The mission planning interface allows you to define surveillance
targets, and send them to the UAV for path planning and execution. The
value and location of targets can be defined target by target.
Process
First, one should adjust the map for any GPS calibration errors. Do
this by:
Press the button in the Mission
Parameters panel. The Tweak Map's UTM Coordinates
panel should appear.
Move the Tweak Map's UTM Coordinates by dragging the
light gray 'handle' on the top so that the aircraft image is at the
GPS-reported Easting/Northing UTM location. Enter the GPS-reported
Height value as well. The offsets that will be shown in the "Tweak
by..." fields.
You can then drag one or more targets from the Targets
panel (or load a set from the stored targets pull-down menu). You can
also load other map icon sets using the Map icons pull-down.
When you are ready to send the targets to the UAV, press the
button. To display the flight calculated by the
planner, press the button. This is not
necessarily the exact path flown by the aircraft.
Map interface
Use the and images to zoom in and out. To pan the map, drap the map using the mouse. That is, click and hold the mouse button down, and drag the map, eventually releasing the mouse button.
Target Values
The Target Values panel allows you to define values for each
target. After 'dropping' a target on the map, enter values for the
target. These are:
Name:
A symbolic name to attach to the target. A name is generated for
you, but you can choose a different name if you choose.
Delete:
Deletes the choosen target.
Incident?:
Asserts that the target has been confirmed as an actual incident.
Value:
The intrinsic value of the target, from 0-100.
Cost Δ (Cost delta):
How quickly the the cost of ignorance of the knowing the
target's current status changes, from 0-100.
% Prob (Percent probability of change):
How likely the target, from 0-100.
Maneuver:
Choose from the pull-down menu the manuever you wish the aircraft to perform at the target site.
Collect:
Choose from the pull-down menu the data you wish to collect.
Ht:
Enter the height (in terms of the local UTM coordinate system) of the target. You can use the and images to increase the value by 5 meters.
Easting/Northing:
These will be set as you move the targets around on the map. You can also enter a precise value.
Mission Parameters
The Mission Parameters panel allows you to set various mission parameters. These are:
Map:
This allows you to set the underlying map used.
Stored targets:
This allows you to load predefined targets (which may have been saved with the button.
Map icons:
A number of map icon sets are provided. Use this to choose a set.
Max mission length:
This is the maximum length of the mission.
:
The current location of the aircraft is continuiously queried
and placed on the map. For performance reasons, you may want to stop
tracking. If so, press this button. Press to start tracking again.
:
Adjust for GPS discrepencies (see above).
:
Get the currently defined targets (as a second operator, say).
:
Save the targets to a file.
:
Clear all current targets.
:
Send the command to send the aircraft to the rally point, which
is defined by the icon.
:
Send the command to send the aircraft to the landing point, which
is defined by the icon.
and 
images to zoom in and out. To pan the map, drap the map using the mouse. That is, click and hold the mouse button down, and drag the map, eventually releasing the mouse button.
and 
images to increase the value by 5 meters.
icon.
icon.