Operation

All the tools in this 'section' allow the user to design the mission, such as waypoints, segments, marks, runways, etc.

Important

Whenever any of these elements are created/modified, it is necessary to Save save and Upload upload them into the Autopilot 1x configuration.

For more information about these actions, refer to the Operation actions - Operation section of this manual.

Operation Custom Point

Operation Custom Points are points with absolute position to which a relative route can be associated.

Use the Operation Custom Point tool and click (left-click) on the map to create new operation custom points. Then, when users have created all the desired operation custom points, right-click on the map to close/finish the 'creation event'.

To move operation custom points, it is first necessary to activate mission editing by clicking on the edit icon. Then, simply drag it to the desired position.

In relation to operation custom points, the following actions can be performed with the mouse:

Clicking once on the operation custom point will display a summary of the operation custom point information: Operation Custom Point ID, coordinates and elevation:

Operation Custom Point information
Right-clicking on the operation custom point, users will access its options:

Operation Custom Point options
- Operation Custom Point Settings: The user can change the configuration of the operation custom point (coordinates and elevation) in the menu displayed here:
  
  Operation Custom Point configuration
  
  There are 3 ways of defining the position of an operation custom point manually:
  1. Matching it to the platform position. By selecting the icon, the operation custom point coordinates and elevation will be automatically updated with those of the actual platform's actual position.
  2. Selecting a position in the map. Simply click on this icon , then click on the desired point on the map and the operation custom point coordinates and elevation will be updated automatically.
  3. Entering the exact coordinates and elevation here:
    - Set coordinate: The coordinates can be set in:
      - Decimal Degrees Latitude (DD) and Longitude (DD)
      - Degrees Latitude (DMS) and Longitude (DMS)
      - UTM x (Easting), y (Northing), Zone and Hemisphere
      - MGRS (Military Grid Reference System)
    - Set elevation: Whichever way the user defines the altitude (WGS84, MSL and AGL), Veronte Ops will calculate the other 2 ways.
      
      That is, if the user defines a waypoint at X m in AGL, Veronte Ops will automatically calculate what that value is in WGS84 and MSL.
- Remove Operation Custom Point: Deletes the operation custom point.

Waypoint

Use the Waypoint tool and click (left-click) on the map to create new waypoints. Then, when users have created all the desired waypoint, right-click on the map to close/finish the 'creation event'.

To move waypoints, it is first necessary to activate mission editing by clicking on the edit icon. Then, simply drag it to the desired position.

In relation to waypoints, the following actions can be performed with the mouse:

Clicking once on the waypoint will display a summary of the waypoint information: Waypoint ID, coordinates and elevation:

Waypoint information
Right-clicking on the waypoint, users will access to its options:

Waypoint options
- Waypoint Settings: The user can change the configuration of the waypoint (coordinates and elevation) in the menu displayed here:
  
  Waypoint configuration
  
  There are 3 ways of defining the position of a waypoint manually:
  1. Matching it to the platform position. By selecting the icon, the waypoint coordinates and elevation will be automatically updated with those of the actual platform's actual position.
  2. Selecting a position in the map. Simply click on this icon , then click on the desired point on the map and the waypoint coordinates and elevation will be updated automatically.
  3. Entering the exact coordinates and elevation here:
    - Absolute:
      
      Absolute waypoint position
      
      Set coordinate: The coordinates can be set in:
      
      Decimal Degrees Latitude (DD) and Longitude (DD)
      
      Degrees Latitude (DMS) and Longitude (DMS)
      
      UTM x (Easting), y (Northing), Zone and Hemisphere
      
      MGRS (Military Grid Reference System)
      
      Set elevation: Whichever way the user defines the altitude (WGS84, MSL and AGL), Veronte Ops will calculate the other 2 ways.
      
      That is, if the user defines a waypoint at X m in AGL, Veronte Ops will automatically calculate what that value is in WGS84 and MSL.
    - Relative: In this case, the position of the waypoint is relative to another point.
      
      That point could be the UAV position, a Desired position, a Track position or an Operation Custom Point. They are indicated through North, East and Down.
      
      Relative waypoint position
  Warning
  
  If the elevation of a waypoint is set below the terrain altitude, the user will be able to detect it quickly as a warning symbol will appear next to the waypoint. In addition, it will also be indicated in the waypoint information as "Threshold AGL alert":
  
  Waypoint - Warning below terrain
- Open elevations: To be able to consult the elevation of the route, it is required to have installed the Veronte Terrain Provider application (for more information about this, see Additional apps section of this manual).
  
  Here users can see an estimate of the height of the terrain and the height of the route to be taken as well as the collisions that could occur.
  
  In addition, users can set up a Warning Threshold, which will be represented as a red warning line over the terrain. Fore more information, see Map settings - Veronte Ops configuration section of this manual.
  
  By clicking on it, the following menu will appear:
  
  Elevation (MSL) menu
  1. This legend showing waypoints, terrain, collision and warning threshold is an 'interactive' legend, i.e. users can choose which of these elements are displayed or not by simply clicking on them:
    
    Elevation (MSL) menu - Legend
  2. Drag button: When enabled (), users can modify the altitude of the waypoints by simply clicking and dragging them. If it is disabled (), it is not possible to move them:
    
    Elevation (MSL) menu - Dragging waypoints
  3. Settings button: Displays a new window with some parameters that can be customized:
    
    Open elevation menu - Settings
    - General: An offset can be set for Y axis.
    - Units: Units of the elevation and distance of the chart view can be set.
    - Set elevations: The altitude of all waypoints on the route can be modified.
    - Paddings: The size of the grid can be adjusted as desired.
    - Sliders: X and Y axes sliders can be hidden by disabling them.
    - Advanced: The collision line and chart colors can be modified:
      
      Elevation (MSL) menu - Advanced settings
- Set Events: This option allows to associate this waypoint to a specific event.
  
  This works as follows, in this panel the user links this waypoint to an "Event Waypoint". This Event Waypoint is the one that has to be linked to the desired event in the Automations menu of the 1x PDI Builder software.
  
  Important
  
  To do this, it is first necessary to have defined (renamed) an Event Waypoint in the UI menu of the 1x PDI Builder software, as described and explained in the corresponding section of the 1x PDI Builder manual, click here to access it.
  
  Simply check the desired Event Waypoint to be associated:
  
  Waypoint options - Set Events
  Note
  - Users can associate a waypoint to as many Event Waypoints as there are created (a maximum of 16 Event Waypoints can be defined in the system).
  - Different waypoints can be linked to the same Event Waypoint.
  Moreover, if the Event Waypoint that is linked to the waypoint has an associated icon, the icon will appear at this waypoint. In addition, when clicking on it, the name of the Event Waypoint defined by the user will appear in its description. An example is shown below:
  
  Waypoint information - Set Events
- Go to: By clicking here, the platform will fly to this waypoint. If the waypoint belongs to a mission, the platform will continue that mission after reaching it.
  
  Note
  
  This option only appears when a Veronte Autopilot 1x is connected and the operation, which the user is working on, is stored in the autopilot.
- Set Start Route: Users must define where they want the cruise route to start by defining the waypoint as such with this option. The waypoint will turn of green color.
  
  Warning
  
  If users do not define any waypoint as the 'Start Route', the operation will not be uploaded to the autopilot configuration and the following warning notification will be displayed:
  
  Set start route - Warning notification
- Remove Waypoint: Deletes the waypoint.

Segment

To create a new segment, click on the segment icon and then select on the map the point where the segment will start. To end the track, users have to double click directly with the left mouse button to create the last waypoint of the segment. Then, after creating the last waypoint, right-click on the map to close/finish the 'creation event'.

In addition, users can concatenate two or more segments by clicking on various points on the map with the left button, as shown in the figure below:

Besides, to create a closed route, users must match the last waypoint of the segment with the first one:

It is also possibe to curve a segment. To do so, users must create the segment, edit the mission by clicking on the edit icon, and then move the translucent orange waypoint ( curve_wp ) in the center of the segment. The distance moved will correspond to the radius of the curve:

There is an extra option in the options for a waypoint that corresponds to the start of a curved segment:

Set Turns: This option allows the user to set a desired number of turns. After these turns the platform will continue with the defined mission. An example is shown below:

Curved segment - Turns

Warning

When a segment is created, be careful with the height of the waypoints.

Users can check for collisions between route waypoints and terrain directly on the map or using the 'Open elevations' functionality described above.

To check directly on the map, if some of the waypoints are below the terrain altitude indicated by the meshes, a warning symbol will appear next to them and the affected segment will change its color to red. In addition, it will also be indicated in the waypoint information as "Threshold AGL alert".

To solve this, change the altitude of the waypoints. An example is shown below:

Orbit

This tool allows the user to create a new orbit on the map.

First, select a point on the map which will be the center of the new orbit. Then, when users have created all the desired orbits, right-click on the map to close/finish the 'creation event'.

In addition, the initial circular orbit can be converted into an ellipse by modifying the length of the axes and can also be rotated. To do this, edit the mission by clicking on the edit icon, then move the 4 translucent orange waypoints ( curve_wp ) as desired to turn them into an ellipse and to rotate it, click and rotate the small blue circle ( blue_circle ):

Besides, there is an extra option in orbits regarding waypoints and segments:

Set Direction: It is possible to select the direction of the loiter: Auto, Clockwise and Anticlockwise.

Warning

When creating an orbit, be careful with its altitude and the ground level (all the points of the orbit will be at the same altitude).

Users can check for collisions between orbit and terrain directly on the map or using the 'Open elevations' functionality described above.

To check this directly on the map, if any part of the orbit is below the terrain altitude indicated by the meshes, a warning symbol will appear next to the waypoint and the affected segment will change its color to red. In addition, it will also be indicated in the waypoint information as "Threshold AGL alert".

To solve this, change the altitude of the waypoint. An example is shown below:

Shape

Within this option areas/volumes with different shapes can be created: prisms, spheres, cylinders and geocaging areas.

The vertices (waypoints) that compose these volumes are all configured in the same way. Right-click on them to access their options:

Volume Settings: The user can change the configuration of the volume vertex (coordinates and elevation) in the menu shown here. Its configuration is the same as for a waypoint (a detailed explanation of this has been described in the Waypoint section above).

Note

The geocaging area does not have this option.
Remove Volume: Deletes this volume.

Furthermore, these volumes have a shared configuration option, "Set Events". This option allows to associate this volume to a specific event.

This works as follows, in this panel the user links this volume to an "Event Volume". This Event Volume is the one that has to be linked to the desired event in the Automations menu of the 1x PDI Builder software.

Important

To do this, it is first necessary to have defined (renamed) an Event Volume in the UI menu of the 1x PDI Builder software, as described and explained in the corresponding section of the 1x PDI Builder manual, click here to access it.

Simply check the desired Event Volume to be associated:

Note

Users can associate a volume to as many Event Volumes as there are created (a maximum of 60 Event Volumes can be defined in the system).
Different volumes can be linked to the same Event Volume.

Moreover, if the Event Volume that is linked to the volume has a custom color, the volume will turn that color. In addition, when clicking on it, the name of the Event Volume defined by the user will appear in its description. An example is shown below:

Prism

This tool is used to determinate an area in which an action is wanted to be performed. When the aircraft enters or leaves the prism an event may be triggered and it can be used to start an automation.

To add a prism, click on its icon, click on the desired points on the map and match the last waypoint of the prism with the first one. Then, when users have created all the desired prisms, right-click on the map to close/finish the 'creation event'.

Like the other elements, it can be edited to change its shape by moving its vertices. Click on the edit icon:

Right-clicking on the prism, users will access to its options:

Set Height: Users can set the upper and lower heights of the prism. By default, prisms have infinite lower and upper boundaries.

Prism options - Set Height

As can be seen in the figure above, the lower and upper limits can be set as absolute or relative:
- Relative icon: The altitude is relative to an Operation Variable, previously defined in 1x PDI Builder. But, it is required to set the value of the variable in the Operation Variables of the Operation Panel. In addition, it is necessary to establish whether it is relative to AGL, MSL, WGS84 or to a Fld (feature) that has to be selected.
  
  Prism options - Height relative
  
  Prism options - Operation Panel
- Absolute icon: The value must be entered manually and it is also necessary to establish whether it is relative to AGL, MSL, WGS84 or to a Fld (feature) that has to be selected.
Invert: This inverts the defined area.

Prism options - Invert
Set Obstacle: A prism can become an obstacle, an area that is desired to avoid. This option has been implemented to be used as the geofencing funcionality.

Note

When setting the obstacle, the option "Set Obstacle" changes to "Set Prism". This option turns the obstacle back into a prism.

Prism options - Set Obstacle

This tool allows to set an exclusion area on the map that can not be crossed by the RPAS. Main functions of the tool:
- Avoid collisions with obstacles as for example buildings, trees or antenna towers.
- Avoid flying restricted access areas.
What can happen with high speed aircrafts (Airplanes)?

It is possible that due to its speed, the RPAS will enter the obstacle area, but will immediately apply the corrections to exit the obstacle area and return to the path. The solutions to this problem is to configure a bigger obstacle area in order to avoid the physical obstacle.

What can happen with mow speed aircrafts (Multirotor)?

It can happen that a multirotor enter an obstacle area (staying very close to its center), at that moment the Ground Speed Vector and the Field Repulsion Vector have the same direction but opposite sign. This phenomenon causes a conflict and until the directions are different enough to allow the multirotor to move, it will remain in an indecision situation.

To solve this problem the user can configure the obstacle area by leaving the center of the obstacle away from the path line.
Set Events: Explained previously in the Shape section.
Remove: Deletes the prism.

Sphere

This tool is used to determinate a spherical volume (3D) in which an action is wanted to be performed. When the aircraft enters or leaves the sphere an event may be triggered and it can be used to start an automation.

To add a sphere, click on its icon, click on the desired point on the map and drag it to set the radius. Then, when users have created all the desired spheres, right-click on the map to close/finish the 'creation event'.

Like all other elements, it can be edited to move it or change its radius by clicking on the edit icon:

Right-clicking on the sphere, users will access to its options:

Set Radius: To accurately set the radius of the sphere, users can enter the value manually.
Set Obstacle: A sphere can become an obstacle, an space that is desired to avoid. As it is a 3D space, it allows the platform to avoid it by passing over it, taking into account the height of the obstacle. This option has been implemented to be used as the geofencing funcionality.

Note

When setting the obstacle, the option "Set Obstacle" changes to "Set Sphere". This option turns the obstacle back into a sphere.

Sphere options - Set Obstacle

This functionality acts in the same way as when defining a prism as an obstacle, but taking into account 3 dimensions. Therefore, the platform will be able to prevent the obstacle from passing over it.
Set Events: Explained previously in the Shape section.
Remove: Deletes the sphere.

Cylinder

The way it works is very similar to Prism, described above.

This tool is used to determinate a cylindrical area in which an action is wanted to be performed. When the aircraft enters or leaves the cylinder an event may be triggered and it can be used to start an automation.

To add a cylinder, click on its icon, click on the desired point on the map and drag it to set the radius. Then, when users have created all the desired cylinders, right-click on the map to close/finish the 'creation event'.

Like all other elements, it can be edited to move it or change its radius by clicking on the edit icon:

Right-clicking on the cylinder, users will access to its options:

Set Height: Users can set the upper and lower heights of the cylindrical area. By default, cylindrical areas have infinite lower and upper boundaries. It works in the same way as in the prism areas, described above.
Set Radius: To accurately set the radius of the cylinder, users can enter the value manually.
Set Obstacle: A cylinder can become an obstacle, an area that is desired to avoid. This option has been implemented to be used as the geofencing funcionality.

Note

When setting the obstacle, the option "Set Obstacle" changes to "Set Cylinder". This option turns the obstacle back into a cylindrical area.

Cylinder options - Set Obstacle

This functionality acts in the same way as when defining a prism as an obstacle.
Set Events: Explained previously in the Shape section.
Remove: Deletes the cylinder.

Geocaging area

The geocaging function is an UAS function that helps the remote pilot to prevent the platform from exiting out of a volume defined (geocaging area) on purpose for this operation. This function operates in both horizontal plane and vertical axis.

There are three grades defined to accommodate different levels of risk in case of exit. This function will provide, depending on the grade, one or several barriers to the exit. These barriers can be alerts to the remote pilot that will perform the adequate actions or, optionally, can be automatic actions.

In addition to the 3 areas to comply with the different risk levels, an additional zone has been defined:

Flight Geography Area: This area corresponds to the volume intended normally for the flight. It is delimited by green lines.
Contingency Area: This area is the volume needed to accommodate contingency alerts or actions. It is yellow colored area delimited by red lines.
Emergency Area: Volumen beyond the Contingency Area which is computed to accommodate emergency warning alerts or actions. This area is delimited by dashed red lines.
Additional safety zone: Volume added after the computed Contingency and Emergency Areas, and before the "not to enter" volume. It is delimited by dashed red lines.

These contingency and emergency actions, as well as actions that can be added related to the Additional safety zone, are customizable. They have to be configured as any action associated to a volume from the Automations menu of the 1x PDI Builder software.

An example of geocaging corrective actions that can be configured following the standard can be found in the Geocaging - Integration examples section of the 1x PDI Builder user manual.

Important

Only 1 geocaging area can be created. However, if a second geocaging area is created that intersects with the current one, a "merge" of both geocaging areas will be performed generating a single area. For example:

**Geocaging area - Intersection of geocaging areas**

If users try to create a second geogacing area that does not "touch" the first one, i.e. there is no intersection between them, the first one will be deleted if the following warning confirmation message is accepted:

**Geocaging area - Warning confirmation message**

Error

If users try to generate a geocaging area that "crosses" the edges, Veronte Ops will not allow it, neither when creating it from scratch nor when modifying an existing area:

**Geocaging area - Shape error message**

Warning

Geocaging warnings

The generated area must be between 200 m² and 100 000 km². The following messages will appear if the area does not respect these limits, neither when creating it from scratch nor when modifying an existing area:

Geocaging area - Surface error
The created area cannot have angles greater than 30º. The following message will appear when the area has angles that exceed this limit, either when it is created from scratch or when an existing area is modified:

Geocaging area - Edges sharper than 30º error

Geocaging Settings:

Geocaging options - Settings
- Defined area: Users have to choose to which zone they want the drawn area to correspond, whether Flight Geography Area or Emergency Area, and the rest of the zones will be assigned automatically based on the configured margins.
- Elevation: Select between AGL, MSL or WGS84 reference system to define the altitude of the different zones within the geocaging area.
- Flight Geography Area:
  - Set height limits: Users must set the desired upper limit for this area. In addition, the lower limit can also be defined (optional).
  - Set Events: Users must associate this area to the specific event that must be previously defined in the 1x PDI Builder software to trigger an alert or a corrective action. This option is explained in detail in the Shape section above.
- Contingency Area / Emergency Area / Additional safety zone:
  - Set Events: Users must associate this area to the specific event that must be previously defined in the 1x PDI Builder software to trigger an alert or a corrective action. This option is explained in detail in the Shape section above.
  - Contingency / Emergency / Additional safety zone width: Depending on the Defined area selected when creating the geocaging area, this margin width will act differently in the calculation of the area size.
    - Flight Geography Area selected: The size of these zones is calculated by adding the margin entered here to the width and altitude of the previous area (3D zones).
    - Emergency Area selected: The calculation for the size will be:
      - For the Additional safety zone, adding the margin entered here to the width and altitude of the previous area (3D zone).
      - For the Contingency and Flight Geography Areas, subtracting the margin entered here to the width and altitude of the previous area (3D zones).

If the defined geocaging area complies with the standard, the "Geocaging not OK" bit (ID 504) will be TRUE, otherwise it will be FALSE.

Note

This bit checks the following:

Regarding area, the geocaging area created must be between 200 m² and 100 000 km².
In terms of elevation:
- Must be defined absolute, not relative.
- All of the heights of the vertical limits shall be in the same reference system (MSL, AGL, WGS84).
- Upper limit must always be set.
- Lower limit must not be set in any area, except in the Flight Geography area where it is optional.

Example

The following actions are an example of user-configurable corrective actions that comply with the standard:

An alarm bit is activated when entering the Contingency Area.
A command is sent to switch to the "Return to home" phase when entering the Emergency Area.
The FTS is activated when entering the Additional safety zone.

In the case where the corrective actions are as described above, the principle of operation will be as follows:

If the Flight Geography Area limit is trespassed, the platform enters in the Contingency Area and the defined "Contingency area" bit will turn FALSE, causing an alert to appear next to the platform icon (this alert must be configured in the settings of the platform icon, the user can find an explanation of this in the Platform icon - Veronte Ops configuration section of the present manual). Next, if the plaform exits this area and enters the Emergency Area, the current flight phase will switch to Return to home. Finally, if the platform also exits this area and enters the Additional safety zone, the FTS will be activated.

Geocaging Vs Geofencing

Geocaging defines an extensive 3D operational flight area by operating in both the horizontal and vertical axes and restricts movement outside of it. In this system, the behavior is that alerts and responses configured in the 1x PDI Builder software are triggered, depending on the zone in which the platform is located.

Geofencing restricts or prevents entry into specific areas by creating virtual boundaries around physical locations. In this system, a repulsion is implemented around the user-defined obstacle to achieve geofencing behavior.

Runway

This option allows the user to configure a Runway which is used during flight phases.

Note

The linking of a runway to an automation is done in the Operation Panel, for more information about this, see Operation Panel - Operation section of this manual.

To add a runway, click on its icon, click on a point on the map to define the start and click on a second point to define the end of the runway.

Note

The loiter position is automatically defined and it is identified by this icon: loiter_position , as can be seen in the image above.

By accessing the mission edition ( edit icon) it is possible to modify the position of the start and end points of the runway, as well as the position of the loiter point:

Right-clicking on the start, end or loiter point of the runway, users will access to its options:

Runway Start/End/Loiter Settings: The coordinates of this runway point can be edited manually. Its configuration is the same as for a waypoint (a detailed explanation of this has been described in the Waypoint section above).
Runway Settings: The following parameters can be configured:

Runway options - Settings
1. Runway direction: The direction of the runway is defined here with an arrow.
  
  By default it is , but user can define it as desired clicking on it. The available options are and AUTO.
  
  Note
  
  When the AUTO option is selected, the runway direction will be defined by the wind direction.
2. Runway coordinates: The user can manually introduce the coordinates of the start and end point of the runway. Its configuration is the same as for a waypoint (a detailed explanation of this has been described in the Waypoint section above).
3. Margin/Margin Reverse: Percentage of the runway distance at which the airplane will try to touch the ground.
4. Loiter Position: To accurately define the loiter point of reference (Runway Loiter), its coordinates and the altitude that the aircraft will reach during climb, can be defined in this option. Its configuration is the same as for a waypoint (a detailed explanation of this has been described in the Waypoint section above).
Configure Alarms: When an alarm is selected, the aircraft shall perform the actions associated to that alarm on the selected runway.

Runway options - Configure Alarms

Alarms are configured with bit variables, users can select any bit they want.

Runway options - Alarms
Remove Runway: Deletes the runway.

Spot

This option allows the user to configure a Spot which is used during flight phases. A spot refers to a kind of runway where a initial point and its azimuth is defined. Besides, it is necessary to define a delta angle.

Note

The linking of a spot to an automation is done in the Operation Panel, for more information about this, see Operation Panel - Operation section of this manual.

Note

The loiter position is automatically defined and it is identified by this icon: loiter_position , as can be seen in the image above.

By accessing the mission edition ( edit icon) it is possible to modify the position, azimuth and delta of the 'spot' and also the position of the loiter point:

Right-clicking on the 'spot' or loiter point, users will access to its options:

Spot Point/Loiter Settings: The coordinates of this point can be edited manually. Its configuration is the same as for a waypoint (a detailed explanation of this has been described in the Waypoint section above).
Spot Settings: The aircraft will land or take-off using the best orientation computed within the area bounded by the parameters entered here:

Spot options - Settings
- Position: The user can manually introduce the coordinates of the 'spot' point. Its configuration is the same as for a waypoint (a detailed explanation of this has been described in the Waypoint section above).
- Azimuth and Delta: Users must configure the desired azimuth and delta for the spot. The units available for these angular values are , º ' " , and .
  
  Note
  
  Azimut parameter can also be defined as relative to another point instead of absolute. To do this, click on the icon.
  
  Spot parameters
- Loiter Position: To accurately define the loiter point of reference (Spot Loiter), its coordinates and the altitude can be defined in this option.
  
  Its configuration is the same as for a waypoint (a detailed explanation of this has been described in the Waypoint section above).
Configure Alarms: When an alarm is selected, the aircraft shall perform the actions associated to that alarm on the selected spot. It is configured in the same way as runways, described above.
Remove Spot: Deletes the spot.

Marks

This tool allows to set an event mark on a patch. Marks are useful to initiating automations. When the aircraft flies over it, an event is triggered and can be used as a condition to start a set of actions: add a lap to a counter, payload launch, take a photo, start video recording, etc.

Note

The linking of a mark to an automation is done in the Operation Panel, for more information about this, see Operation Panel - Operation section of this manual.

To place a mark, it is first required to create a patch. The elements described above that are patches are waypoints, segments and orbits. To add it, select the tool and click on the desired patch. Then, when users have created all the desired marks, right-click on the map to close/finish the 'creation event'.

Initially, new marks appear as a pin (). If the user links an event to one of them, the icon selected for this event will be displayed.

Marks can be moved along the patch by clicking on the edit icon:

Note

A mark can only be displaced if it is in a segment.

Right-clicking on the mark, users will access to its options:

Set Distance: This distance is the horizontal distance along the patch to the starting waypoint. If the mark is attached to a waypoint, distance will be zero.
Remove Mark: Deletes the mark.

Generate route

To be able to create these elements, it is first necessary to have the application Veronte Terrain Provider running.

If this tool is not initialized, the following warning message will appear when trying to use any 'Generate Route' element:

Spiral

Spiral tool draws a spiral that can cover a target area.

The spiral options are accessed in the same way as for the other elements described above, and are the same as the Waypoint options but with the addition of 2 more:

Spiral Settings: The following parameters can be configured:
- Invert: When enabled, the direction of the route will be the opposite to the direction configured below.
- AGL: If enabled, the waypoint altitude is set in AGL, otherwise it is expressed in MSL.
- Radius: Spiral maximum radius.
- Rounds: The number of spiral rounds.
- Altitude (MSL/AGL): Altitude of the waypoints expressed in MSL/AGL (depending on whether the AGL parameter is enabled or disabled).
- Direction: Direction of the spiral axes on the map.
Generate route - Spiral Settings

Warning

If the user 'refreshes' Veronte Ops, it will no longer be possible to access this configuration menu.

Generate route - Spiral options after refresh
Set Turns: The spiral also acts as a curved segment so it has the same option as this; a detailed explanation has been described in the curved segment section above.

Photogrammetry Mission

Photogrammetry Mission tool allows users to draw a prism on the map to automatically generate a mapping mission.

The photogrammetry mission options are accessed in the same way as for a prism.

**Generate route - Photogrammetry Mission options**

Photogrammetry Settings: The following parameters can be configured:
- Invert: When enabled, the direction of the route will be the opposite to the direction configured below.
- AGL: If enabled, the waypoint altitude is set in AGL, otherwise it is expressed in MSL.
- Events Volumes: As with all volumes, users can link a predefined Event Volume to this photogrammetry mission. This configuration option is the same as the Set Events option.
  
  Generate route - Photogrammetry Settings Events Volumes
- Margin: This option allows the user to add boundary margins for the route to each side of the photogrammetry mission.
- Curve radius: Radius of the route turns.
- Distance between segments: Distance between segments can be modified.
  Note
  
  Depending on the curve radius value and the distance between segments, there are three cases for this part of the route (the radius must be set according to the minimum achievable by the platform):
  - Radius 0 There are no curves between passes, but straight lines. This option is used with multicopters, which are able to perform this kind of paths.
  - Radius is smaller than half the distance between segments () Veronte Ops generates a semicircle with the diameter equal to the distance between parallel segments.
  - Radius bigger than half the distance between segments () The path between straight lines is formed by two curves and a straight line.
- Altitude (MSL/AGL): Altitude of the waypoints expressed in MSL/AGL (depending on whether the AGL parameter is enabled or disabled).
- Direction: Direction of the route generated on the map.
Generate route - Photogrammetry Settings
Set Height: This option is configured in the same was as for a prism, refer to Prism section for a detailed explanation.
Invert: This option is configured in the same was as for a prism, refer to Prism section for a detailed explanation.
Set Obstacle: This option is configured in the same was as for a prism, refer to Prism section for a detailed explanation.
Set Events: Explained previously in the Shape section.

Warning

If the user 'refreshes' Veronte Ops, the photogrammetry mission will become a mapping route with a "normal" prism, therefore its options will be the same as those of a prism. Consequently, the “Photogrammetry Settings” option will disappear, and it will no longer be possible to access the "Photogrammetry Settings" configuration menu.

Note

The options for the waypoints forming the route generated for this photogrammetry mission are the same as for a "normal" waypoint. For more information on waypoint configuration, see Waypoint section described above.

**Generate route - Waypoint route options**

Figure

Figure. This tool allows users to create their own mission from a pre-designed route. To create it, click and drag to make the figure as big as desired.

The figure options are accessed in the same way as for the other elements described above, and are the same as the Waypoint or curved segment options, depending on the waypoint in the route. This is because it is basically made up of straight and curved segments.

However, an extra option appears to access the 'Figure Settings':

The following parameters can be configured:

Invert: When enabled, the direction of the route will be the opposite to the direction configured below.
AGL: If enabled, the waypoint altitude is set in AGL, otherwise it is expressed in MSL.
Type: The available options are:
- Figure of 8: This is a path in the shape of 8/infinity.
- Racetrack: This route is like a racetrack.
  
  Generate route - Figure racetrack
Altitude (MSL/AGL): Altitude of the waypoints expressed in MSL/AGL (depending on whether the AGL parameter is enabled or disabled).

Warning

If the user 'refreshes' Veronte Ops, it will no longer be possible to access this configuration menu. Therefore, the figure will act as a "normal segment".

Mission panel

This mission panel allows the user to monitor and manipulate the waypoints, prisms, cylinders and spheres created.

Waypoints

The following fields can be found in this menu:

Mission panel - Waypoints
- Name: Name of this waypoint.
- Latitude/Longitude/MSL: Coordinates of the waypoint.
- Position: Absolute or Relative.
  - Absolute means that the position of the element is fixed.
  - Relative indicates that its position is relative to the position of another element and may change during the operation.
- Options:
  - Search: Clicking here will center and zoom the waypoint on the map.
  - Edit: Opens the Waypoint Settings menu. For more information on this configuration menu, click here.
  - Delete: Deletes this waypoint.
It is also possible to modify the altitude of one, several or all the selected waypoints by using the Altitude edit function on the top of the list.

Note

Selecting all will select the waypoints on all pages of the panel.

Users must enter the desired altitude value, select the altitude type (WGS84, MSL or AGL) and finally click 'Set'.

Middion panel - Waypoints altitude
Prisms

The following fields can be found in this menu:

Mission panel - Prisms
- ID: Feature Id of this prism.
- Name: Name of this prism.
- Options:
  - Show/hide: It is possible to show/hide the prism on the map by clicking here.
  - Search: Clicking here will center and zoom the prism on the map.
  - Edit: Opens the prism height editing menu. For more information on these settings, click here.
  - Delete: Deletes this prism.
  Important
  
  When the prism is part of a geocaging area, the Edit option will not appear is this panel. This is why, in the image above Prisms 0 to 3 do not have this option available.
Cylinders

The following fields can be found in this menu:

Mission panel - Cylinders
- ID: Feature Id of this cylinder.
- Name: Name of this cylinder.
- Options:
  - Show/hide: It is possible to show/hide the cylinder on the map by clicking here.
  - Search: Clicking here will center and zoom the cylinder on the map.
  - Edit: Open the cylinder height editing menu. For more information on these settings, click here.
  - Delete: Deletes this cylinder.
Spheres

The following fields can be found in this menu:

Mission panel - Spheres
- ID: Feature Id of this sphere.
- Name: Name of this sphere.
- Options:
  - Show/hide: It is possible to show/hide the sphere on the map by clicking here.
  - Search: Clicking here will center and zoom the sphere on the map.
  - Delete: Deletes this sphere.
GeoTIFF

From this panel users can insert GeoTIFF images into the map.

A GeoTIFF image is a standard TIFF image file that contains geographic information embedded directly in the file itself. This "georeferencing" allows the software to place the image in its correct position on the Earth's surface. This type of image differs from a normal image because, in addition to storing pixel data (colors), it also includes additional metadata that describes its spatial context.

In summary, these images are characterized by integrated georeferencing, detailed metadata, and a raster format.

To insert a GeoTIFF image, click the Upload GeoTIFF button and select the desired raster image from the user's local storage.

The allowed extensions for these images are .tif, .tiff, and .geotiff.

Caution

If the GeoTIFF image contains extensive information (high file size), this can cause the Veronte Ops application to crash.

Mission panel - GeoTIFF

The following fields can be found in this menu:
- ID: Feature Id of this geoTIFF.
- Name: Name of this geoTIFF.
- Options:
  - Show/hide: It is possible to show/hide the geoTIFF on the map by clicking here.
  - Search: Clicking here will center and zoom the geoTIFF on the map.
  - Edit: Open the geoTIFF editing menu. The following parameters can be configured to control how the data contained in the image is displayed:
    
    Mission panel - GeoTIFF edit menu
    - Name: Users can rename the image as desired. By default, the file name is set.
    - Raster color: Color palette used to represent pixel values. Users can choose between None, Rainbow, Viridis or Grayscale.
    - Resolution: Number of colors or discrete steps in the color palette. By default 256.
    - Min / Max: Range of data represented by the color palette. By default 0/100.
    - Opacity: This controls the transparency of the image layer. The range of values is from 0 to 1, where 1 is completely opaque and 0 is completely transparent. Default 1.
    - Precision: Specifies the amount of decimal numbers to be used to display or interpret data values.
    In addition, the colors of the raster image can be inverted by enabling the Invert checkbox.
    
    Warning
    
    If the image is not in the map projection standard, EPSG:4326, it may not be seen properly.
  - Delete: Deletes this geoTIFF.
For example:

Mission panel - GeoTIFF example

Edit mission

This tool allows the user to move waypoints, marks, areas, etc., as well as to change their shape.

A detailed explanation on how to use this tool can be found in each of the elements described above.

In addition, when modifying a mission with a Veronte Autopilot 1x connected, the "original operation" loaded in the autopilot will be greyed out and the modified one will be colored. This will be the case until the new changes are saved and uploaded to the autopilot, so the previous operation will be completely removed from the map. An example is shown below:

Turn on multiselection

Multiselection allows to move and rotate mission's path from one place on the map to another.

Select the tool and create a rectangle by clicking and dragging until the elements you want to move fall into it.
With the elements selected, click and drag the rectangle to move it to the desired location. And to rotate it, click on the 'black pin' () and drag it to the desired rotation angle.
After that, click again in the tool's icon to deselect.

Note

Runways and spots cannot be moved with this tool.

Multiselection tool

In addition, this tool also allows to delete all items selected in two different ways, right-clicking on the selected area or pressing the 'delete' key on the user's keyboard.

Before deleting the selected items, the following confirmation message appears:

**Multiselection tool - Remove message**

Note

Runways and spots cannot be deleted in this way.

Remove mission

By clicking on this icon , the user can remove all the elements created by simply clicking on each of them. However, if the user wishes to remove all the missions created, simply click on the second icon that appears: . A confirmation pop-up window will then appear to make sure that all missions wish to be deleted.

Import features

Select this option to load mission elements from a .KML or .GeoJSON file located in the user local storage. The system will interpret the file configuration to match Veronte Ops elements (e.g., mapping KML shapes to Waypoints, Segments, or Obstacles).

Note

When importing polygonal shapes (such as Prisms or Cylinders):

The Upper Limit of the volume is automatically set to the maximum height of the vertices found in the file.
The Lower Limit is restored from the file's extra properties if available.

Warning

During Import, Veronte Ops analyzes the data to reconstruct the original geometries. If specific parameters are missing, the element will be imported as a standard geometry or ignored if incompatible.

Export features

Select this option to save the current mission elements to a .KML or .GeoJSON file.

Supported Elements: Waypoints, Segments, Orbits, Prisms, Cylinders, Spheres, Spirals, Photogrammetry Mission, and Figure.
Excluded Elements: Custom points, Marks, Runways, Spots, and Geocages cannot be exported.

Note

When exporting polygonal shapes, the system applies specific logic to handle altitude:

The height of the exported vertices corresponds to the configured Upper Limit of the volume.
If no Upper Limit is defined, the vertices are exported at ground level.
The Lower Limit is saved within the file's extra properties to ensure data integrity upon re-importing.

Warning

All application elements can be exported in .KML format, with the exception of:

Custom points
Marks
Runways
Spots
Geocages