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Actions Configuration
This page explains how to use SKYMATE™ to perform tasks using external attachments and tools, such as a digital camera or a liquid dispensing pump.
Page Summary
Overview
SKYMATE™ can trigger external devices by outputting electrical signals on the 8 outputs of the Autopilot, or the 10 channels of the IO Expander. Up to three actions can be configured, defining the desired electrical signals representing the ON and OFF states of your external tool.
To use actions, users must follow two steps as shown in the figure:
- The first step consists in configuring the actions in the Actions tab of SkyControl.
- Once configured, the second step consists in setting the actions. In this case, users may choose to manually trigger actions via the Radio Controller or to assign them to waypoints so that to be automatically triggered during a mission. A third option would be to combine manual and automatic triggering.
Actions configuration and setting are explained in the following sections.
SKYMATE™ outputs a 0-5V, 400Hz PWM with a 40% duty cycle on all of its configured motor outputs. You must make sure that the motor and action channels are properly assigned before connecting your tool, otherwise it might be turned on unexpectedly.
SKYMATE™ outputs LOW, or 0V, by default on all of its unused outputs. You must make sure that this is a safe signal for your tool, otherwise it might be turned on unexpectedly.
Action Configuration
This step will configure the electrical signals that SKYMATE™ will send to the external device. The actions are highly configurable: The ON and OFF states can be configured independently, and the duration of the ON state can be configured as well, after which the output automatically returns to the OFF state.
The action configuration can be performed from the Actions tab, accessible by the ribbon at the top left:
Channel
This setting configures which IO will be changed when the action is triggered. All Autopilot and IO Expander channels are available, and care must be taken not to use a channel assigned to a motor.
On State
This setting configures the electrical signal when the action is triggered. A value other than 0 or 100% will be represented by a PWM value with a duty cycle equaling that value.
Off State
This setting configures the electrical signal when the action is not triggered or stopped. A value other than 0 or 100% will be represented by a PWM value with a duty cycle equaling that value.
Duration
This setting configures how long the ON state lasts when the action is triggered. A value of 1 second, for example, will automatically return the action to the OFF state after a trigger. A value of 0 seconds disables the duration, and the ON state will stay until the action is stopped.
Frequency
This setting configures the PWM frequency, when the On or OFF state is a value different than 0 or 100%.
Override
These buttons force a trigger of the action, either to the On or OFF state.
SKYMATE™ must be armed for the actions to be turned on or off. Otherwise, SKYMATE™ outputs LOW, or 0V.
Trigger Setting
Once actions are configured as explained above, users may choose to manually trigger actions via the Radio Controller, to assign them to waypoints so that to be automatically triggered during a mission or to combine manual and automatic triggering.
1. Setting Manual Trigger
To assign actions to the RC so that to be manually triggered by the user, go to UAS tab and then to RC section of SkyControl as shown in the figure. Choose an unassigned channel and click on the drop-down menu and navigate to the end of the list to choose one of the three actions. For example, in the figure, Action1 is assigned to Channel #8.
Click on Reset Limits button to configure the RC. The ON position is the right-hand side of the center position and the OFF position is the left-hand side of the center position. Once set, the action can now be triggered in any mode via the RC.
Flight Modes
When assigned to the RC, an action can be triggered in any of SKYMATE flight modes.
ON/OFF Trigger
The ON/OFF positions of the RC do not determine the trigger state of the RC. For instance, arming the UAS with the RC switch being in OFF position does not mean that the assigned action is triggered OFF. Similarly, arming the UAS with the RC switch being in ON position does not mean that the assigned action is triggered ON. To trigger ON an action, the user must toggle the RC switch from OFF position to ON position. To trigger OFF an action, the user must toggle the RC switch from ON position to OFF position.
2. Setting Automatic Trigger
Two options are possible to set the automatic trigger of actions: either during grid generation or in the waypoints list.
a. Trigger Setting in Grid Generation
This step determines when SKYMATE™ must trigger actions during a mission created with the Grid Generation tool. As shown in the images below, when the Action box is clicked during grid generation, a pop-up will appear. The first drop-down menu is used to set the Trigger Channel. This is the Action Channel configured above.
The second drop-down menu sets when the action will be triggered. Presently three mode are available: Once at Start, Once at End and Every X meters. When Every X meters is selected, an additional input will appear allowing you enter the distance between each action.
To force Action Stop at the End of the Waypoint, check the Force Stop Action at End checkbox.
Here's some graphical interpretation of the Action mode behavior.
The green arrow represent an Action Start, the red arrow represent an Action Stop and the yellow line between two waypoints represents the duration of the Action.
The first figure represents a simple Start-Stop Action with a duration of 0 second (Infinite Time)
The second figure represents a Start Action with a duration of 0 second without asking for a Stop Action at the end.
The third and fourth figures represent a 5 meters elapsed Action. The third with a duration of 0 second and the fourth with a duration of 1 second.
b. Trigger Setting in Waypoint List
This step will determines when SKYMATE™ must trigger the actions on existing waypoints. The actions are configured in the waypoint edition section at the bottom of the Overview tab:
1. Click on the Action cell corresponding to the waypoint to configure. The same Configuration Pop-up will appear on top of the selected Waypoint.
3. Setting Combined Manual and Automatic Trigger
SKYMATE flexibility allows users to assign one action to both RC and waypoints. To do so, follow the instructions as explained in the above sections. The behavior of the action in this case is more complicated and will depend on the latest trigger whether it is coming from the RC or the waypoint. The latest trigger will reset the previous one and there is no order of priority between RC and waypoints. Two examples are given here to better illustrate this point.
Example #1
In this example, Action1 is defined with a duration set to zero. The RC switch is initially at OFF position. The UAS is flown in Mission mode with Action1 assigned to both RC and waypoints.
At time instant t1, a waypoint triggers an ON and the action passes from OFF to ON state. With a duration set to zero, Action1 continues to be in ON state until it is stopped.
At time instant t2, the user toggles the RC switch from OFF position to ON position, the RC triggers then an ON. Since the action is already in ON state, it will continue to be in ON state.
At time instant t3, the user toggles the RC switch again but this time from the ON position to the OFF position. The RC triggers then an OFF. This will pass the action from ON to OFF state.
At time instant t4, a wapoint triggers an ON trigger and the action will pass again to ON state.
Example #2
In this example, Action1 is defined with a duration set to 5 seconds. The RC switch is initially at OFF position. The UAS is flown in Mission mode with Action1 assigned to both RC and waypoints.
At time instant t1, a waypoint triggers an ON and the action passes from OFF to ON state. With a duration set to 5 seconds, Action1 continues to be in ON state until time instant t1 + 5 seconds where it passes to OFF.
At time instant t2, a waypoint triggers an ON and the action passes from OFF to ON state. At time instant t2 + 2 seconds, the user toggles the RC switch from OFF position to ON position, the RC triggers then an ON. This ON trigger of the RC will reset the previous trigger. Since the action is already in ON state, it will continue to be in ON state. However, the action timer will be reset and the action will last for a duration of 5 seconds starting from t2 + 2 seconds. The action will continue then in ON state until t2 + 7 seconds.
At time instant t3, a waypoint triggers an ON and the action passes from OFF to ON state. At time instant t3 + 3 seconds, the user toggles the RC switch again but this time from the ON position to the OFF position. The RC triggers then an OFF. This will pass the action from ON to OFF state.
Action Behavior on Arm/Disarm
By default, all Autopilot and IO Expander outputs, excluding motors, are set to a LOW, 0% value. When SKYMATE™ is armed, all configured actions are set to their Off value. From there, any trigger can change the state of the action to either its ON or OFF state. When SKYMATE™ is disarmed, all actions are stopped and the outputs are returned to LOW, 0%.
This behavior is shown in the figure where up to time instant t3, SKYMATE is disarmed. In this case, the action is in LOW state. Any ON or OFF trigger coming from the RC does not change the LOW state of the action.
At time instant t3, SKYMATE is armed. In this case, the action state passes from LOW to OFF. As long as SKYMATE is armed between time instants t3 and t6, any ON or OFF trigger coming from the RC or a waypoint will change the state of the action to ON or OFF state. In our example, an ON trigger at time instant t4 passes action state from OFF to ON and an OFF trigger at time instant t5 passes action state from ON to OFF.
At time instant t6, when SKYMATE is disarmed, the action state passes from its current state to LOW. In our example, it passes from OFF to LOW.
© ARA Robotique Inc - 2018