Troubleshooting

Debug serial messages transmission

To check that the transmission of serial messages is being carried out correctly, the user can view what is being sent in the 1x PDI Calibration software hyperterminal. To do this:

1x PDI Builder side

1. Go to Input/Output menu I/O Setup panel.

   Connect the RS custom message producer (where the message is configured) to a Tunnel with Address 2 (App) (App).

   In this case, the message is configured in the RS custom message 0 producer and sent through Tunnel 0.

   

1x PDI Calibration side

2. Go to Terminal tab.

   Click on Agree:

   

3. Next, select the Tunnel 1 (this corresponds to the Tunnel 0 that has been configured in the 1x PDI Builder, as the numbering here starts at 1 and not 0) and click on Launch:

   

   The tunnel console should open and the user will be able to view the message being sent:

   

   For more information on the Terminal configuration, please refer to the Terminal section of the 1x PDI Calibration user manual.

Maintenance mode

The user can simply enter maintenance mode via 1x PDI Builder by clicking on the "Normal mode" button in the initial menu. In addition, exiting maitenance mode is the same process.

Below is an example of how to do this:

Maintenance mode (loaded with errors)

The following error message may appear when trying to save a change or import a configuration.

Therefore, Veronte Autopilot 1x will be in 'Maintenance mode (loaded with errors)':

To check what the source of the problem is, the user can simply click on the PDI Error button , which will show what the PDI Error is:

• PDI ID: ID of the PDI Error.

• PDI Error Description: Description of this PDI Error. A list of all PDI Errors can also be accessed in the List of PDI Errors - Lists of interest section of the 1x Software Manual.

• Config ID: ID of the configurable (.xml file) containing the data in which the PDI Error has been caused.

• Config Description: Description of the configurable (.xml file) containing the data in which the PDI Error has been caused.

Clicking the Export button will export a .csv file with the same information shown in this PDI Errors panel.

In addition, a list of all PDI Errors can be accessed in the List of PDI Errors - Lists of interest section of the 1x Software Manual.

Migrate configuration

Radios paired but 1x air unit not showing

If the radios of both Autopilots 1x, air and ground units, are paired but the 1x air unit does not appear connected in Veronte Link, it may be because the routing on the 1x ground unit is not correctly configured. Therefore, users should check the Ports configuration on the 1x ground unit. To do this:

Go to Communications menu Ports panel, and the routing of Address 2 (App) (address by which Autopilots 1x ground and air units communicates with all Veronte applications, such as Veronte Link) must be set to the port that is connected to the USB (PC connection), in this case it is PORT 0.

Reducing GNC Task frequency

400 Hz is the maximum possible frequency, but can only be used in simple configurations, in other cases it is advisable to reduce it to 250-300 Hz.

To find out if the frequency needs to be reduced in the user configuration, check the GNC Task Average CPU Ratio variable.

For correct operation, this variable should be at approximately 60-70%. If it reports a higher value, the frequency must be lowered.

Trajectory Overshoot

If the user observes significant meandeling or overshoot in the mission path, this can be reduced by modifying the gains of the guidance PIDs:

• Reducing the proportional gain.
• Ensure that the integral gain is 0.

Guidance error accumulates and leads to increasing overshoot, as can be seen in the following example: