UgCS YouTube channel with various tutorials, webinars and videos
• https://www.youtube.com/user/ugcstv
4 License activation
Initially installed UgCS software has limited functionality: the option to upload routes to vehicles is
disabled, except the emulators. To activate the full functionality of UgCS a license code has to be
activated.
The activation code of UgCS license will be sent via e-mail, after successful purchase at
www.ugcs.com.
To activate UgCS license, select the License icon and enter/paste the activation code from e-mail.
Click “Activate” – the license status will change to “Activated”.
For assistance, please contact support@ugcs.com.
5 Overview
The typical operation with UgCS and UAV will consist of the following steps:
• connecting drone to UgCS;
• checking drone parameters;
• deciding where to fly and planning the route;
• performing actual flight;
• post-flight analysis, replaying telemetry, geocoding data.
UgCS user interface consists of three main windows:

1. Mission editor. Tools for route planning (left part of the screen) and drones management (right
part of the screen), including route uploading, issuing commands and telemetry reception.
Figure 1 - Mission editor
Note: The RC position is only displayed when GPS module is turned on an Android device
2. Telemetry player. For post flight analysis, telemetry replaying for a selected vehicle and image
geocoding.
Figure 2 - Telemetry player

3. Main menu - provides access to various configuration settings of the software.
Figure 3 - Main menu

6 Standard operations
6.1 Mission editor: flight preparation

By default, mission editor is the first window that is displayed after application starts. UgCS version
number is displayed in the upper left corner. Please provide the number of UgCS version when
contacting UgCS support. Please see Figure 4 - Mission editor for more detailed explanation of main
functionality.
Figure 4 - Mission editor
#UI Description
block
MENU button to access Main Menu settings, switches between Mission editor or Telemetry
player screens, and Exits (Quits) software. Available functions for the Mission editor mode
1
are to Create a new, Open existing, Stop editing, Remove, Import or Export a mission.
Functions for the Telemetry player's mode: Import and Export telemetry.

From left to right: Add new route button, following by the list of created Route cards.
Each Route card indicates: Route's name, Assigned vehicle profile, Status of route's
calculation, option to lock route for editing (route is automatically locked after uploading to
vehicle), option to Hide/Show the route and Parameters setting button (right bottom corner
of the Route card - the gears symbol).
• Hovering cursor over Route card - displays short route status.
• Click the calculation indicator of the Route to open / hide Route’s log.
2
• Double-click the Route’s card will recenter point of view to appropriate route on the
map.
Route calculation indicators:
Green check - the route is calculated and is ready to upload to the vehicle;
Yellow dot - the route is not calculated. If calculation doesn’t start automatically, click the
yellow dot to initiate calculation;
Red exclamation - route calculated with errors.
Route planning tools and associated tool’s settings window - select a tool, draw route
segment on the map, then configure parameters in route’s tool setting window. Note:
3 available Route planning tools can differ, depending on vehicle type.
To draw a route, double-click (or SHIFT+click) on the map. To draw a freehanded curve,
hold Alt+left click and draw by moving mouse on the map.
4 Measurement tools: Distance, Area and Visibility measurement tools.
5 No-Fly-Zone drawing tools: Polygon and Conical drawing tools.
Compass, cursors coordinates on map and elevation indicator. To return map to North-up view,
6 click the compass icon.
Route’s log - all route related notifications are displayed here. To open the log, click on
7
route card’s calculation status indicator.
Vehicle's log - recent vehicle related notifications appear here, but will disappear after
8
some time. To open full vehicle notification list, click Show log button.
9 Show / hide route’s log button.
Elevation’s profile - displaying the AMSL or AGL elevation of the vehicle for the planned
10 route. Also, displaying the estimated distance of the route, estimated duration of the flight,
total count of waypoints and minimal and maximal altitude AMSL/AGL.
Vehicle’s command buttons - these commands are never blocked to provide the pilot with ability to
send any command to the vehicle at any time. Note: Vehicle command buttons can differ, depending
on vehicle type.
Button is dark grey - it is active and command can be sent to vehicle. If button is light-grey - based on
11 telemetry data, it is not possible to send command to vehicle - the button is inactive.
Button has green border - according to telemetry data, the vehicle is in current mode. (On the
example screenshot, the vehicle is Disarmed in Auto mode.)
Some commands may require confirmation to activate them; therefore, an additional window will be
displayed.
12 Telemetry’s window for selected vehicle. (In case of RTK usage, the RTK sign will appear.)

From right to left: Add vehicle button (+) adds vehicle to the mission from a list. Usually all
vehicles connected via datalink to the computer, are automatically added to the list. Vehicle
cards are displayed to the left from Add vehicle button, indicating: Vehicle name, Battery
status, Uplink level, Downlink level, GPS status (satellites count) and settings button (right
bottom corner on Vehicle icon).
• Hovering cursor over Vehicle card - basic information about the vehicle is being
displayed (name, profile, serial number, connection port)
• Double-click on the Vehicle card will recenter point of view to the appropriate vehicle
position on the map.
• Clicking the vehicle icon once, will result in Vehicle Card show up.
Select profile - Select the current vehicle
Focus on home location - Show home location of the

13
selected vehicle
Gain control - Gain manual control of the selected vehicle
Release control - Release manual control of the selected

vehicle.
Show avatar - Show avatar for selected vehicle

Show telemetry - Show telemetry window for selected
vehicle.
Show commands - Show command panel for selected
vehicle
Show camera footprint - Show camera capture real-time
footprint.
ADS-B transponder - Show information from ADS-B
transponder. Requires drone-installed ADS-B transponder
and ADS-B receiver connected to laptop with UgCS
Remove - Remove the selected vehicle from main screen
Flight mode/Edit mode – shows telemetry or command window

14
15 Clock - displays clock with milliseconds, hover mouse cursor over the clock.
License status indicator - displays the license activation status of UgCS: green - the
16 license is activated, yellow - not activated.
ADS-B indicator - connection status of the ADS-B receiver: the indicator is green if
17
connected, grey - if not.
Input mapping (keyboard symbol) - keyboard and joystick configuration to check mapping
18 and calibration for connected devices.
Map option menu (globe symbol) - Layers: select map and overlay providers, elevation
19 sources; add buildings, import 2D objects and placemarks; enable No Fly Zones display;
offline caching (experimental).
Location search field - enter address or latitude and longitude coordinates to navigate to
20 the desired location. This function depends on internet connection!
Undo – erases the last change done

21 Redo – reverses the undo

Mission’s title field - double-click change the title of the mission. The title saves
22 automatically.
6.1.1 Basic operations with missions

Mission is like a workspace that combines routes and vehicles and covers following parts of the UAV
operation life cycle:
• Planning routes;
• Controlling vehicles.
Mission editor can be divided in left and right parts. All route editing controls and tools reside to the
left part of the window. All vehicle related controls reside to the right side.
It is important to understand concepts used in UgCS. It is important to understand what is vehicle

platform, vehicle type, vehicle profile and real vehicle.
The vehicle platform is an autopilot type. E.g., DJI A3 is a platform as well as Micropilot. Vehicle type
defines the frame type: multirotor, fixed-wing. Vehicle profile is a preset of parameters mapped to a
vehicle platform and vehicle type. Vehicle – is a real vehicle instance identified by id, platform and
type. Vehicle linked to one of the vehicle profiles.
For instance, flying DJI A2 multirotor. For different tasks, batteries of different capacity and different
cameras are used. In this case, it makes sense to create two profiles for DJI A2 with different
cameras and battery settings and use these profiles during route planning.
Another important thing to note is that during route creation, vehicle profile is selected and not a real
vehicle instance, that allows a planned route to be uploaded to several vehicles of the same profile.
6.1.2 A simple scenario of planning a route and flying it:

1. To start planning the route click the Add new route button (see Figure 4 - Mission editor #2);
2. “New route creation” window will be displayed;
3. Leave “Create from scratch” marked and press “Next”;
4. Name the route, select the vehicle profile and press “Next”;
4.1 Quick Search:
• Put cursor to the search window

• Start to type drone name/model
• Choose the drone
• Click next
5. Leave the default parameters at the last step. More information about this window can be found
in section “Route parameters and path finding”. To create a route with provided settings click “Ok”. A
new route card will be displayed (see Figure 4 - Mission editor #2) with the specified name;
6. To create the route, select any of the Route planning tools (see Figure 4 - Mission editor #3)
and add segments on a map by double clicking or “SHIFT+left click”. Each Route's planning tool has
associated inspector window enabling to adjust parameters like coordinates, altitude, speed that will be
considered during the calculation process. Also, the turn type and camera actions settings can be
adjusted;
7. The path-finding algorithm of UgCS will automatically start the calculation of the flight path in a
few seconds when user stops editing the route. The status of the calculation will be displayed as the
Route’s calculation indicator on the Route’s card (see Figure 4 - Mission editor #2);
8. When the route is successfully calculated (green checkmark) it can be Uploaded to the vehicle.
To take off, Arm the vehicle and turn on Auto flight mode (see Figure 4 - Mission editor #2).
IMPORTANT! Operation procedures differ for each vehicle type. E.g. some of them may start from the
ground, others require manual take-off to safe altitude. Please read carefully the vehicle operation
guide and UgCS “How to connect…” manuals. Pilot MUST know how to act in emergency situations
at all time.
Note: safety is always a responsibility of pilot!

6.1.3 Screen operations:
Operation Keyboard or mouse combination
Draw segments Double click left mouse button /

SHIFT+left mouse button /
Alt+hold left mouse button and draw free-handedly
Close polygonal objects Draw polygon segments, set last segment near to first or drag last
segment onto first segment to close polygon
Select segment Left mouse-click on segment
Select multiple segments (Win, Linux) CTRL+left mouse click on a figure /
(macOS) cmd+left mouse click on a figure
Select segments from current to (Win, Linux) CTRL+right mouse click on a figure /
the last (macOS) cmd+right mouse click on a figure
Select all segments (Win, Linux) CTRL+A /
(macOS) cmd+A
Undo the last action (Win, Linux) Ctrl+Z /
(macOS) cmd+Z
Reverse the undo (Win, Linux) Ctrl+Y /
(macOS) cmd+Y
Move selected segment(-s) Hover figure basement, hold left mouse button and drag
Move map left, right, up, down Hold left mouse button and drag / left, right, up, down keys
Zoom in Mouse wheel / minus key / zoom in gesture
Zoom out Mouse wheel / plus key / zoom out gesture
Rotate screen camera left, right, Hold right mouse button and move mouse /
up and down hold Shift + left, right, up, down keys.
6.1.4 Route's planning tools

Route planning tools are organized as a tool bar (see Figure 4 - Mission editor #3). Usage algorithm
for each tool:
1. Select tool on the toolbar;
2. Draw figure on map. Figure may contain one or several base points;
3. Change parameters in tool inspector;
4. Optionally add actions in tool inspector.
Rule of thumb is that speed changes and actions take effect starting from the first calculated point of a
figure in which changes are defined.
Note: On mouse hover over a selected waypoint, distance to the neighboring segments will display as
hints on the corresponding paths. During the adjustments of any segment, distance to the neighboring
segments will be displayed until the route is calculated.
Some parameters are common for almost all tools:

Flight speed – flight speed of the drone for this segment. The speed along the straight 3D line from
current WP to next WP, it should not exceed the maximum speed specified in the vehicle profile
settings. Must be a positive number.
Avoid obstacles – flag to be set if buildings have to be considered when planning the path. Do not
uncheck, without specific need to do so.
Avoid terrain – flag to be set if the path has to maintain a minimum height over terrain relief (the
corresponding value is one of vehicle parameters). Do not uncheck this flag, unless necessary.
Turn type – defines how vehicle passes segments. There are different ways of passing a waypoint for
each autopilot. For Ardupilot these are Straight and Spline. For DJI autopilots, these are Stop and
Turn (default), Bank and Adaptive bank. Please refer to vehicle’s manual for information about the
supported turn types and functionality. Default turn types does not have an icon on the corresponding
waypoints at route planning window, other turn types do.
Action execution parameters (not available for Takeoff, Waypoint, Landing):
• Every point – actions will be generated on all waypoints;
• At start – the algorithm will generate actions only at the first waypoint;
• Forward passes – actions generated at all points during passage, payload disabled at turns
(available only for Photogrammetry and Area scan tools).
Terrain following
Supported for: Ardupilot only.
1. If a vehicle is equipped with altimeter then in the AGL field of Telemetry Card the UgCS will display
values from the altimeter, otherwise values, calculated by Server.
UgCS determines from telemetry field altitude_agl, received from S_FLIGHT_CONTROLLER subsystem, if the
drone has an altimeter or not.
• 2. Each route segment contains Altitude mode attribute. Select one of following values:
• AMSL - available for all platforms;
• AGL - available for all platforms;
• Range Finder - available for Ardupilot platform only.
Last selected value is used when new segment is created. If last used value is not supported by the
current platform or there is no last used value then AGL is used.
3. Safe distance over terrain parameter is ignored during route calculation for segments with Range
Finder altitude mode.
4. The drone follows terrain with altimeter between the segment with Range Finder altitude mode to the
next segment. If the segment itself contains flight path (like area scan) the drone will also fly this path
using an altimeter to keep height over terrain.

5. To keep safe entrance in low height segments (height < safe height over terrain), UgCS requires it
to be preceded by a segment with Range Finder altitude mode and on the safe altitude (height >= safe
height over terrain).
This restriction is required by the following example. The route consists of two segments:
- Waypoint: height = 10m, altitude mode = AGL.

- Areascan: height = 1m, altitude mode = rangefinder.
The vehicle moves from the waypoint to the first the point of area scan without altimeter. It will start using
altimeter only when it reaches the first point of area scan. If GPS or elevation data is not accurate enough then
the vehicle will crash.
6. Calculated flight path for Range Finder segments drawing features:

6.1. It has a specific color to highlight such segments.
6.2. Server resolves flight path with as few points as possible, UgCS inserts intermediate invisible
points into the displayed flight path to make it close to terrain landscape.
7. If the uploaded route contains at least one Range Finder segment, VSM checks if the vehicle
supports Terrain Follow Mode or not.
7.a. If the vehicle doesn’t support Terrain Follow Mode, VSM shows an error.
7.b. Otherwise VSM sets up autopilot properly. Switch the vehicle in auto mode and the vehicle flies
along the route. While flying Range Finder section the vehicle keeps the same height from terrain,
regardless of obstacles.
8. When a mission is paused on location WPP and then continued, the vehicle gets to WPP on the
safe altitude (safe height over terrain in vehicle profile), then it gets WPP’s altitude and continues
route just as if it had flown the entire route.
NOTE: See rangefinder’s manual to set the correct maximum rangefinder altitude in “Vehicle profile
section”

Add first waypoint
Click the add first waypoint icon to add a new single waypoint before the current route.
Take-off
Take-off tool is used to mark the target position after take-off. Vehicle is expected to launch from the
ground level at the Takeoff position.
Availability of this tool depends on vehicle type.
Waypoint
Waypoint tool is the default tool. To create a new waypoint, press and hold “Shift” key while
simultaneously dragging up from the ground to the desired height or just double-click on the map.
Therefore, not only the location but also the required altitude of the waypoint is set in one motion. The
waypoint’s position can be adjusted more precisely later. To change latitude and longitude, the pin
can be dragged by its base. Dragging the pin by its head changes the altitude of the waypoint.
Alternatively, coordinates can be corrected in numerical form using the properties window of the
waypoint. Multiple waypoints can be drawn in sequence. Each waypoint drawn, creates a new route
segment connecting particular waypoints.
Photogrammetry
Route points placed at the same height relative to the ground. This height is calculated based on
camera settings and set GSD value. Calculated parameters (number of passes, number of camera
shots, etc.) are displayed in route log window (see Figure 4 - Mission editor). Photogrammetry tool is
available for UgCS ONE, UgCS PRO and UgCS ENTERPRISE license.
Note: Photogrammetry tool requires selected camera as a payload. The camera must have properly
specified (positive) values of focal distance, sensor size (width and height), and sensor resolution
(horizontal and vertical).

Additionally, to all common options, these features are available for Photogrammetry tool:
Move / Rotate segment - select+hold the blue circle in center to drag-and-drop Area scan segment to
other location. Select+hold circle’s rim to rotate whole segment.
Camera – payload assigned to a profile. In case of multiple cameras assigned to profile it is possible
to select which camera to use.
Ground resolution (GSD, cm) – approximate ground resolution for resulting images (in centimeters
per pixel).
Forward overlap (%) – ratio of the overlap in neighboring frames (consecutive by motion vector, see
the scheme below). Value is set in the range from 1% to 90%.
Side overlap (%) – ratio of the overlap in neighboring frames (placed in neighboring rows, see the
scheme below). Value is set in the range from 1% to 90%.
Camera top facing forward – concerns the camera orientation to the motion vector. The flag assumes
the camera is oriented so that the frames overlap over the upper frame boundary motion vector. If the
flag removed, the frames overlap along the lateral frame boundary.
Direction angle - used to change the direction of the main scanning progress. By default, the
algorithm calculates a route scan in a bounded polygon so that the main course of the scan performs
in the direction of "South-North".
Additional waypoints – if the flag cleared, the algorithm generates only the turning points. If the flag is
set, additional waypoints for camera shooting will be generated depending on overlap and camera
settings.
Overshoot, m – adds extra segment to both ends of each survey line to allow extra space for turns.
Overshoot speed, m/s - option to decrease/increase vehicle speed for overshoot segment while
passing turns.
Altitude type – AMSL or AGL to set Flight height.
Altitude AMSL - calculated from lowest point using GSD. However, the number of shots required to
meet forward overlap and side overlap constraints are being calculated using altitude difference
between calculated flight altitude AMSL and highest point of the area.
Allow partial calculation – option to allow route calculation in these cases:
• The part of route exceeds maximum AMSL of route
• Relief height is unavailable at some point(s) of route
• The part of route exceeds the maximum fence radius
• The part of route in No-fly zone (NFZ)
No action at last point – remove action for last waypoint.
Note: For those pilots who use autopilot that supports camera triggering by distance or time, there is
automated algorithm that calculates and sets the correct parameters. It is not necessary to use this
approach with Actions in every point parameter.

Figure 5 - Sample photogrammetry route
where “fo” - forward overlap, “so” – side overlap
Calculation:
1. Calculate the altitude required for camera recording:
• heightAgl = ( f * GSD * sensorWidthPx ) / sensorWidth;
• heightAgl = ( f * GSD * sensorHeightPx ) / sensorHeight;
• Selected minimum value calculated of heightAgl.
2. Calculate the frame size:
• frameWidth = ( sensorWidth * heightAgl ) / f;
• frameHeight = ( sensorHeight * heightAgl ) / f.
where “f” is True focal distance
The scanning area is partitioned into frames of calculated sizes with given overlaps. The direction of
passage is selected using Direction angle. The route is is formed as “snake".
AGL Tolerance, m – allows to fly straight trajectories over slightly waved landscape, by specifying
how precisely the UAV should follow required altitude above ground. To maintain specified height
additional waypoints will be added if difference of height is larger than AGL tolerance. The smaller
AGL tolerance value, the greater number of waypoints will be generated. If AGL tolerance is set 0
(zero) UAV’s altitude will be constant throughout route, but many additional waypoints will be added.
No action at last point – removes action for last waypoint.
Double grid - if enabled, adds a second grid to the survey are in a 90-degree angle according to first
grid.
Area scan
Area scan is similar to Photogrammetry tool, except for Area scan there is no need to set Ground
resolution (GSD) and camera settings. This is a simpler way to plan flights over area. Parameters to
specify: height, side distance and perimeter.
Additionally, to all common options, these features are available for Area scan tool:
Move / Rotate segment - select + hold the blue circle in the center to drag-and-drop Area scan
segment to other location. Select + hold the circle’s rim to rotate whole segment.
Flight height – altitude of flight along the area.

Altitude type – AMSL or AGL to set Flight height.
Side distance – size in meters between lengthwise route lanes.
Direction angle - used to change the direction of the main scanning progress. By default, the
algorithm calculates a route scan in a bounded polygon so that the main course of the scan is
performed in the direction of "South-North".
Overshoot, m – adds extra segment to both ends of each survey line to allow extra space for turns.
Overshoot speed, m/s - option to decrease/increase vehicle speed for overshoot segment while
passing turns.
Allow partial calculation – option to allow route calculation in these cases:
• The part of route exceeds maximum AMSL of route
• Relief height is unavailable at some point(s) of route
• The part of route exceeds the maximum fence radius
• The part of route in No-fly zone (NFZ)
Calculation error may appear if trajectory fixed height is lower than safe height over terrain at some
route point.
AGL Tolerance (m) – allows to fly straight trajectories over slightly waved landscape, by specifying
additional waypoints will be added if difference of height is larger than AGL tolerance. The smaller
AGL tolerance value, the more amount of waypoints will be generated. If AGL tolerance is set 0 (zero)
UAV’s altitude will be constant throughout route, but many additional waypoints will be added.
No action at last point – removes action for last waypoint.
Double grid - if enabled, adds a second grid to the survey are in a 90-degree angle according to first
grid.
Lidar Area (Available only for ENTERPRISE and EXPERT version)
The UgCS toolset for LIDAR mission planning currently is enabled for UgCS ENTERPRISE license
and for supported DJI drones. To use the LIDAR toolset - create a new route for DJI M600, M300
or M210/M200.
In order to get accurate LIDAR scan results, a pilot needs to follow the below rules:
• Initialize IMU properly

IMU initialization is typically performed at least two times per flight. Before scanning begins
and after scanning ends. Optionally, the pilot may pause the flight and make additional IMU
initialization to reset accumulated errors. This function is implemented as a drone command
so the pilot may run it at any time. For this command to run, the drone should already be in the
air.

• Maintain correct flight height and line spacing between scans to ensure coverage and point
density
• Ensure the right drone turns and line scanning to minimize IMU error accumulation and
excessive shaking of LIDAR above the area of interest
Making everything right is impossible in a manual flight mode and extremely hard with flight planning
tools tailored for photogrammetry surveys. UgCS LIDAR toolset by SPH Engineering unlocks the full
potential of LIDARs making remote sensing most effective with no human errors:
• IMU initialization patterns as drone commands:

o Eight figure
The main goal of the calibration pattern is to put drones to their maximum ability in terms of roll angle.
That literally means passing the eight figure at the maximum possible speed, which will make a
proper IMU calibration. To add the figure, click on the map to specify a center and an altitude and
then the width, length, speed, altitude, and direction angle of the turns.
Parameter Definition
Speed, m/s The horizontal speed of the drone, m/s
Width, m Width of the bounding box of the figure. Default: 30 meters
Length, m Length of the bounding box of the figure
Altitude, m Altitude above elevation in the figure center
Direction angle Specifies the azimuth of forwarding passes
(you can turn figure)
Number of cycles Number of cycles
o U-figure

Input parameters are very similar to eight-figure. However, the generated trajectory is different. The drone
makes several passes back and forth and then makes a U-turn. To add the figure, click on the map to specify a
center and an altitude and then the width, length, speed, altitude, and direction angle of the turns.
Parameter Definition
Speed, m/s The horizontal speed of the drone, m/s
Width, m Width of the bounding box of the figure. Default: 30 meters
Length, m Length of the bounding box of the figure
Altitude, m Altitude above elevation in the figure center
Direction angle Specifies the azimuth of forwarding passes
(you can turn figure)
Number of cycles Number of cycles
• Flight patterns for route planning:

o LIDAR Area
o LIDAR Corridor
• The preset drone turns:

o Bank turns
o Loop turns
• AGL (above ground level) and AMSL (above mean sea level) line spacing
The pilot has to specify the following:
• Area boundaries as a polygon
• Flight height AGL or AMSL
• Effective scanner FOV (field of view)
The area can be divided into the following trajectories:
• Single grid
• Double grid
Search Pattern - Creeping Line

Search pattern tool allows to create a specific flight route over an area for search and rescue
operations. Once the search&rescue area is marked and camera’s profile and flight height (AGL)

defined, a meander-like flight trajectory covering the whole search-area is automatically created
without gaps of camera's footprint.
Search spacing is calculated according to the horizontal FOV of the selected camera’s profile and set
flight height (see Camera’s parameters).
All transversal flight segments are parallel, all side segments are located on a convex perimeter of the
area's shape (concave shape perimeter is not supported).
Figure 6 - Sample of the Creeping Line Search Pattern
Flight speed – flight speed of the drone for a segment.
Turn type – the way vehicle passes segments. Turn type is selected from the list of available turn
types for particular vehicle profile.
Camera – a payload assigned to a vehicle profile. If multiple cameras are assigned to vehicle, it is
possible to select which camera will be used to scan the area.
Camera’s parameters - search spacing is derived based on the parameters of the selected camera
profile:
d - sensor width
f - focal length
fov = 2 * arctan(d / (2 * f))
and thus:
tan(fov / 2) = d / (2 * f) (eq. 1)
spacing = (2 * height) * tan(fov / 2)
using:
spacing= (2 * height) * (d / (2 * f))
The final equation for spacing is:
spacing= (height * d) / f
where height - AGL altitude (parameter), d - sensor width (camera profile), f - sensor focal
length (camera profile).

Figure 7 - The footprint of camera
Flight height – altitude of flight along the area.
additional waypoints will be added if difference of height is larger than AGL tolerance. The smaller the
AGL tolerance value, the greater number of waypoints will be generated. If AGL tolerance is set to 0
(zero) UAV’s altitude will be constant throughout the route, but a lot of additional waypoints will be
added.
Direction angle - to change the direction of the main scanning progress. By default, the algorithm
calculates a route in a bounded polygon so that the main course of the scan is performed in the
direction of "South-North".
Side overlap (%) – the ratio of the overlap into neighboring frames (located in neighboring rows, see
Figure 5 - Sample photogrammetry route). Value is set in the range from 1% to 90%.
Avoid obstacles – a flag to be set if buildings have to be considered when planning the path. Do not
uncheck without specific need to do so.
Parameters for execution of actions:
• Every point – actions will be added for all waypoints;
• At start – the algorithm will add action only for the first waypoint;
• No action at last point – will remove action of the last waypoint.
Search Pattern - Expanding Square

Expanding square tool creates an area for search based on the search radius, selected camera's
profile and flight height (AGL). A rectangle spiral-like flight trajectory that covers the specified area
around the location will be calculated, having no gaps of the camera’s footprint.
Search spacing derives from the selected camera's horizontal FOV and the flight height. (see
parameters of the camera).
NOTE: Distance from location to the outer segment may exceed search radius to ensure that the
search area is completely covered.

Figure 8 - Sample of the Expanding Square Search Pattern
Altitude AGL – altitude above ground.
Flight speed – flight speed of the drone for a segment.
Turn type – the way how vehicle will pass segments. Turn type can be selected from the list of
available turn types for particular vehicle profile.
Camera – a payload assigned to a vehicle profile. If multiple cameras assigned to vehicle it is possible
to select which camera will be used. (See more about Camera parameters in the Search Pattern -
Creeping Line).
how precisely the UAV should follow required altitude above the ground. To maintain a specified
height if difference of height is larger than AGL tolerance, additional waypoints will be added. The
smaller AGL tolerance value, the greater number of waypoints will be generated. If AGL tolerance is
set to 0 (zero) UAV’s altitude will be constant throughout the route, but a lot of additional waypoints
will be added.
Search radius - the radius that should be covered. Distance from a search center to the outer
segment that should be covered by the payload's footprint.
Direction angle - to change the direction of the main scanning progress. By default, the algorithm
calculates a route in a bounded polygon so that the main course of the scan is performed in the
direction of "South-North".
Side overlap (%) – the ratio of the overlap into neighboring frames (placed in neighboring rows, see
Figure 5 - Sample photogrammetry route). Value is set in the range from 1% to 90%.
Avoid obstacles – a flag to be set if buildings have to be considered when planning the path. Do not
uncheck without specific need to do so.
Parameters for execution of actions:

• Every point – actions will be added for all waypoints;
• At start – the algorithm will add action only for the first waypoint;
• No action at last point – will remove action of the last waypoint.
Vertical scan
Vertical scan creates polyline flight route to scan vertical objects. Polylines allow to create continues
flight route of any complexity. The calculation of the route is similar to Photogrammetry's tool, only for
vertical objects. The vehicle will follow terrain elevation in a horizontal to vertical pattern.
It is implied, that the scanning zone is always rectangular, limited by vertical lines passing through A
and B and horizontal lines on minimum and maximum height.
Figure 9 - Vertical scan parameters explained
Parameter Control Description
Latitude Latitude input with Waypoint coordinates

ability to point on
map
Longitude Latitude input with Waypoint coordinates
ability to point on
map
Turn Type Drop down list Specifies turn type for the aircraft during the mission
containing turn types

Minimum height Input field allowing to Specifies minimum height above ground relief
(AGL) specify minimum AGL only irrespective to route settings
height Parameter is mandatory
Must be in a range of allowed altitude for the vehicle
profile: between “Safe height over terrain” and “Max
altitude, AGL”
Must not be greater than “Maximum height (AGL)”
Maximum Input field allowing to Specifies maximun height above ground relief
height (AGL) specify maximum AGL only irrespective to route settings.
height Parameter is mandatory
Must be in a range of allowed altitude for the vehicle
profile: between “Safe height over terrain” and “Max
altitude, AGL”
Must not be less than “Minimum height (AGL)”
Distance to Input field allowing to Specifies drone distance to facade

facade specify distance to
façade
Camera Drop down list Parameter is mandatory
containing cameras
attached to the
vehicle profile
Forward Input field allowing to Specifies overlap percentage between subsequent
overlap (%) specify overlap in shots on a single forward pass
percentage Default 60%
Parameter is mandatory
Must not exceed 90%
Side overlap Input field allowing to Specifies overlap percentage between shots on
(%) specify overlap in parallel forward passes
percentage Default 60%
Must not exceed 90%
Pattern Drop down with two Specifies scan pattern type
values: Default is vertical
Horizontal Parameter is mandatory
Vertical
Vertical speed Input field allowing to Specifies required vertical speed
specify vertical speed Default maximum vertical speed from profile
Must not exceed maximum allowed vertical speed
from profile
Horizontal Input field allowing to Specifies required horizontal speed
speed specify horizontal Default maximum horizontal speed from profile
speed divided by 2
Must not exceed maximum allowed horizontal speed
from profile

Follow terrain Checkbox Allows the UAV to automatically adjust altitude
during flights based on current elevation
AGL Tolerance Input field allowing to To maintain specified height additional waypoints will
specify how precisely be added if difference of height is larger than AGL
the UAV should follow tolerance. The smaller AGL tolerance value, the
required altitude more amount of waypoints will be generated. If AGL
above ground tolerance is set 0 (zero) UAV’s altitude will be
constant throughout route, but many additional
waypoints will be added.
Vertical scan scanning zone is always a vertical rectangle with vertical (default) or horizontal flight
pattern.
During flight, the vehicle will face facade or explicit point of interest;
Turn type is Stop & turn
“Camera by time” automatic triggering is calculated based on distance to the façade, camera FOV,
vehicle speed (depending on the selected pattern vertical or horizontal)
“Set POI” option for the camera to face the explicit point during the flight.
After route is calculated successfully, a message will show:
• Vertical scanning area, resulting GSD, step between forward passes
• Calculated number of camera shots and interval between shots
Scanning will start from the corner of the rectangle, that is closest to first waypoint or if no waypoint is
set before Vertical scan - from left bottom corner.
Vertical scan supported actions:
• Camera control
• Camera trigger
• Camera by time
• Wait.
• Set POI
Circle
The Circle tool makes the route to go around the specified point at a required distance the vehicle
facing to the center (if autopilot supports it). If it is not required for the vehicle to face center, set Yaw
angle to 0° and the vehicle will fly facing the flight direction. Creating a circle is similar to creating a
waypoint. To change the radius of the circle, drag the circular part of the pin. The radius can be
specified in the properties of the circle in numerical format. Like with waypoints, circles can be added
to the route in sequence.
All common options available for this tool plus:

Number of laps – number of full turns the drone has to make around the circle.
Fly clockwise – flag indicates whether the drone will fly clockwise (checked) or counter clockwise
(unchecked).
Number of approximating points – number of basic waypoints generated. If left blank, this parameter
will be automatically determined from the radius of the circle.
Follow terrain – if enabled, all generated waypoints have the same altitude from ground (AGL
altitudes are equal). If disabled, all the points will have equal AMSL altitude.
Perimeter
All common options available for this tool, plus:
Flight height – flight altitude along the perimeter. The altitude type chosen does not affected flight
height set for the route.
Number of laps – number of times the drone flies along the perimeter.
Landing
Landing tool marks the landing position and parameters. Availability of this tool relates to vehicle type.
Landing waypoints are associated with descent rate parameter that is found in vehicle profile.
Note: The landing algorithm for planes in UgCS has two basic points – the waypoint at which the
landing sequence starts and the landing point. The landing trajectory is a straight line between both of
these points, provided there are no obstacles between them. The landing trajectory is calculated
based on the glide slope parameter.
The glide slope parameter is set in the vehicle profile settings. It might be, for instance, 10%. This
means that for each 100m the plane travels to the landing point it decreases its altitude by 10m.
The landing ground speed parameter is the speed set in vehicle profile. This speed should be set to a
low value in case, if automatic flaps enabled for the plane, they are deployed.
Corridor mapping
Tool is intended to support liner object inspection, like power lines, roads and rivers. On such missions, drone
can be equipped with photo or video-camera. It covers specified corridor with sensor footprint with certain
overlap (both forward and side). Altitude is calculated automatically depending on specified GSD.
Corridor is defined by specifying the following parameters:
Parameter Definition Mandatory
Turn type Turn type. Can be one of the following values: Yes
STOP_AND_TURN;
STRAIGHT;
SPLINE;
BANK_TURN.
When changing the vehicle, selected parameter remains
unchanged if supported by the new vehicle.
Width Corridor width in meters. Means adding Width/2 margin to Yes

the left and right from the center line.

Integer, entered in inspector. By default, 30 or previously
entered value.
Speed Speed along the path. Default is value from vehicle profile Yes
or previously entered value
Camera Drop down list with cameras attached to the vehicle profile. Yes
Default is 1st camera in the profile or previously selected
value.
GSD Ground sample distance. Default is 2cm or previously Yes

entered value.
Forward overlap Percentage of forward overlap. Default is 60% or Yes

previously entered value.
Side overlap Percentage of side overlap. Default is 30% or previously Yes

entered value.
Camera top Camera top facing forward Yes

facing forward
AGL Tolerance Allowable height difference, when it’s impossible to put No

additional waypoints. An additional point is placed if it goes
beyond this boundary.
If not set should be treated as 0 (zero)
Avoid obstacles Avoid obstacles Yes
Altitude type AMSL/AGL. Default is AGL, or previously entered value. Yes
Action execution Action execution. Shows when actions are to be Yes

performed:
ONLY_AT_START - only at the starting point;
ACTIONS_EVERY_POINT - at each point;
ACTIONS_ON_FORWARD_PASSES - at each point of
passes. But when turning, the camera should turn off.
No actions at last Do not perform actions at the last point Yes

point
Corridor center Polyline. Defined manually on map or can be imported Yes

line from KML or CSV. Waypoints have no altitude and tied to
the elevation level.
Tool supports the same list of actions as photogrammetry tool. Default action is camera attitude, camera facing
down and automatically triggered by distance. Automatic action parameters are being calculated the same way
as for photogrammetry tool.
Route calculator may generate several passes if it is required to fulfill coverage and overlap constraints. The
following rules should be applied:

- passes are always parallel to the corridor center line
- if corridor can be covered by a single pass then one pass coinciding center line is enough
- if one pass is not enough, calculator will try to cover corridor with minimal possible number of passes balancing
number of passes on the left and right sides from the center line
- It always keeps drone trajectory inside the corridor
Obstacle avoidance behavior is the same as in photogrammetry tool.
Altitude calculation from GSD is the same as for photogrammetry tool
Lidar Corridor (Available only for ENTERPRISE and EXPERT version)

LIDAR corridor scanning is helpful for the following: roads, power lines, and pipelines.
The corridor can be divided into the following trajectories:
• Singlepass - along the corridor center line
• Multipass to cover a certain corridor width with scans of a certain lateral overlap
In the case of corridor geometry, a user specifies a centerline and width.

Lidar turns:
The quality of LIDAR data is greatly influenced by the way drone makes turns. The most important
thing is to reduce the shaking of the sensor and follow the trajectory as accurately as possible.
The turn should look like a normal bank turn for angles bigger than “Loop turn angle” degrees

The radius of the bank turn should be as specified in the “Bank turn radius.”
For angles less than or equal to “Loop turn angle” degrees, turns may look like a loop maneuver.
Important: after the loop turn, before entering the next segment, the drone should fly “Straight
flight time after turn” seconds straight.
Loop turns do not apply to turns in overshoot segments. In case of overshoot turns, a bank pattern
applies.
Pattern (Available only for ENTERPRISE and EXPERT version)

The Pattern tools allows adding IMU calibration segment to the mission.
The Pattern is defined by specifying the following parameters
Parameter Control Description
Latitude Latitude input with Waypoint coordinates

ability to point on
map
Longitude Latitude input with Waypoint coordinates
ability to point on
map
Altitude AGL Input field allowing to Altitude above ground
specify altitude
above ground

Length, m Input field allowing to Length of the calibration pattern
specify the length of
the pattern
Width, m Input field allowing to Width of the calibration pattern
specify the width of
the pattern
Flight speed, Input field allowing to Flight speed of the drone for the pattern
m/s specify the speed for
the pattern
Direction angle Input field allowing to Direction of the pattern
(0-360) specify the direction
of the pattern
Number of Input field allowing to Number of passes the drone should make to
passes specify the number of complete the calibration pattern
passes the aircraft
should make
Measurement tools
Several tools are available to ease mission planning (Figure 4 - Mission editor #5):
The Distance measurement tool allows to draw a line, and displays its length.
Area measurement tool allows to draw a polygon, and shows the size of the area.
Visibility range tool allows to place a point and find the distances to all obstacles around that point.
The tracing is performed on a horizontal plane.
To deselect current tool, click the tool icon.
6.1.5 Actions
Wait
Wait action – wait in the current waypoint for a certain time (seconds).
Set POI
Point of interest (POI) sets the point of interest for the vehicle to face towards during the flight. It is
set, either by entering a latitude, longitude, and altitude in a numerical form or by clicking the
Crosshair button in the action properties and drawing the POI in the same way that waypoints are
drawn (holding the Shift button and clicking on the map). After inserting the POI, click the crosshair
icon again to exit POI mode.
Set yaw
Yaw action specifies the nose angle relative to the movement direction or to North direction. Choose
option “Next WP” or “North”. The value must be in range from 0° to 360°.
Camera mode
Camera mode allows choosing one of the following modes: “Start recording” for continuous video
recording, “Stop recording” to stop recording and “Shot” for taking a photo.

Camera by time
Camera mode by time allows shooting a series of images with a time delay between them. Adding a
delay is possible before the shot series is started. The series will consist of an automatically
calculated number of shots with an interval between them.
Camera by distance
Camera mode by distance allows shooting a series of images with a specified distance between
shots. Delay parameter can be added before the series of image taking is started. The series will
consist of an automatically calculated number of shots with a distance between each.
Note: For DJI drones UgCS does not support “Camera by distance”, for now.
Note: For both, Camera mode by time and Camera mode by distance, there is Auto option available if
used with Photogrammetry tool. If enabled (by default), it sets the action parameters according to
provided Photogrammetry parameters and will take a distinct number of camera shots. The calculated
parameters displayed in log window after route calculation (#13, Figure 4 - Mission editor).
Auto parameter can be disabled and the parameters can be set manually.
Set camera attitude / zoom

The Set camera attitude / zoom action allows to change the angle for camera roll, tilt and yaw and to
set the required camera zoom level. Angle can be set from 0° (inclusively) through 360° (exclusively).
Zoom levels are integral positive values.
In UgCS for DJI the value of zoom level is displayed between zoom buttons. This value varies for
different DJI cameras according to camera value range. Therefore, before defining the Set camera
attitude action value, check the border zoom values of the camera.
The Zoom settings of UgCS are limited by optical zoom range of particular camera.
Note: Due to the different technical approach of Z30, it is not possible to see the correct zoom values
in UgCS for DJI - for now the workaround to use this functionality is to find the desired zoom value
empirically.
Note: Some vehicles are not supporting this action.
Note: Yaw parameter is working ONLY with DJI M300.
Set Lidar Recording

Lidar recording control - allows to start/stop the data recording at a specific waypoint. It’s available for
waypoints only.
Note: UgCS automatically starts data recording on DJI Zenmuse L1 at the first waypoint of a 'Lidar
area” or “Lidar corridor” segment and stops data recording at the last waypoint of the segment.
Panorama
Panorama action – allows the vehicle to slowly rotate in the specified waypoint to take a video
panorama or shoot a series of photos while rotating
Note: The Point of interest action does not affect connection between the route segments for which it
is set.

Set Servo
Action to control PWM controllable peripherals, e.g. retracting/extending a landing gear, LED control,
etc. Selected segment and set Servo ID and value of impulse-width in microseconds.
Repeat Servo
The same action as Set Servo with two additional parameters: to delay the action - Servo Delay in
seconds and Servo Cycle Count to set number of repetitions.
Note: Set Servo is supported by Ardupilot; DJI: A2, WooKong-M, Naza-M V2. Repeat Servo is
supported only by Ardupilot.
6.1.6 Add or edit common actions for multiple segments

While holding CTRL (cmd for macOS) select multiple segments to add or edit common actions. To
select all segments, click CTRL+A for Windows or cmd+A for macOS.
When selecting multiple segments these functions will be available:
• add new action;
• delete action.
Note: Actions can be added/edited for segments if actions are in the same order and have same
value.
6.1.7 Invert segment order

Allows to change direction of the flight to the opposite course i.e. invert.
6.1.8 Route to waypoints

Allows to convert Photogrammetry or Area scan to route of waypoints
6.1.9 Split route

Splits initial route into two or more parts.
There are several options to split a route:
• Manually - split a route at specific segment(s). In order to split into more than two parts, enter
multiple segment numbers separated by a comma. The defined segment number will be the last
segment of the first route part.
• Split by distance - split routes at a specific distance which is defined in Distance field.
• Tolerance - if existing waypoint is within the tolerance range of the split position, existing
waypoint will be used. Otherwise, a new waypoint will be created.
• Limit - define allowed number of parts into which the route should split.
Overshoot defines section added before each split part except the first one.
6.1.10 Merge routes

Allows uniting two separate routes into one.

6.1.11 Route parameters and path finding
Route parameters
Third step is to review and set missing parameters of the route. In order to ensure a safe execution of
the mission, it is crucial to understand and review all parameters before confirming the route’s
parameters.
Figure 10 - Route parameters
Take-off point altitude above ground m – is drone real altitude relative to the ground. If drone is placed
on an object above the ground level or in the pit below the ground level not represented in elevation
data. Take-off point altitude is vital parameter for route calculation. It must be used when a vehicle
takes off from a surface that is higher or lower than the ground (for example, a podium or a building
roof). Another case when "Takeoff altitude" must be used is when the elevation data is incorrect. For
example, if inspecting the career (or mound) that doesn't exist in the elevation model. If the career (or
mound) doesn't exist in the elevation data, the below message will appear:
This message only appears when the drone is in RTK_FIX mode.
Note: it is highly recommended to always check altitude values. Altitude drift problems cannot be
solved by software only and require operator attention. Always check, after power cycling a vehicle or
mission upload, whether the altitude is reported correctly. UgCS tries to detect such conditions and
issues a warning “It looks as if you have to power on/off your drone in order to reset barometer...” if
RAW altitude reported by the vehicle is very different from 0 at the time of mission upload.

Home location - is a point where the vehicle should return in the case of a failsafe condition. Triggered
automatically or by the operator giving the command to return home. Failsafe execution conditions
usually include emergencies such as loss of RC or low battery charge level.
Option “Do not modify” defines that autopilot actions for these setting remain default and not modified.
Option is located in the drop-down list for each Failsafe action.
The home position is usually the point of initialization.
For ease of use, it is possible to view home location of the vehicle by clicking on “Focus on home
location” command in the corresponding vehicle context.
Note: Every autopilot and thus vehicle might handle Home Location functionality differently. For safe
use, please read the corresponding section in the vehicle’s VSM User guide.
Figure 11 - Vehicle context menu
Maximum altitude above ground is the altitude limitation for the route. Note that maximum altitude will
change type (above mean sea level or above ground) if the altitude type for the route will be changed
(see below).
Return home altitude (above take-off point) modifying this parameter will affect manual and automatic
return home function, vehicle will go to specified altitude when returning home.
Figure 12 - Safe trajectories
Action on GPS loss, action on RC loss, action on battery discharge and datalink loss are the pre-
defined emergency actions. In all cases the option to wait or to land the vehicle can be chosen.
Options to return to home position and to continue flight along the route are also available, provided
GPS is operational.

Usually, it is only required to specify the home position and safe altitude; other parameters have
reasonable default values based on known vehicle properties. Still, it should be ensured that defaults
are correct. The software will perform checks and will cancel route creation if incorrectly defined or
conflicting values of parameters are present. Notifications about errors in values will display at the
bottom of the window, and the particular parameter is highlighted.
Mission Calculation
After the route is formed with all segments in place and their parameters are double-checked, the
mission is ready for processing.
The calculation process starts automatically. The mission saves automatically when the route
calculates. Calculation might take some time.
During the calculation process, the route is checked for feasibility according to predefined rules. First,
it checks whether figures and parameters are specified correctly. All polygons must be connected and
all parameters must be correctly specified before proceeding. Correct parameters must also be
specified for actions attached to the route segments.
Calculated route build around NFZ and (refer par. “No Fly Zones”) and buildings.
To ease error correction for a route, a message will be displayed pointing to incorrect values before
route calculation proceeds. The first route segment with an invalid parameter is automatically
selected. After the problem is fixed, UgCS automatically start route re-calculation. If there are no more
errors, the calculation process will be launched.
The route card displays the status of the calculation (in the upper right corner).
• green check mark - the route is calculated; no errors are detected;
• yellow circle - there is a route calculation;
• red triangle with an exclamation point - in the itinerary there is an error, change the
parameters of points in the route.
To access log file saved on disk, see Troubleshooting section for default log paths.
6.1.12 Saving map for offline usage (experimental)

With the experimental Offline Map feature, it is possible to save a region of the map for offline usage
in UgCS.
1. Open the UgCS Main menu by clicking on the Menu icon and “Main Menu”.

2. Enable the Experimental features by clicking on Configuration → Experimental features →
enable checkmark at “Enable experimental features”.
3. Confirm that you’ve read the disclaimer message by clicking on “Continue”.

4. Open “Map layers” by clicking on the Globe icon and selecting “Map Layers”.
5. Navigate to the “Offline maps” tab and click on “Add”.

6. Alternatively, right-click any place on a map and select “Offline map” from the pop-up menu.
7. Add a name for the map region, create the region boundary by double-clicking on the desired
locations and click on “Create”.

8. Wait for the map region to finish loading.
Please note the following:

• The maximum Area of the region cannot exceed 100km2.
• The region boundary cannot intersect itself.

6.1.13 Map layers
“Layers” button () opens window with map layers’ configuration menu.
Figure 13 - Map layers window
In the Map layers window, it is possible to choose overlays to display on the map.
Figure 14 - Elevation source
It is possible to check, add and prioritize elevation sources that will be used on main map.
Figure 15 - 3D objects
To upload/remove 3D objects and Placemarks select the appropriate tab in the Map layers window.
To display the No-fly zones (refer par. “No Fly Zones”) on the map, toggle the checkboxes Aerodrome
zones and Custom zones.

NOTE: When adding a “Mapbox” as a layer, an error requiring an API token may occur.
The token is acquired during registration by following the link in the dialog box:
https://account.mapbox.com/auth/signup/

6.2 Mission editor: flight execution
6.2.1 Commands explained
Figure 16 - Command menu
Command Description
Upload Upload current mission to vehicle. See command result at log window.
Activates \ deactivates all systems and makes the vehicle ready for flight. See
Arm \ Disarm
command result at log window.
Auto \ Manual Setting selected vehicle to Auto or Manual mode. When in Auto, vehicle start
Mode execution of uploaded mission (if Armed).
When pressing “Click & Go” button, double click or SHIFT+click on the map to
define target waypoint. If command sent successfully vehicle will move towards
Click & Go the specified point (if Armed). The dashed line, connecting vehicle and target
point will be displayed. Hovering the point head, will show distance to approach
and estimated time.
Joystick Enable joystick control mode. See Joystick section for more information.
Suspends current operation. In case of execution mission (Auto mode) puts it on
hold. In case of Click & Go - flight stops the vehicle (loiter around current position
Hold in case of plane) and clears current target point. In case of Landing holds landing.
Continue Continues mission execution from point where mission put on hold.
Land Lands the vehicle at the current point.
Returns the vehicle to the Home Point.
Return Home IMPORTANT! If the vehicle is within 30m from Home position it will land
immediately.
Emergency land Sending command to make emergency land.

Set home Set current location as home
Camera trigger Camera triggering commands are sent through DJI Mobile SDK.
Take-off Vehicle take-off command.
6.2.2 Take-off point Altitude

Take-off altitude is the altitude above mean sea level that used by autopilot to calculate altitude. For
Ardupilot it sets automatically after Home Point selection. For others it sets to altitude below Home
Point when mission uploads to disarmed vehicle. In other cases, it can be set manually.

Note: it is highly recommended to always check altitude values. Altitude drift problems cannot be solved
by software only and require operator attention. Always check, after power cycling a vehicle or mission
upload, whether the altitude is reported correctly. UgCS tries to detect such conditions and issues a
warning “It looks as if you have to power on/off your drone in order to reset barometer...” if RAW altitude
reported by the vehicle is very different from 0 at the time of mission upload.
6.2.3 Resume route function

During the flight the processed flight path of the route is marked with darker color (see Figure 17 - ).
Figure 17 - Processed flight path marked with darker color
If there is a need to interrupt the flight for battery change or any other reason, proceeded route is
being memorized. To resume the flight, choose “Upload” for the route. For partially completed route, a
dialogue (see Figure 18 – Upload dialog for partially completed route) with four options will be
displayed:
• Continue route. This option allows to continue the route exactly where it was dropped.
• Start route from the beginning. The mission will start from first waypoint.

• Start route from waypoint #. This option will send the drone to the specified route waypoint, from
which it will proceed with the mission.
• Take-off to route’s first waypoint#. In case the mission area is further than 30 meters from the
initial drone location, an additional waypoint is required to overcome 30-meter safety distance. This
checkbox will send the drone through this first waypoint onto the mission.
Figure 18 – Upload dialog for partially completed route
6.2.4 Click & Go

Click & Go mode allows to interactively command vehicle to fly to a target location by clicking on the
map. Once the location is reached, copter will hover at reached location, waiting for next command.
This behavior is implemented as a mini mission containing two waypoints: current drone position and
target point.
In order to start Click & Go mission, set a target point on the map to which the copter has to fly and
confirm it.
Steps:
• Press the Click & Go command;
Figure 19 - Click & Go
• Click on the map to set the target point;

• Adjust additional parameters “AGL alt”, “Speed” and “Heading” if needed and confirm to send
the command to the drone;
Figure 20 - Click & Go parameters
• Press the green check button or the Enter key to confirm.
Heading is the angle between north direction and the vehicle bow. By default, “Heading” is set
collinearly according to flight direction. The drone will fly to new target point all the way in set
“Heading” angle after the command is sent to the vehicle. If the “Heading” field is left blank (not 0, but
empty) - the vehicle will fly using current heading. It is also possible to adjust the heading by moving
the arrow of the target waypoint.
When performing Click & Go mode for drone on the ground it firstly flies up to “Minimal safe altitude”
(default – 5m, can be changed at Settings – Drone Specific Settings) and then proceed to selected
point.
It may be necessary set Take-off point altitude (Take-off point altitude).
If an action trigger (Camera by time, Camera by distance and etc.) is interrupted with Click & Go
command, this action will not be performed after clicking Continue button. Actions at next waypoints
will work as usual.
Continue button will be inactive if Click & Go action is interrupted i.e. by pressing Hold button.
6.2.5 Vehicle notifications and log

Events related to command execution and related to UAV appears at the bottom right corner. Later
system cleans up these messages from log window. All messages are located in the log file of the
selected vehicle (press the button "Show log” button).
Figure 21 - Vehicle notifications and log

6.2.6 Telemetry window
Figure 22 - Telemetry window
When the mission is in progress the telemetry window (Figure 22 - Telemetry window) is shown. Four
gauges at the top of the window show the battery charge level, number of GPS satellites visible, the
quality of the downlink channel and state of connection to remote controller. These gauges will have a
white, orange or red color depending on the charge or the quality of the signal.
Next line represents state of vehicle – Armed (all systems are activated and the vehicle is ready for
flight) or Disarmed (all systems are deactivated and the vehicle is not ready for flight) and control -
automatic flight mode or manual mode.
Altitude Raw – altitude data sent from the vehicle (without any additional interpretation). This value
based on GPS and/or barometer data
Altitude AGL - shows current vehicle altitude above ground level. Accuracy of this value depends on
the digital elevation model of the map for the particular region. The value is calculated thusly: Altitude
AGL = Altitude AMSL - Elevation.
Altitude AMSL - shows the current altitude of the vehicle above mean sea level. This value is based
on Raw altitude data. The value is calculated thusly: Altitude AMSL = Take-off point altitude + Raw
altitude.
Vertical speed - indication of how fast a vehicle is ascending or descending. A positive value means
an increase of AMSL altitude, and negative means descending.
Horizontal speed - horizontal component of the vehicle speed or Ground Speed.
Air speed - shows the speed of the vehicle through the air. This value is available only if vehicle is
equipped with an airspeed sensor.

Elevation - AMSL of landscape under the current location of the vehicle. Depends on the digital
elevation model for the region. Landscape elevation shown in meters above the mean sea level.
Latitude and longitude - current latitude and longitude (WGS-84 coordinates) of the vehicle, calculated
according to GPS coordinates.
Distance to home – distance from vehicle to home position.
Four more elements, below the list of values, display the current attitude of the vehicle: pitch, roll,
heading, course and angle to home location.
Note: In the heading indicator, direction to home location displayed as a red triangle with “H” within it.
Above that, the angle to home location is displayed and if home location is not set, it displays “N/A”.
Downlink / Uplink – connection status.
Telemetry is recorded and values are saved to the database. Usually a vehicle reports its state
multiple times per second. All reported data is saved to disk. The telemetry data can take up a large
amount of available space.
6.3 Telemetry player
Figure 23 - Workspace of the Telemetry's player
Telemetry values recorded during the flight can be re-played to closely resemble actions that
happened during the actual mission execution. To open the player, click Menu and choose Telemetry
Player. Click Menu and choose Mission editor to return to mission view.
Select the vehicle, which telemetry was recorded. It is done the same way as in the Mission view.
Check out the “Adding a Vehicle” section for further information. Telemetry displayed for all added
vehicles.

6.3.1 Navigating timeline
If the telemetry data was recorded, it is displayed on a timeline (Figure 24 - Telemetry player). It might
take some time to load the mission player and the recorded data.
Figure 24 - Telemetry player
Under the section with the recorded telemetry, indication icons are displayed. Icons are schematic
representations of commands sent to the vehicle at the time.
Note: For the emulator, the telemetry isn't stored by default - only the icons will be displayed, without
any recorded data.
Icons correspond to the following commands:
Icon Description
Upload
Arm
Disarm
Auto Mode
Manual Mode
Joystick Mode
Click & Go
Hold
Continue
Return Home
Land
Table 1. Telemetry player workspace
Move the slider (Figure 24 - Telemetry player) to a time when telemetry has been recorded. To start
playback, use Play button (Figure 24 - Telemetry player). At any moment playback can be paused
using Pause button.
Navigation through the timeline is done by using mouse and click and drag in the desired direction or
use the buttons to the right of the timeline. Zoom in or out with mouse wheel or the “+” or “–” buttons
next to the timeline.
Playback speed can be adjusted using the speed buttons (Figure 24 - Telemetry player). Button “1x”
is for real-time speed. Speed can be increased up to eight times (button “8x”).

On the right side, a List of all telemetries tracks will be displayed.
Figure 25 - List of telemetry tracks
To delete an event from the telemetries List, click the bin icon of the telemetries record. To display a
record on the map - click the pin icon of the record. To split a telemetry record at a current playback
time, click the -|- icon. To merge two records of one vehicle located next to each other, click the +
icon.
To differentiate imported telemetry for several vehicles, select the ‘Tracks of selected vehicles only’.
6.3.2 Exporting / Importing telemetry

To import the telemetry data, click “Import”; to export click “Export”, select the format of the telemetry
file and set its location. Telemetry records are saved in binary format.
Note: existing timeline frame defines start and end positions for export procedure.
Figure 26 - Import / Export telemetry
6.3.3 Geotagging
UgCS allows tagging images taken by the drone with coordinates from recorded telemetry. Important
note, remember the difference between camera clock and clock on computer that recorded the
telemetry.
HINT: the easiest way to remember the time difference is to take a picture of computer's clock with
the drone camera. Then compare time on the image with “modified” attribute of the picture. Hovering
the mouse over the clock placed in top right corner of UgCS will provide a hint with current time
detailed up to milliseconds.
Geotagging tool is available from context menu of vehicle in telemetry player (Figure 24 - Telemetry
player).
After pressing “Geotagging” the following window is being displayed (Figure 27 - Geotagging window).

Figure 27 - Geotagging window
Click “Browse” to select images. Only JPEG is supported for now.
Number of images will be shown, time from the first and last image as start and end time.
The process of geotagging is straightforward. Choose image and try to find the closest telemetry
record in the database. For search to be as precise as possible it is important to know camera time
offset – the difference between camera clock and computer (where telemetry was initially recorded)
clock.
If data was processed on a computer with clock configured for another UTC time zone than the
camera time zone, checkbox “Set camera UTC time zone if it’s different from PC UTC time zone”
needs to be set and camera's UTC time zone specified.
After everything is configured, press “Process”. Algorithm will try to find coordinates for the pictures.
After processing is complete, the button “Show on map” will display camera position for each picture
taken.
If everything is correct, select altitude type from dropdown list - AMSL, AGL, RAW or None and press
“Write tags to image files” to save coordinates and selected altitude as EXIF tags into pictures.
6.3.3.1 How to prepare photo for geotagging processing

In order to synchronize time between the capturing device and UgCS desktop, take several pictures
of UgCS desktop screen with open time toolbar.
• In UgCS navigate the mouse cursor over the time widget, located in the top right corner.
• The Time toolbar will appear.
• Make a picture of the computer screen with the camera.
Figure 28 - Time tooltip
• Connect the vehicle to the PC/notebook to import telemetry data from the drone.
• Execute mission in automatic or manual mode with camera working in periodic photo mode.

6.3.3.2 How to write geotags to photo files
• Copy photo files from camera and back it up.
• Open telemetry player. Add drone to the vehicle list. Check that telemetry data can be found for
selected drone.
• Open geotagging window for selected drone.
• Calculate time offset value. For this calculation, compare camera time and photo time.
• Take photo of UgCS desktop time by camera and select time from picture - this is photo time;
• Open UgCS client -> telemetry player -> add vehicle -> open geotagging window;
• Click Browse and select photo from previous step;
• Camera time is displayed in geotagging window at string after words “start time”;
• Calculate difference between two values in seconds.
• Add all photos from camera (exclude photo with screen).
• Set calculated camera offset. Set time zone of the camera if necessary.
• Process and save geotags to photo files.

7 Main menu
To access Main menu, click the list icon in the top, left corner and select the Main menu, to access
sections displayed in Figure 29 - Main menu.
Figure 29 - Main menu
7.1 Vehicles
This section contains all the registered UgCS vehicles.
Filter can be set according to the platform type of the vehicle profile and sort vehicle by name (Figure
30 - Main menu – Vehicles #1).
1 2 3 4
Figure 30 - Main menu – Vehicles

Table of parameters that should be filled for the vehicle.
Parameter Description Mandatory
Vehicle name User defined vehicle name Yes
Tail number Former ID field. Tail number of the vehicle.

ICAO address ADS-B unique identification number.
Vehicle platform. This field can be edited in the vehicle

Platform
profile list.
Choose an available vehicle profile or create a new

Profile Yes
vehicle profile
Payloads View selected payload for the vehicle
Current take-off point altitude. For more information about

Altitude mode, m
this field please see the “take-off altitude” section
Downlink connected Downlink connection status

Uplink connected Uplink connection status
7.1.1.1 Registering a New Vehicle

To register a new vehicle, connect the vehicle to UgCS and ensure that the VSM for that vehicle type
is running. For more information on specific vehicle workflows please refer to our manuals.
Provided the vehicle is supported by UgCS, the VSM should detect a new connection and a new
record in the vehicle list in the UgCS client should be created.
After automatic detection of vehicles in UgCS, the vehicle card displayed in the vehicle menu –
vehicle list. UgCS will choose the most suitable vehicle profile for the vehicle.
7.1.1.2 Editing a Vehicle

If necessary, select a different profile for the device manually or edit the current profile. To select the
profile for the vehicle, click “Edit” button (#3 - on the Figure 30 - Main menu – Vehicles). Then select a
predefined vehicle profile.
Restart the VSM after configuration changes.
7.1.1.3 Removing a Vehicle

Remove a vehicle from the list manually by pressing the button “Remove” (#4 - on the Figure 30 -
Main menu – Vehicles).

7.2 Vehicle profiles
This section contains all the base and custom vehicles profiles of UgCS.
In the left column (Figure 31 - Main menu - Profiles, 1) there is a list of all vehicle profiles and the
button to “Create new” profile from scratch. On the right (Figure 31 - Main menu - Profiles, 2) all
vehicle profile block-cards are listed.
1 3 2
5
4
Figure 31 - Main menu - Profiles
Table of parameters for vehicle profiles
Main section
Vehicle profile name User defined vehicle profile name Yes
Type Vehicle type (helicopter, multicopter, fixed-wing). Yes
Platform Choose a vehicle platform from the available variables Yes
Payloads Edit available payloads for the vehicle profile Yes
Battery section
Battery fully charged at voltage, V, shown as 100%.

Charged battery
Voltage value shown in white color if between this voltage Yes
voltage
and normal voltage.

Normal battery voltage V. Voltage value shown in white if at
Normal battery voltage Yes
or above this voltage, shown in yellow if below this voltage.
Low, but sufficient voltage, V. Voltage value shown in

Low battery voltage yellow if at this voltage or between low and normal voltage. Yes
Voltage value shown in red if below this voltage.
Discharged battery
Battery zero level, V, shown as 0%. Shown in red. Yes
voltage
Normal battery power Normal battery level, percentage. Value in percent is

No
level1, % shown yellow if below this value.
Low battery power Low battery level, percentage. Value in percent is shown
No
level2, % red if below this value.
Battery weight Battery weight, kg Yes
GPS section
Normal number of satellites to provide a good level of

Normal number of GPS accuracy. Shown in white color if at or above this level.
Yes
satellites Number of satellites shown in yellow color if below this
level and between normal and low level.
Low number of GPS satellites while still being enough to

Low number of GPS launch the vehicle. Number of satellites shown in yellow
Yes
satellites color if at this level or between this and normal level.
Number of satellites shown in red color if below this level.
Telemetry section
Normal telemetry level. Telemetry level value shown in

white color if at or above this level. Telemetry level value
Normal telemetry level Yes
shown in yellow color if below this level and between
normal and low level.
Low telemetry level. Telemetry level value shown in yellow

Low telemetry level color if at this level or between this and normal level. Yes
Telemetry level value shown in red color if below this level.
Routing section
Max. waypoints Maximum supported WPs by flight controller Yes
3D distance of the vehicle from approach waypoint

Waypoint acceptance sufficient to consider point as reached. Please refer to
Yes
radius autopilot documentation to check applicability of this
parameter.
Max altitude AMSL Maximum allowed altitude AMSL, m Yes
Max altitude AGL Maximum allowed altitude AGL, m Yes
Maximum Rangefinder The maximum altitude, the rangefinder can be used from.
Yes
distance, m See rangefinder’s manual to set this parameter correctly.

Fence radius Radio link range radius, m Yes
Maximum travel time Maximum flight time in seconds Yes
Minimal allowed distance to terrain for the vehicle, m. Small

Safe height over terrain vehicles can fly very close to terrain but larger ones should Yes
fly higher
Safe distance to
Minimal allowed distance to obstacles for the vehicle, m Yes
obstacle
Maximum climb speed of copters for take-off waypoints,

Max. climb rate Yes
m/s
Maximum descent rate of copters for landing waypoints,

Max. descent rate Yes
m/s
Max. horizontal speed Maximum horizontal speed, m/s Yes
Default climb rate Default climb speed of copters for take-off waypoints, m/s Yes
Default descent rate Default descent rate of copters for landing waypoints, m/s Yes
Default horizontal speed relative to ground, m/s

Default horizontal
Used as default speed for route segments and for Click & Yes
speed
Go mode.
Fixed-wing section*
Default glide slope, %

Glide slope, % Yes
Applicable for the planes
Airspeed during
Airspeed for fixed wing aircraft when approaching landing No
landing approach
Plane ground speed in last flight segment to landing point,

Landing ground speed,
m/s Yes
m/s
Applicable for planes and not used for multirotor.
Altitude in meters at which Landing Flare will be engaged,

Landing flare altitude No
this parameter is secondary to landing flare time parameter
Time in which fixed wing aircraft should reach ground

Landing flare time during landing, when landing flare will be engaged, motors No
stopped and heading locked
Minimum pitch in ° during final landing stage (after flare),

Minimum landing pitch the algorithm will control pitch above this value to achieve No
proper sink rate
Controller sink rate to Sink rate gain for pitch demand during final landing stage,
No
pitch gain during flare m/°

A value closer to 2 will result in plane ignoring height error
Weighting applied to
during landing (will keep nose up), a value closer to 0
speed control during No
results in plane ignoring speed error (use with caution,
landing
could result in plane stall)
Controls maximum pitch in ° during automatic mode, Rage:

Maximum pitch in auto
0 to 45°, if set to zero, Maximum pitch parameters will be No
flight
used
Maximum pitch The maximum commanded pitch up angle, Range: 0 to 90° No
Minimum throttle setting in % which Autopilot will apply. For

Minimum throttle No
final landing stage, this is ignored.
Landing sink rate (final The sink rate in meters/second for final landing stage.
No
stage) Range: 0.0 to 2.0
Enables the use of a rangefinder for automatic landing. The

Enable rangefinder for
rangefinder will be used both on the landing approach and No
landing
for final flare
Minimum rangefinder Minimum distance in centimeters that rangefinder can

No
distance reliably read
Basic section**
Height** Vehicle height, m Yes
Width** Vehicle width, m Yes
Length** Vehicle length, m Yes
Wind resistance** Maximum allowed wind speed, m/s Yes
Dry take-off weight** Dry take-off weight, kg Yes
Maximum take-off
Maximum allowed weight, kg Yes
weight**
1 Percentage displayed if supported by the vehicle. If the vehicle does not report the remaining
charge as a percentage, the UgCS calculates the percentage based on the voltage values from the
vehicle profile.
2 Percentage displayed if supported by the vehicle. If the vehicle does not report the remaining
charge as a percentage, the UgCS calculates the percentage based on the voltage values from the
vehicle profile.
* Display section depends on the type of vehicle;
** Currently ignored and reserved for future versions.

7.2.1.1 Adding a New Vehicle Profile
Add a new vehicle profile by creating a new card and filling in the parameters.
7.2.1.2 Editing a Vehicle Profile

Edit a vehicle profile by clicking on the profile card and pressing the “Edit” button. There are variety of
different (3D) avatars for vehicles. Vehicle profile parameters can be edited here as well.
Note: Profile changing leads to route convert procedure that can cause errors in some cases. If
occurs, a message as notification will be displayed to choose accept or cancel the changes.
7.2.1.3 Copying a Vehicle Profile

Copy an existing vehicle profile by selecting the profile and clicking on “Copy” button. It will create a
duplicate of the selected profile with a “- Copy” suffix. Works the same as “Edit” (see above), except it
will save a new copy upon confirmation.
7.2.1.4 Delete a Vehicle Profile

To remove the vehicle profile, select the profile and click "Remove".
Basic profiles cannot be deleted. Basic profiles - are system profiles imbedded into software
installation.

8 Configuration
8.1 Connections
The Core service section defines HCI and VSM connections to a UCS. By default, it points to the local
instance. In case of a multi-node deployment network the address of the UCS can be specified.
UgCS uses systems default proxy settings. If custom proxy settings are required, settings can be
applied in components configuration files: MENU -> Configuration -> Connections. Change of these
settings can affect the loading of map.
8.2 VSM
Records for each of VSM servers. By default points to local instances. If using a dedicated VSM
installation and want core services to connect to it, add a new record with the appropriate host and
port fields.
8.3 Geoservers
Enable the option to add new geoservers or edit/remove the URL of existing geoservers.
8.4 Payloads
Choose a predefined payload card or create a new payload card defining payload’s parameters. To
add a new payload switch to Main Menu, select Payloads and click the Create new button - enter
required parameters and confirm with “Save”. To assign payload to a certain vehicle profile, in the
Main Menu select Profiles, select the vehicle, and click the block-card, button “Edit” will be enabled. In
the block-card after clicking “Edit” on the Payload section “Add” new button will be displayed - click it
to add payloads from list.
Table of payload parameter description
Payload name User defined payload name Yes
Weight Camera weight, kg Yes
True focal length, mm True focal length Yes
Sensor width, mm Physical sensor width in metric units Yes
Sensor height, mm Physical sensor height in metric units Yes
Sensor horizontal resolution, px Sensor horizontal resolution in pixels Yes
Sensor vertical resolution, px Sensor vertical resolution in pixels Yes
Minimum time interval between two neighboring

Minimum triggering interval Yes
shots

9 Advanced topics
9.1 Screen Resolution

Option to adjust the resolution of user interface’s window. Changes apply immediately.
9.2 Skin
Option to change from the available color schemes – Default, Classic, Khaki and Pony. Changes
apply immediately.
9.3 Language
Select the language of the user interface.
9.4 Measurement
Option to choose the measurement system for the user interface.
9.5 Sound
Enable or disable the sound signals of UgCS. Sound signals are used to notify user about errors in
the vehicle log.
9.6 Video
Allows to edit the location of the video server.
9.7 Performance
To decrease the performance of UgCS for battery saving, enable the “Battery saving mode” flag. For
maximum performance the “Battery saving mode” flag should be disabled.
To increase the performance of UgCS, enable “Show buildings without textures” flag.
9.8 Appearance
Option to turn on or turn off 3D avatar smoothing.
9.9 3D map caching

Option to edit the size of cached map area or clear the map cache.

10 No Fly Zones
No-fly zones (NFZ) are areas on the map where flying is prohibited. NFZs are divided in two
categories – Aerodrome zones, which are built into UgCS and Custom zones which can be created by
the operator.
10.1 Creating a Custom NFZ

The operator can create a Custom NFZ of either two shapes:
• Prism
• Cone
NFZ can be created by clicking on one of the two bottom icons on the No-Fly-Zone drawing tools
(Figure 4 - Mission editor #9) and shift-click on the map.
To create a prism formed NFZ, at least 3 points are necessary. The cone NFZ requires only one
point. To finish creating an NFZ, click on the selected NFZ icon again. To edit the finished NFZ click it
on the map. To delete an NFZ click on the trash can icon in the editing screen.
Following parameters for each of the NFZ can be changed:
• Name of NFZ
• No-fly zone starts from – altitude from which the NFZ begins. By default this parameter is set
to 0 m AGL.
• Ground or sea level – change the altitude origin between AGL and AMSL
• Height – the altitude NFZ ends. By default, this parameter is set to infinity.
For the cone NFZ there are two additional parameters:
• Base radius – radius of the base of the flight zone. By default, this is set to 100 m.
• Top radius – radius of the top of the flight zone. This parameter can be used only if the height
parameter for the cone NFZ is not infinity.
Note: If NFZ width is less than one meter it is not taken in account for route’s calculation.
10.2 Disabling NFZ

The No Fly Zones can be disabled in parameter window of the route, by deselecting the Aerodrome
zones or the Custom zones. The route’s parameter window is displayed during the creation process
of a new route, or it can be accessed selecting the Parameters button of the route’s card Parameter
setting dropdown.
Note: this feature is enabled only for UgCS with activated License (refer par. “License”)!
10.2.1 Unlocking No flight zone

In in case of flight performed in restricted areas. Without unlocking NFZ zone an error message will
appear in UgCS for DJI app.

1. Plan missions with UgCS in restricted areas. NFZ has to be unlocked on the UgCS desktop. Upon
route creation, disable Aerodrome zones to be taken into account for route calculation.

2. Request NFZ zone unlock in DJI website
•Open Safe Zone Unlock and Log in to the account. Choose Unlock Request section from the top bar
of the website. At this point, you should see all your requests and their validity status.
•Press on “New Unlock Request” and proceed with Zone Unlocking. Select device and pilot details
from the drop-down menu or add a new device and pilot for the request.

After the requestor has provided all the details it will be available to choose the restricted zone.
NOTE: there are different zones and for each type of zone different rules apply for unlock. In our
example, we used a zone with the color blue. For other zones, it may be required to receive
permission from your local government institutions.

•Choose the correct zone, the time range, and add a reason for unlocking.
•Now, the request is available in the list of “Zone requests”.
•As soon the zone has the status “Accepted”, it is available for upload to the drone via the DJI
application. 3. Power on your DJI drone and connect it to the DJI Go4 Application.

4. Choose the “General Settings” menu and scroll down to the “Flight restrictions” section.
5. Open Unlocking License and import unlocked restriction to the aircraft.

•In case of successful import message is visible.
•Restricted zone will appear now in Aircraft section as enabled.

6.The prompt message will display. Close the DJI Go4 application. NFZ settings will be saved in
autopilot
7. Run UgCS desktop software and UgCS for DJI. Make sure your drone has an established
connection between UgCS for DJI and UgCS desktop.
8. Upload the route to the drone.
Side note
It is possible to enable the blue-colored DJI authorization zones directly in the DJI Pilot app by
performing liftoff movement on your RC. After performing liftoff movement, a message in DJI Pilot app
will appear. Please note, that this is a one-time scenario and not recommended requesting zone
unlock before the flight.

10.3 NFZ visibility
To change the visibility of NFZ, click on the Map options (globe icon) button at the very top right-hand
corner of the screen and click on the Layers button. In the new window, deselect Aerodrome zones or
Custom zones so that they are no longer displayed on the map. Keep in mind, this operation does not
disable the NFZ, it simply hides them. If disabling of NFZ needed, refer to the section “Disabling NFZ”.
10.4 NFZ and route-creation algorithms

UgCS will not be able to calculate a mission if any waypoint is in an NFZ.

11 Importing 3rd party mapping data
UgCS map contains following georeferenced data types:
• Georeferenced tiles, 3rd party WMS data.
• Elevation. Contains elevation data with reference to the coordinates (e.g., landscape). The
altitudes in imported data are assumed to be based on WGS84 ellipsoid.
• 3D Models which consist of polygons and georeferenced tiles. These layers are managed by
Geoserver. This layer is optional.
• Placemarks
11.1 Importing georeferenced images and geo raster KML

To display the orthophoto in UgCS, import orthophoto images. To do this, create a new source with a
unique name and download the photo or Geo raster KML in it. New source creation is available in the
map source in one of the providers of Geoservers. Then save changes (press “Save” button). Go to
the Mission Editor, click on the globe icon (“Map options”) in the upper right pane. Select “Layers” in
drop down list. “Map layers” window will appear. In the block “Overlay tile provider” in the drop-down
list, choose name of the imported source. “Focus” button moves the map to the imported object.
11.2 Adding WMS sources

A Web Map Service (WMS) is a standard protocol developed by the Open Geospatial Consortium in
1999 for serving georeferenced map images over the Internet. These images are typically produced
by a map server from data provided by a GIS database.
To add external WMS source:
• Navigate to “Map layers” window “Map”
• Choose “Add”
• Provide friendly name in field “Name”
• From “Type” dropdown, choose “External WMS”
• Enter WMS source URL into field “Remote Source”

(example: http://ows.terrestris.de/osm/service)
• Choose WMS layer from dropdown “Layer name”
• Press “Create”, user arrow to set layer as “Overlay” or “Base”.

Figure 32 - Map layer window
11.3 Importing 3rd party elevation data from local file

Additional elevation data for particular area (besides default elevation sources) can be imported. It
can be imported from local files or an external link can be pointed out. To import local elevation data,
click the Map options (globe icon at the top right-hand corner of the screen) click on Map layers, and
select Elevation. Click add and create a unique name for the object. Select the created object and
click upload, than select the source of elevation data i.e. a resent ortophoto from local drive. The
order of objects in the list to the right is important, because it determines the priority of Terrain
elevation shown on the map. It is possible to change the source from enabled to disabled. “Focus”
button displays the map of the imported object.
11.4 Importing 3rd party elevation data from External source.

To import elevation data from external source, click the Map options (globe icon at the top right-hand
corner of the screen) click on Map layers, and select Elevation. Click add and create a unique name
for the object. Select “type” and choose “external” Indicate link to the source and click “create”. The
order of objects in the list to the right is important, because it determines the priority of Terrain
elevation shown on the map. It is possible to change the source from enabled to disabled. “Focus”
button displays the map of the imported object.
The route on the particular area is calculated according to the priority of elevation source.
Note: UgCS supports georaster KML ArcASCII, GeoTiff and SRTM formats, but all GDAL Raster
Formats (more details https://gdal.org/) that feature Georeferencing should work. All altitudes in
imported DEMs are assumed to be above WG84 ellipsoid. UgCS uses Web Mercator internally and
re-projects all imported data to that (EPSG:3857). Ensure that data you use is in this format, and it
should be imported correctly. No other vertical datum is supported currently.
11.5 Importing buildings on a map

To display the 3D buildings on the map of UgCS and to take into consideration when route is
calculated, import 3D building models.
To import 3D building models, click the Map options (globe icon at the top right-hand corner of the
screen) and click the Map layers button, select 3D objects tab. Add a unique name and upload 3D
model via “upload” button. Browse for the uploaded models in KMZ format. It is possible to change
the models from enabled to disabled source list. «Focus» button will display the region of the map of
the imported object.

Note: UgCS supports the import of *.KMZ files.
*.KMZ file must be legacy (ZIP 2.0) compression compatible. The contents of a KMZ file are a single
root KML document (notionally "doc.kml") and optionally any overlays, images, icons, and COLLADA
3D models referenced in the KML including network-linked KML files. The root KML document by
convention is a file named "doc.kml" at the root directory level, which is the file loaded upon opening.
By convention, the root KML document is at root level and referenced files are in subdirectories (e.g.
images for overlay images).
1. Import with “Clamp to ground” option:

When this option is enabled, the model will be forcedly placed at the ground level of the center point
of the model from the corresponding elevation profile. The values of the AltitudeMode and Altitude
parameters in the KML file will be ignored;
Elevation of the object inside the 3D model should be equal to 0 (the object should be located on the
floor of the model);
One model should represent one object on the map (one building). In case the 3D model represents
some set of map objects (several buildings) - the surface of the earth onto which these models are
imported should be a flat surface. Otherwise, some objects may appear above or below the ground.
2. Import without “Clamp to ground” option:

If AltitudeMode parameter in the KML file is set to clampToGround, then the model must meet the
requirements described in paragraph 1;
Recommended value for AltitudeMode: absolute.
Altitude value of the model in the KML file must be correctly set, according to AMSL elevation of the
area from the corresponding elevation profile;
Elevation of the object inside the 3D model should be equal to 0 (the object should be located on the
floor of the model). Otherwise, the model altitude in the KML file should be set with an offset
corresponding to the elevaion of the object inside the 3D model.
In case the 3D model represents some set of map objects (several buildings) - the elevation of each
object inside the 3D model must be set with an offset so that the objects correctly follow the ground
contour for the corresponding elevation profile. The best approach in this case is to either set the
altitude of the model in the KML file to 0, and set the appropriate AMSL elevation for each object
inside the 3D model, or split such model into several models, each of which contains one map object.
11.6 Photo placemark creation during photoshoot (For DJI drones only)
Enabling “Placemark settings” in UgCS for DJI options menu, will allow taking photos, assigned to
placemarks on the map. Using UgCS for DJI app, take a photo in the desired location. Placemark will
appear on both UgCS for DJI and UgCS desktop.
List of compatible drones:
• Phantom 4, Phantom 4 Pro
• Phantom 3 Standard / 4K / Advanced / Professional
• Inspire 1, Inspire 1 Pro / Raw
• Inspire 2
• Matrice 100
• Matrice 200, Matrice210, Matrice210RTK

• Matrice 300, Matrice 300RTK
• Matrice 600, Matrice 600 Pro
• Mavic Pro
• A3
• N3
In UgCS desktop, hovering a mouse over the placemark will show small picture of the taken photo
and latitude/longitude. Left click on the placemark will enlarge the photo to full screen, from where it
can be exported as an image file (with written coordinates in the top left corner), using “Export” button
in the right bottom corner. To exit out of full screen – press “Esc” or click white X in the right upper
corner.
11.7 Adding layers

Adding layers helps to distinguish different routes and photo placemarks from each other. To do so,
click the Map options (globe icon at the top right-hand corner of the screen) and click the Map layers
button, select Placemarks, click “add” on the bottom left corner and provide friendly name for the layer
on which all the desired placemarks should appear. Move the newly created layer to “enabled” section
of the screen by selecting it and clicking right-pointing arrow in the middle. The layer with provided
name, should now appear in “Placemark settings” section in UgCS for DJI options menu.
In case of using more than one layer, select the layer in UgCS for DJI to assign placemarks to.
To export all the placemarks at once as *.JPG or* .KMZ files, click the Map options (globe icon at the
top right-hand corner of the screen) and click the Map layers button, select Placemarks. Select the
layer, placemarks were assigned to. All the placemarks on the map will turn green. Select “Export
placemark images” – to export as *.JPG files with coordinates or “Export Placemarks as KMZ” to
export as Keyhole Markup language Zipped file.
To import the placemarks to the desired layer, click Upload and browse for previously exported data.

12 Working with placemarks
Placemarks are part of UgCS functionality that are used for informing user about possible dangers on
the map. It is also possible to add custom markers and use them for individual purpose.
Placemarks are structured in categories. Currently there are three categories:
• HAZMAT – describes dangerous substances (solids, liquids or gases) that can be harmful
• Incidents – warns about dangers caused mainly by human activity
• Natural Events – warns about natural disasters or dangers
To place a placemark, right click on the desired area, select “Create placemark here” and chose from
the available placemarks in the desired category.
Figure 33 - Placemark menu
Adding description to placemark helps to inform about the purpose of placing it.
Figure 34 - Placemark creation window
To remove a placemark, right click on the placemark and chose “Delete placemark”. To move a
placemark, right click on a placemark, choosing “Move placemark” and then left click on the area the
placemark needs to be moved to (Figure 35 - Window to edit Placemark).
Figure 35 - Window to edit Placemark

It is possible to import custom markers in *.KML format using UgCS Client. To import placemarks,
create a unique object for each source - click the Map options (globe icon at the top right-hand corner
of the screen) and click on the Placemarks layers button. Add a new placemark source and upload
them. Firstly add the necessary source to the list. The order of objects in the list is important because
it determines the priority of objects in the map. It is possible to change the source from enabled to the
disabled source list. «Focus» button displays the map to the imported object.
13 Orthomosaic
UgCS supports ortophotomosaic creation - a composed image from pictures taken during the flight.
UgCS compose it using coordinates (from EXIF data) and overlap info. For UgCS OPEN and
UgCS ONE licenses (available till April 2018) the number of images is limited to 20 items. For
UgCS PRO and UgCS ENTERPRISE licenses it is unlimited.
14 Show camera position

UgCS can show camera’s position where the camera shutter was set off. This option is enabled by
clicking the globe icon (Map options) on the upper menu bars and selecting “Show image center” from
the drop-down menu. Choose the photo or photos with georeferenced in the file browser and click
“Select” or “Select all”. After importing files on the map center of each frame will be display as mark.
On the window "Image center" coordinates of marks can be export as *.CSV file (“Write report in
CSV” button).
To hide image centers, click the globe icon (Map options) on the upper menu bars and selects “Hide
image centers” from the drop-down menu.
15 Custom sectors
It’s possible to create own custom sectors as aerial placemarks in layers, using third-party software.
This is typically used for visual determination of the area or boundaries.
To do so, click the Map options (globe icon at the top right-hand corner of the screen) and click the
Map layers button, select “Custom Sectors” and click “Add”. Provide a friendly name for the desired
sector and click “create”. Using the “upload” button, browse for the previously created * .KML sector
and click “select”. The chosen sector should now appear in UgCS for desktop. “Focus” button will
place the point of view, right above it.
16 Proxy settings
Proxy settings are taken from OS settings. It is possible to set up proxy settings separately for each
component. The proxy format is the following:
For the following components: (components and configuration file as follows)
vsm-ardupilot - vsm-ardupilot.conf
vsm-dji - vsm-dji.conf
vsm-emulator - vsm-emulator.conf

vsm-microadsb - vsm-microadsb.conf
vsm-microdrones - vsm-microdrones.conf
vsm-micropilot - vsm-micropilot.conf
vsm-mikrokopter - vsm-mikrokopter.conf
vsm-px4 - vsm-px4.conf
vsm-uavionix - vsm-uavionix.conf
vsm-xbee - vsm-xbee.conf
vstreamer – vstreamer.conf
geoserver.properties
#proxy settings
#http.proxy.host = Hostname address
#http.proxy.port = TCP/IP port number
#http.proxy.user = Username
#http.proxy.password = password
#https.proxy.host = Hostname address
#https.proxy.port = TCP/IP port number
#https.proxy.user = Username
#https.proxy.password = password
ucs.properties
java.net.useSystemProxies=true
#proxy.userName=login
#proxy.password=password
17 ADS-B
UgCS supports ADS-B (Automatic dependent surveillance-broadcast) receivers and transponders.
When using an ADS-B receiver, UgCS will warn user about collision possibilities between vehicles. If
using an ADS-B transponder, it is possible to configure and use it during flight with the help of UgCS.
17.1 Receiver
UgCS provides warnings about dangerous convergences concerning vehicles controlled by UgCS,
and vehicles observed by UgCS, via the microADS-B receiver or pingUSB - uAvionix.

Figure 36 - ADS-B icon
To display the ADS-B monitor window, click on the ADS-B icon (Figure 36 - ADS-B icon) at the top
right-hand corner of the screen.
Figure 37 - ADS-B monitor window
The calculation of the collision possibility is based on three parameters:
• H – horizontal distance (meters)
• V – vertical distance (meters)
• T – warning time (seconds)
Values for the vehicles, controlled by UgCS:

• H = 20 m
• V = 15 m
• T = 60 sec.
Values for the vehicles, observed by UgCS:
• H = 9 260 m (5 NM)
• V = 300 m
• T = 60 sec.
Warnings about possible collisions appear in the log window if vehicles, during the minimal
convergence, would, in the future, violate both boundaries (H / V) of any other vehicle in a time less
than T. A warning is not displayed if the minimal convergence occurred in the past and the vehicles fly
apart from one another.
A warning is cleared if one of the following events occurs:
• The minimal convergence persisted in the past and the spread angle between the trajectories
is more than 20 degrees;
• The minimal convergence persisted in the past and spread angle between the trajectories is
less, than 20 degrees and the areas of the vehicles are not violated.
Warnings created only for vehicles that were added to the vehicle list. When control is released, all
current alerts for that vehicle are removed.
An indicator in the top right corner shows whether any ADS-B receivers are currently connected. It is
displayed green if a connection with at least one such device is active, and grey otherwise.
17.2 Transponder
If the vehicle is equipped with an ADS-B Transponder or will be at some point, it is possible to
configure and transmit ADS-B messages using UgCS. As of this moment, UgCS supports Sagetech
XPS-TR Mode S transponders. The following main functions for ADS-B Transponder configuration
and usage are available:
• To set ADS-B modes;
• To set parameters;
• To display annunciators;
The following list of parameters are available:
• SQUAWK: must contain of four octal digits. Allowed digits are: 0, 1, 2, 3, 4, 5, 6, 7.
• ICAO Address: must contain of six hexadecimal digits. Allowed symbols: 0, 1, 2, 3, 4, 5, 6, 7, 8,

9, A, B, C, D, E, F.
• Aircraft registration (tail number): must contain of up to 8 symbols. Allowed are: 0-9, A-Z.
• Flight ID: must contain of up to 8 symbols. Allowed are: 0-9, A-Z.
• IDENT* flag: Yes (single direction button)
• External altitude: Yes/No

*http://aviation.stackexchange.com/questions/3049/how-does-ident-work
Figure 38 - ADS-B settings menu for reference
Transponder parameter usage:
• ICAO Address and Aircraft registration/Tail number will remain the same for a specific vehicle
in most of the cases. These parameters can be set in Vehicle Parameters section Figure 40).
• SQUAWK parameter can be defined when necessary any time during the flight (Figure 38 -
ADS-B settings menu for reference, A).
• Flight ID should be set during preparation for take-off. That is done in the Preflight section
(Figure 38 - ADS-B settings menu for reference, B).
Figure 39 - Vehicle parameter window to set Tail number and ICAO address
Available transponder modes (Figure 38 - ADS-B settings menu for reference, C):
• OFF – Transponder is turned OFF
• STBY – Standby mode. Transmission does not happen, device is set to low power consumption,
is ready for start-up with reduced warm-up time.
• ON – Transponder is transmitting and receiving data, but no altitude information is transmitted.
• ALT – Same as “ON” mode with the additional transmission of vehicle altitude.
The following error codes can be displayed:

• XPDR – General error code that is displayed if any of the following errors have occurred.
• TEMP – If transponder temperature sensor reports an error.
• GPS – Displayed if there is no GPS signal.
• ICAO – If there is no valid ICAO address set.
• ES – Displayed if the extended squitter has failed.
Figure 40 - ADS-B settings menu displaying XPDR and GPS error codes

18 Import route from KML
UgCS PRO and UgCS ENTERPRISE license able to import KML-files.
To import a route from a KML file, click "Add new route" button (plus sign). Select “Import from file”,
click “Browse” to locate, and confirm with “Select”.
Figure 41 - Import KML file
While importing KML UgCS read elements from Placemark. If Placemark contains MultiGeometry with
several elements all of them will be imported.
• Point - while importing will be converted into Waypoint. Waypoint will save altitude mode and
altitude value from KML.
• LineString - while importing can be converted into Waypoint, Vertical scan or Corridor
mapping, by user choice. For Vertical scan and Corridor mapping points altitude will be ignored.
Waypoint will save altitude mode and altitude value from KML.
• LineRing - while importing can be converted into AreaScan, Photogrammetry or Perimeter, by
user choice. Waypoint mode and points altitude will be ignored.

A message with UgCS license Activation option will be displayed. Not activated license does not allow
to import KML route data. The enable this feature, please upgrade your license:
Figure 42 - License upgrade info message

19 Import route from CSV
UgCS is able to import CSV files. In order to import CSV files, click on the "Add new route" button
(plus sign). Choose “Import from file”, click “Browse”, to locate the CSV file and confirm with “Select”
and confirm with “Next”.
Figure 43 - Import CSV file
In the next screen, select the preferable vehicle profile.
There are two ways to describe data in CSV:
•without column names (headers) - in that case, a column order defines a data meaning;
•with column names (header) - in that case, column names (headers) a data meaning.
CSV schema without column names (header):

CSV file must have 3 mandatory fields: "Latitude", "Longitude", "AltitudeAGL". The fourth field
"Speed" is optional. Please note the header is ignored if it contains letters.
CSV schema with column names (header):

To recognize data column names are used. CSV file can contain any number of columns, but only
columns with the following names are used to get data from:
Column
Values Required Data meaning
name
The waypoint number in the route.

WP int No
If not specified then the waypoints
are ordered by row number.
Latitude double Yes The latitude of the waypoint.

Longitude double Yes The longitude of the waypoint.
Required if
AltitudeAGL double AltitudeAMSL not The AGL altitude of the waypoint.
specified
Required if
The AMSL altitude of the
AltitudeAMSL double AltitudeAGL not
waypoint.
specified
"Flight speed" attribute value of
Speed double No the waypoint. If not specified then
5 m/s.
If true then "Set camera mode"
Picture false (case insensitive) No action with option "Shot" is
created for the waypoint.
double Drone Yaw (degrees relative to

0.00-360.00 I the north).
f the value is out of the If specified then the "Change yaw"
UavYaw No
range then it is action with corresponding "Yaw"
automatically converted to relative to the north is created for
the value in the range the waypoint.
double
0.00-360.00 Camera till (degrees). If specified
If the value is out of the then the "Set camera attitude"
CameraTilt No
range then it is action with corresponding "Tilt" is
automatically converted to created for the waypoint.
the value in the range
Wait time (seconds). If specified
then the "Wait" action with
WaitTime double No
corresponding "Wait duration, s" is
created for the waypoint.
Separator - ',' (comma)
Example:
Latitude,Longitude,AltitudeAMSL,Speed,Picture,WP,CameraTilt,UavYaw
1.331213958,103.7424341,130,1,FALSE,1
1.331433271,103.7422533,131.7965138,1,TRUE,2,0,-145.4353298
1.331479854,103.7421857,131.7965138,1,TRUE,3,0,-145.4353298
1.331539018,103.7422265,131.7965138,1,FALSE,4
1.331596448,103.7421663,131.7965138,1,TRUE,5,0,-145.4353298
1.331643031,103.7420987,131.7965138,1,TRUE,6,0,-145.4353298
1.33167128,103.7420184,131.7965138,1,TRUE,7,0,-145.4353298
1.33169557,103.7419354,131.7965138,1,TRUE,8,0,-145.4353298
1.33171277,103.7418475,131.7965138,1,TRUE,9,0,-145.4353298

20 Joystick
Joystick/Keyboard (Input control) is used to control vehicle or payload. Several input controls can be
used simultaneously.
Control flow from input device should be sent to the vehicle only if:
• vehicle is under control of the operator;
• client window is active;
• vehicle is selected in UI.
“Keyboard” button allows to check connected devices, their mappings, calibration and to change
settings (Figure 4 - Mission editor #5).
JOYSTICK mode control channel:
Joystick mode is inherently more fragile than direct manual control via RC transmitter as it involves
many different data links and components:
Joystick device --> UgCS client --> server --> VSM --> Radio --> Radio --> Autopilot
If any of the above links fail, the joystick control is broken.
20.1 Fine-tuning axes via the GUI

Axis fine-tuning performed via interface. Click “Input mapping” button, located at the top right corner.
Checkbox the desired controller and select the axis that requires tuning.
Figure 44 - Window fine-tuning single axis
The window shows a list of the settings of the axis. Input and output axis of the profiles and devices
(Figure 44 - Window fine-tuning single axis). If the settings of axes more than fit the window to the
right appears scroller.

Following actions can be performed:
• add configuration for the profile that does not yet have such an axis setting;
• add individual input button to configure axis;
• calibrate axis for the input device;
• delete added devices;
• configure boundaries and point zero, non-linearity and "deadband";
• check the results of device settings.
Add axis settings for a profile, which does not yet have such settings
In the “Input” window, select the function which has no button (axis) assigned. For example. “Payload
1 – zoom” In the next module window, select the controller from dropdown menu located at the
bottom left, and click “add axis”. Use the desired axis for the action on the controller. UgCS should
detect it and notify operator with message “Currently detected: axis #” at the bottom. Click “Apply” and
“Save”.
Adding a single input button to configure axis

Single action button is being set up the same way as an axis. Select the single action function – Drop
down menu, select controller – add axis and click “Cancel” instead the axis editing window, will
appear single action editing window. Click “+” (plus) button, under “activation” sign at the top, right
corner of modular window. Press the desired action button on the controller. UgCS will detect it and
notify operator with the message “Currently detected #” at the bottom. Click “Apply” and “Save”.
Calibration of input devices

Pressing the button "calibrate" (calibrate) enables the calibration mode. Movement along the axis of
the device determines its minimum, maximum, and average values for the input. To accept or reject
the changes will be prompted.
Remove individual buttons and axis

To remove entire axis or a single action button, use the trash bin pictogram located at the modular
calibration window. (click the required action to open it). The button is located at the beginning of the
line, next to the device name and profile for axis and at the end, for single action buttons. Until “Save”
is pressed, all changes remain unsaved, window closes without saving.
Setting minimum, zero, peak, nonlinearity, the "dead zone"

These settings apply to the "input" signal from the control device in relation to the value of the main
axis, and are displayed as numbers with two decimal places. It’s possible to configure them manually.
Minimum, zero, determine the maximum under what values on input, will -1, 0 and 1. Next, the output
function is converted to a parameter with nonlinearity of the curve, and adjusted around the
"deadband" to non-zero values started immediately behind the range (it is set to +-n around a given
value of zero). Derived values are displayed at the bottom, in the form of graphics input to the output.
A line chart displays both the function and the current i/o device on it. The side graphics these same
data displayed in numeric form.
Note: Features work with the keyboard!

The keyboard has the following differences from other devices:
• Input axis search will not start when adding a keyboard;
• The current value is not displayed on the chart and calibration is not prompted.
• Input axis value zero, non-linearity and dead zone are not displayed.

21 UgCS ENTERPRISE configuration
21.1 Service manager

UgCS consists of many components to ensure maximum flexibility. Service manager is a utility for
managing the components of UgCS.
21.2 Checking the Components and Running the Application
21.2.1 Windows
UgCS will start automatically after the installation.
Run UgCS client by clicking shortcut icon on desktop. UgCS client is a GUI application which starts
UgCS service manager and all necessary processes. All processes will close after exiting from UgCS
client. Alternatively, start service manager by clicking the icon on desktop.
UgCS service manager will start the required background processes: universal control server (UCS),
vehicle specific modules (VSM) and the emulator.
Figure 45 - UgCS Service manager and UgCS client shortcuts
If service manager starts properly, it is found in system tray. Please check that all services are
running. If a service has stopped, it should be launched from the system manager’s menu.
Note: “Administrator” privileges are required to run the services.
If UgCS components are installed as Windows Services, it is possible to open the “Windows Services”
panel through the UgCS system tray icon.
Figure 46 - UgCS Service manager menu on Windows OS
The desktop icon launches the UgCS client. UgCS configuration is done automatically.

UgCS components can be started or stopped, using the context menu of service manager. The
automatic launch of the components is also managed in context menu (Figure 46 - UgCS Service
manager menu on Windows OS).
21.2.2 mac OS
Start UgCS by clicking the UgCS client icon in Launchpad.
After successful installation, the Launchpad has folder UgCS with two shortcuts (UgCS Service
manager and UgCS client). UgCS client will start GUI application, UgCS service manager will start all
necessary processes (Figure 47 - UgCS Service manager menu on mac OS).
After starting the UgCS service manager and UgCS client, the rest is done using the same method as
in Windows. Please refer to the Windows section for more information.
Figure 47 - UgCS Service manager menu on mac OS
21.2.3 Linux
For Linux installation instructions are published on http://apt.ugcs.com/doc.
The UgCS Client is started using the terminal command “$ ugcs-client” or from a desktop shortcut. All
server applications on Linux will start as a service automatically.
21.3 Deploying UgCS components to separate computers

Any component of UgCS can be installed on a separate computer.
Installing prerequisites is carried out using the installer when selecting "Advanced deployment".
Choose the components that will be installed to the computer and components configuration (ports, ip
addresses, etc.).
21.4 Configure connection from the client to the server USC

If using UgCS PRO or UgCS ENTERPRISE license, it is possible to connect additional clients from
other computers to the USC server.
To establish connection, it is necessary to click "Choose another server" when the client starts up.
Change the ip address to the address of the USC server and click "Retry".
21.4.1 Configure connection from the USC to the server VSM

When USC starts the server automatically contains all the VSM servers in the same network subnet,
or WiFi.

To add VSM server from a different subnet, specify the address and port in the application settings
(Main menu, Configuration, VSM-> add).
21.4.2 Configure connection from the USC to the other local UgCS Geoserver
To add or edit parameters of local UgCS, specify the address and port in the UgCS client settings
(Main menu, Configuration, Geoservers -> add/edit).
22 Custom maps
22.1 Map providers
Tiles
UgCS supports providers that use the Google XYZ addressing system. The URL of the provider
should be like this one in the example:
http://maps4.wien.gv.at/basemap/bmaporthofoto30cm/normal/google3857/{level}/{southing}/{easting}.j
peg
Figure 48 - Add new map source
22.2 UgCS Geoserver

This is map provider for sources which are provided by Local Geoserver and will be added
automatically when new map overlay uploaded.
22.2.1 Geoservers
Geoserver is a UgCS component meant for custom map source, elevation source and 3D model
import. It is installed together with UgCS and allows users to import custom DEM (Digital Elevation
Model) data as elevation source for a specified region and upload georeferenced raster data to
geoserver.

Figure 49 - Geoserver providers
22.2.2 Elevation z-order

Currently UgCS supports ArcASCII, GeoTiff and SRTM formats, but all GDAL Raster Formats1 that
feature Georeferencing should work.
To use an elevation source, it must be first added to “Elevation z-order” list. This list contains all
elevation sources that may be currently used. First add the necessary source to the list. The list order
is also important, because it determines the priority of a source – higher listed sources are of higher
priority and lower listed accordingly are of lower priority.
Now the added elevation source is ready to use and the route will be calculated according to the
elevation source of highest priority for the specific area.
22.2.3 Building sources

Currently UgCS supports the import of *.KMZ archives and *.KML files with external links.
To add new building source, create it in the “Geoservers” menu. The process is similar to elevation
sources. Go to “Geoservers” menu, clicking on “Local Geographic Server”, one can access “Manage
elevation buildings” menu. Then create new one by pressing “New source” button.
Add created source to “Building sources” list. As for elevations sources that list contains all building
sources that may be currently used. Press “Add” button and select created source.
23 Multioperator work
The UgCS allows operating a mission by different users from different computers.
This option is available only for UgCS PRO and UgCS ENTERPRISE licenses.
23.1 User list management

For the convenience and control, create a number of users who can have either "Admin" or
"Operator" role.
To create a new user navigate to Main menu - > Users. Click on "Create new". Fulfil all the fields and
specify the role. After that click "Save".
"Operator" role differs from the "Admin" role with only one function. Operator cannot create and edit
the list of users.

23.2 Collaboration on a mission
Collaboration work on one mission from different computers is possible if UgCS clients are configured
properly. See paragraph: Configure connection from the client to the server USC.
In this case, vehicles of all participants are available for all participants. The first user who opens the
mission has the permission to edit it. Other users are allowed only to view the mission. To refuse edit
permission of mission the current mission editor should click "Stop editing" in the menu "Menu". New
mission editor should click "Edit" in the menu "Menu".
Use the same scheme to give vehicle control to another person. Click “Release control” in the vehicle
drop down menu to do this. To take vehicle control click “Gain control” in the vehicle drop down menu.
In the vehicle card, there is an icon with the man (top left corner). Hover cursor on the icon and the
hint shows who locked the vehicle.

24 Drone specifics
24.1 Commands
Dis- Auto Manual Click Joystick Return Take- Emergenc
Platform Type Arm Land Hold Continue
arm Mode Mode & Go Control Home off y Land
3DR APM M Y Y Y Y Y Y Y Y Y Y
3DR APM F Y Y Y Y Y Y Y Y Y
DJI A2 M Y Y Y Y Y Y
DJI A3 M Y Y Y X Y Y Y
DJI Inspire 1, 2 M Y Y Y X Y Y Y
DJI Matrice 100 M Y Y Y X Y Y Y
DJI Mavic Pro,

Mavic 2 Pro/Zoom/ M Y Y Y X Y Y Y
Enterprise
DJI Spark M Y Y Y Y Y Y Y Y
DJI N3 M Y Y Y X Y Y Y
DJI Naza-M V2 M Y Y Y Y Y Y
DJI Phantom 3 M Y Y Y X Y Y Y
DJI Phantom 4 M Y Y Y X Y Y Y
DJI Phantom 4 Pro M Y Y Y Y Y Y Y Y
DJI Phantom 4 Pro

V 2.0
DJI Phantom 4 Pro

AVD
DJI WooKong-M M Y Y Y Y Y Y
Emulator M Y Y Y Y Y Y Y Y Y Y
Emulator F Y Y Y Y Y Y Y Y Y
Kestrel M Y Y Y Y Y Y Y Y Y Y
Microdrone M Y Y
Micropilot M Y Y Y Y Y Y Y
Mikrokopter M Y
PX4 M Y Y Y Y Y Y Y Y Y Y Y

24.2 Actions
Camera
Camera Camera
Camera trigger Change
Platform Type trigger Attitude / POI Panorama Wait
Mode by Yaw
by Time zoom
Distance
3DR APM M/H Y Y Y Y Y Y Y Y
3DR APM F Y Y Y Y Y Y Y
DJI A3 M Y Y Y Y Y Y Y Y
DJI Inspire 1 M Y Y Y Y Y Y Y
DJI Inspire 2 M Y Y Y Y Y Y Y Y
DJI Matrice 100 M Y Y Y Y Y Y Y Y

DJI Matrice 600 M Y Y Y Y Y Y Y
DJI Mavic Pro, Mavic

2 Pro/Zoom/ M Y Y Y Y Y Y Y Y
Enterprise
DJI Spark M Y Y Y Y Y Y Y
DJI N3 M Y Y Y Y Y Y Y Y
DJI Phantom 3 M Y Y Y Y Y Y Y
DJI Phantom 4 M Y Y Y Y Y Y Y Y
DJI Phantom 4 Pro M Y Y Y Y Y Y Y Y
DJI Phantom 4 Pro V

2.0
DJI Phantom 4 Pro

AVD
Emulator M Y Y Y Y Y Y Y
Kestrel M Y Y Y
Emulator F Y Y Y Y Y Y Y
Microdrone M Y Y Y Y Y Y Y
Micropilot M Y Y Y
Mikrokopter M Y Y Y Y Y Y Y Y
PX4 M Y Y Y Y Y Y Y

24.3 Fail-safe actions
Datalink GPS Low
Platform Type RC loss Notes
loss loss battery
Continue possible only while in

3DR APM M\H HLCN - LWN HCN
AUTO mode
3DR APM F N N - N Currently not implemented in VSM
DJI A3 M HC - - -
DJI Inspire 1, 2 M HC - - -
DJI Matrice 100 M HC - - - Configurable only via Assistant
DJI Mavic Pro, Mavic

2 Pro/Zoom/ M HC - - -
Enterprise
DJI Spark M HC - - -
DJI N3 M HC - - -
Configurable only via Assistant

DJI Phantom 3 M HC - - -
DJI Phantom 4 M HC - - - Configurable only via Assistant
DJI Phantom 4 Pro V

2.0
DJI Phantom 4 Pro

AVD
DJI Phantom 4 Pro M HC - - -
Emulator M HLCWN HLCWN HLCWN HLCWN
Emulator F HLCWN HLCWN HLCWN HLCWN
Kestrel M HL - - HL
Microdrone M HLCWN - LWN HLCWN
Micropilot M HLCWN - LWN HLCWN
Mikrokopter M - - - - Configurable only via Kopter Tool
Datalink loss (HLCW) is supported

PX4 M HLCWN - - HLCN by autopilot but not implemented in
UgCS
PX4 F - - - - Currently not implemented in VSM

Legend:
W: Wait L: Land H: Go home C: Continue Default value

24.4 Turn types
Adaptive
Banked
Platform Type Stop & turn Straight Spline banked
turn
turn
3DR APM \ Pixhawk F Y
3DR APM \ Pixhawk M\H Y Y
DJI A3 M Y Y
DJI Inspire 1, 2 M Y Y
DJI Matrice 100 M Y Y

DJI Mavic Pro, Mavic 2

M Y Y
Pro/Zoom/Enterprise
DJI Spark M Y Y
DJI N3 M Y Y
DJI Phantom 3 M Y Y
DJI Phantom 4 M Y Y
DJI Phantom 4 Pro V 2.0
DJI Phantom 4 Pro AVD

DJI Phantom 4 Pro M Y Y
Emulator M Y Y
Emulator F Y
Kestrel M Y
Microdrone M Y
Micropilot M\H Y
Mikrokopter M Y
PX4 M Y
PX4 F Y

25 License types and feature comparison
After the download and installation of UgCS it has limited functionality: the option to upload routes to
vehicles is disabled, except the emulators. To activate full functionality of UgCS the license has to be
activated (see chapter License activation).
To obtain an UgCS Activation code compare features and prices, visit UgCS online-store
www.ugcs.com or send a request to ugcs@ugcs.com.
UgCS PRO UgCS ENTERPRISE

For UAV professionals. For companies operating a fleet of drones.
Fully functional multi-drone ground control Suitable for companies operating a fleet of different
software for professional UAV mission manufacturer drones, requiring a unifying ground
planning. Digital elevation model (DEM) and station solution. ADS-B transponder support, multi-
KML file import enabling map customization, node deployment, enabling operating a central server
ADS-B receiver support to ensure flight with unlimited connections to UgCS server.
safety.
FEATURES COMPARISON
PRO ENTERPRISE
Mission planner | Drone control
Aerial surveying tools:
simple mission planning Y Y
Photogrammetry planner with GSD support Y Y
Flying long routes with battery exchange Y Y
Immersive 3D mission planning environment Y Y
Elevation profile Y Y
Telemetry display Y Y
Automatic flight mode (waypoints) Y Y
Manual mode Y Y
Click & Go Y Y
Joystick and keyboard control Y Y
Software emulator Y Y
Vertical scan Y Y
Expanding square (SAR) tools Y Y
Creeping line (SAR) tools Y Y
Area Scan Y Y
Corridor mapping Y Y
Supported Drones and Autopilots

FEATURES COMPARISON
PRO ENTERPRISE
DJI drones
Inspire 1/1 PRO/Raw, Inspire 2, Matrice 600/PRO,
Matrice 200/210/210RTK, Matrice 100, Mavic Pro,
Y Y
Mavic 2 Pro/Zoom/Enterprise, Phantom 4 PRO v2,
Phantom 4 ADV, Phantom 4 PRO+, Phantom 4 PRO,
Phantom 4, 3 and 2, Spark, A3, N3
MavLink compatible
Pixhawk/APM multicopter & helicopter Y Y
APM Airplane
Mikrokopter
Y Y
Quadro XL, Octo XL, Hexa
Microdrones
Y Y
MD4 series
MicroPilot
Yes, experimental Yes, experimental
Multicopter, Helicopter, Plane
Lockheed Martin
Y Y
Kestrel, Indago
Post-flight analysis and Image processing
Geotagging Y Y
Telemetry player Y Y
Custom maps
3D Buildings import Unlimited Unlimited
KML data import Y Y
DEM data import Y Y
Geo-referenced images import Y Y
No-Fly zones
No-Fly zones - airport registry Can be disabled Can be disabled
No-Fly zones - custom zones Y Y
Fly zone limits for routes No Limits No Limits
ADS-B Support
ADS-B Receiver
Y Y
microadsb; uAvionix pingRX and pingUSB
ADS-B Transponder
X Y
Sagetech XP
Video features
Video recording to the drone internal storage Y Y
Camera footprint Y Y
Video feed X Y
Multi-operator / Multi-drone support
Multinode installation Y Y
SDK support Limited Unlimited
Multi-drone support Y Y
Support
First year's support and update package Y Y

FEATURES COMPARISON
PRO ENTERPRISE
Annual Support & Update package (starting second
120 USD 400 USD
year)
E-mail support support@ugcs.com support@ugcs.com
Phone support 5x8 (UTC+02:00) Y Y
Request quote Request quote
Support 24x7
ugcs@ugcs.com ugcs@ugcs.com

26 UgCS Video transmitter
26.1 Overview
Main screen consists of the following elements:
1. Drone camera selection tab
2. Drone selection tab
3. Start / Stop streaming button
4. Preferences button
5. Video and telemetry status tab
6. Drone video life-stream
26.2 Operating UgCS Video Transmitter
• Start Video Transmitter application
• Video-transmitter discovers UCS and Video Server automatically with SSDP. If not,
right click preferences window and provide host and port for video server and ucs.
Settings tab also allows to set the video stream bitrate in case of Ethernet or Internet channel
limitations.

• In the drop-down list select the drone camera to transmit the video stream from. Picture from
selected device will appear in the main window.
• In the drop-down list select a drone to transmit telemetry from. Skipping this step will result in
the video will be streamed with only vehicle id and tail number data. Where vehicle id is a shorter form
of identifier, generated during installation, and tail number is a string from the app settings. You can
provide any string that will help you distinguish the video from others on the video server. Both values
are displayed in the video player’s stream selection list.
• State of readiness for stream video (from selected device) and state of readiness for stream
telemetry (from selected drone) are displayed on the top of the main screen separately.
• Video and telemetry states:
• Ready to stream - for video, means that the video server is discovered (or direct ip address is provided in the
app settings) and the video device is selected in the drop-down list. For telemetry the status means that
connection to UCS is established and a drone is selected in the drop-down list.

• Not ready to stream - hovering over the status will display the reason. For video this status means that video
server is not discovered (and direct ip address is not provided in the app settings) or video device is not
selected in the drop-down list. For telemetry the status means that connection to UCS is not established or
drone is not selected in the drop-down list.
• Streaming - for video means that the video from the selected video device is streaming to the video server. For
telemetry the status means that telemetry from the select drone is streaming to the video server with the video
stream.
• Initializing - only for video. Means that the app is trying to connect to the video server and start video streaming.
• Failed - only for video. Means that an error occurred during streaming video.
• Click Start button to start transmission.
• Status of the successful stream and bitrate are displayed on top. From this point the video is
available on Video Server.
• If a drone is selected then each N seconds during transmission the Video Transmitter gets
telemetry data from UCS and attaches it to a video stream as a MISP metadata.
• Click Stop button or close the app to stop transmission.

27 Troubleshooting
Answers to the most common questions are published on ugcs.com/faq.
27.1 Logs
To provide support for certain questions and issues UgCS logs would be required. Logs are store in
the following locations:
General logs:
Windows
C:\Users\ [USER NAME]\AppData\Local\UGCS\logs
(%LOCALAPPDATA%\UGCS\logs)
macOS
~/Library/Logs/UGCS
(/Users/[User Name]/Library/Logs/UGCS)
Linux
/var/opt/ugcs/log
Installation\Uninstallation logs:
Windows
C:\Users\[USER NAME]\AppData\Local\Temp
macOS
/Users/[User Name]/Library/Logs/
~/Library/Logs/
Linux
Use system logs for debian packages
Configuration files:
Windows
C:\Users\[USER NAME]\AppData\Local\UGCS\
C:\Program Files (x86)\UgCS\
macOS
/Applications/UgCS
~/Library/Logs/UGCS/configuration
(/Users/[User Name]/Library/Application Support/UGCS/configuration)
Linux
/opt/ugcs
/etc/opt/ugcs/

Database:
Windows
C:\Users\[USER NAME]\AppData\Local\UGCS\db\sqlite
(%LOCALAPPDATA%\UGCS\logs\db\sqlite)
macOS
~/Library/Logs/UGCS
(/Users/[User Name]/Library/Application Support/UGCS)
Linux
/var/opt/ugcs/server/sqlite
Installation directory (by default):

Windows
C:\Program Files (x86)\UgCS
macOS
/Applications/UgCS
Linux
/opt/ugcs
27.2 Errors and warnings

Messages Resolution
Only a part of the calculated route from point Count waypoint exceeds the maximum specified in
# to point # will be uploaded to the vehicle. the vehicle profile.
Please control the battery during the flight to Select option to Fly to route first waypoint and the to
return the vehicle home before it reached the route start point. With this option drone will
point of NO-RETURN. proceed to first waypoint, then fly to location where
route was interrupted and continue route.
.
Note: When uploading mission to vehicle, actual
number of loaded points may be different. Loading
huge mission with a lot of waypoint please check log
file to know how many waypoints really uploaded to
vehicle. This log on Windows usually at
C:\Users\USER_NAME\AppData\Local\UgCS\logs\V
EHICLE_VSM_FOLDER\
Estimated time of flight by route () exceeds Estimated flight time exceeds the maximum possible
the maximum flight time specified for the flight time specified for the vehicle profile.
vehicle profile (). Please control the battery Change the route or Change start point. Then the
during the flight to return the vehicle home part of route will be cut before the first dot (if there is
before it reached point of NO-RETURN a point), and after a Max point specified vehicle
profile.

Display warning message in route calculation Please delete duplicate action.
result
Segment #:
Warning: found more than one camera by
time/distance actions on a segment. Used
only first one for processing.
For only DJI vehicle on the mobile app: After Check camera settings.
changing the camera settings, the image is
not displayed or a black screen is displayed.
There is a known issue of Arducopter In order to avoid this, please use the "Turn Type" =
firmware below 3.5.3 - which can result the "Straight" or move the WPs apart.
autopilot to crash when multiple WPs with
"Turn Type"="Spline" and "Wait" action
added are located at the same location.

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Desktop application version 4.

© 2022 SPH Engineering www.ugcs.com

2 INSTALLATION AND SYSTEM REQUIREMENTS ...........................................................................................4

2.1 WINDOWS ....................................................................................................................................................5

3 USEFUL LINKS ..............................................................................................................................................6

4 LICENSE ACTIVATION ...................................................................................................................................6

6 STANDARD OPERATIONS .............................................................................................................................9

6.1 MISSION EDITOR: FLIGHT PREPARATION ...............................................................................................................9

7 MAIN MENU ................................................................................................................................................55

9 ADVANCED TOPICS ....................................................................................................................................63

9.1 SCREEN RESOLUTION ....................................................................................................................................63

11 IMPORTING 3RD PARTY MAPPING DATA .....................................................................................................73

11.1 IMPORTING GEOREFERENCED IMAGES AND GEO RASTER KML .................................................................................73

UgCS User Manual v.4.9 2 of 108 www.ugcs.com

14 SHOW CAMERA POSITION..........................................................................................................................78

16 PROXY SETTINGS .......................................................................................................................................78

17.1 RECEIVER ....................................................................................................................................................79

18 IMPORT ROUTE FROM KML ........................................................................................................................84

19 IMPORT ROUTE FROM CSV .........................................................................................................................86

20.1 FINE-TUNING AXES VIA THE GUI .......................................................................................................................88

21 UGCS ENTERPRISE CONFIGURATION ........................................................................................................91

21.1 SERVICE MANAGER........................................................................................................................................91

22 CUSTOM MAPS ...........................................................................................................................................93

22.1 MAP PROVIDERS...........................................................................................................................................93

23 MULTIOPERATOR WORK ............................................................................................................................94

24 DRONE SPECIFICS .......................................................................................................................................96

25 LICENSE TYPES AND FEATURE COMPARISON .........................................................................................100

26 UGCS VIDEO TRANSMITTER .....................................................................................................................103

UgCS User Manual v.4.9 3 of 108 www.ugcs.com

2 Installation and System Requirements

System requirements for Simple installation

OS Windows macOS Linux

Windows 7 with SP1 or

CPU Core 2 Duo or Athlon X2 at 2.4 GHz

Memory Recommended: 4 GB of RAM

Hard drive 2 GB of free space

Graphics Graphics card with DirectX 10 support (shader model 4.0).

Network TCP/IPv4 network stack

UgCS User Manual v.4.9 4 of 108 www.ugcs.com

OS UgCS client UCS VSM Emulator

Windows: Windows 7 with SP1 or later; Windows 8; Windows 10*

Linux**: Ubuntu 18.04 LTS

Memory 2 GB RAM recommended 512 Mb RAM

Hard drive 2 GB free space 256 Mb free space

Graphics card with DirectX 10

Network TCP/IPv4 network stack

1. Run the installer;

2. Follow the installation guide;

UgCS User Manual v.4.9 5 of 108 www.ugcs.com

1. Run the installer;

2. Follow the installation guide;

Detailed information on UgCS various application scenarios

Frequently asked question page with most common question

For assistance, please contact support@ugcs.com.

• connecting drone to UgCS;

• checking drone parameters;

• deciding where to fly and planning the route;

• performing actual flight;

• post-flight analysis, replaying telemetry, geocoding data.

UgCS user interface consists of three main windows: