Once the installation is finished, connect the Management Board of the 4x (using the Connector 4) with Veronte Link. Then, open 4x PDI Builder and select the Arbiter to configure.
If the Veronte Autopilot 4x is correctly connected, 4x PDI Builder will display the mode in which the connected unit is. In addition, a PDI error button will appear:
4x mode: The 4x unit should appear in Normal mode, as shown in the figure above, or Maintenance mode.
It can also appear as Maintenance mode (loaded with errors) or Normal mode - Disconnected.
Maintenance mode (loaded with errors) appears when something is wrong with the configuration.
For more information, see Troubleshooting section of this manual.
PDI Errors button: The user can check if the connected unit has PDI Errors by simply clicking on it. If there are no errors, the following message is displayed:
The user can access now to three configuration options:
4xVeronte. It allows the user to work with offline configurations. A previously exported 4x PDI configuration can be opened and modified. It is also possible to build a new one from the default configuration.
Upload PDI. A previously exported 4x PDI configuration can be imported to the linked Arbiter (PDI files are transferred from computer to Arbiter).
Open 4x Veronte. It opens the configuration (the PDI files) loaded in the Arbiter (PDI files are transferred from Arbiter to computer). Then, the user can modify them online.
PDI (Parameter Data Item) files are configuration files. They are used by modular control with improved version management. These PDI files are split in 2 folders. Each folder contains several .xml files:
setup: contains the configuration of the Arbiter. All control system and parameters are stored here.
xsd: holds .xsd files. An XSD file is a definition file specifying the elements and attributes that can be part of an XML document. This ensures that data is properly interpreted, and errors are caught, resulting in appropriate XML validation.
Users should never delete, replace or modify xsd files.
Finally, click on ‘Open 4xVeronte’ to open the configuration and start editing online. When opened, the unit changes to Maintenance mode.
If an offline configuration is opened, it will be possible to select the hardware version to work with on the marked button:
1.8 Bare arbiters A and B of version 1.8.
The different ‘buttons’ that can be seen in the initial menu are explained below.
Save PDI. After changes are done, press here to apply changes.
After saving any changes, the Arbiter will RESET and the 4x PDI Builder software will close.
As the Arbiter is reseted, it is not advisable to save changes during flight tests.
This button will only appear if an Arbiter is connected. When working offline this button will not be available.
Export PDI. After modifying a configuration, press here to save the configuration in the local storage (both folders with the PDI files are downloaded). Users can store this configuration in an empty folder or in the folder where the previously imported configuration is stored. With the latter option, the “original” configuration will be overwritten by the one with the new changes.
Import PDI from repository. The user can import a configuration file from the GitHub repository and modify it. After that, if the Save PDI button (1) is pressed, this configuration will be uploaded to the connected arbiter.
Import PDI from local storage. The user can import a configuration file from the local storage and modify it. After that, if the Save PDI button (1) is pressed, this configuration will be loaded into the connected arbiter.
Feedback. Users can report a problem they have encountered by creating an issue in their own ‘Joint Collaboration Framework’. The ‘Download’ button downloads a zipped folder with the current arbiter configuration and more information needed for Embention to resolve the issue. It is advisable to attach this folder when creating the issue.
These are the different functions of the arbiter. They are explained in the following menus.