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emesent HOVERMAP-ZOE User Manual

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HOVERMAP-ZOE USER
MANUAL
DOCUMENT NUMBER: UM-017
REVISION NUMBER: 1.0
RELEASE DATE: 01 NOV 2021
 
 
 
 
 
 
 
 
 
 
 
 
 
 
PREPARED BY:
EMESENT PTY LTD
LEVEL G, BUILDING 4, KINGS ROW OFFICE PARK
40-52 MCDOUGALL ST, MILTON, QLD, 4064 AUSTRALIA
 
EMAIL:     INFO@EMESENT.IO
PHONE:    +61 7 3548 9494

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  • Page 1       HOVERMAP-ZOE USER MANUAL DOCUMENT NUMBER: UM-017 REVISION NUMBER: 1.0 RELEASE DATE: 01 NOV 2021                             PREPARED BY: EMESENT PTY LTD LEVEL G, BUILDING 4, KINGS ROW OFFICE PARK 40-52 MCDOUGALL ST, MILTON, QLD, 4064 AUSTRALIA  ...
  • Page 2 The content of this document is confidential and intended for reading only by the addressee. All rights including Intellectual Property Rights flowing from, incidental to or contained in this document irrevocably vest in Emesent unless otherwise agreed to in writing. ©Emesent 2021  ...
  • Page 3 Hovermap-Zoe user manual   Warnings This document is legally privileged, confidential under applicable law and is intended only for the use of the individual or entity to whom it is addressed. If you have received this transmission in error, you are hereby notified that any use, dissemination, distribution or reproduction is strictly prohibited.

  • Page 4: Table Of Contents

    Hovermap ..........................3 Autonomy modes ........................5 1.3.1 Mapping mode ..........................5 1.3.2 Pilot Assist mode........................5 1.3.3 Autonomous Waypoint mode ....................5 Specifications..........................6 Hovermap-Zoe case inclusions ....................7 Data capture basics ..................10 Overview ..........................10 Basic workflow ........................10 2.2.1 Capture ............................11 2.2.2 Connect ............................12 2.2.3 Compute ..........................12...
  • Page 5 Hovermap-Zoe user manual 2.4.5 Scanning patterns ........................17 2.4.5.1 “Closing the loop”........................17 2.4.5.2 Grid pattern ..........................18 2.4.6 Flight parameters........................18 2.4.6.1 Speed............................18 2.4.6.2 Height ............................18 2.4.7 Georeferencing ........................18 Controls......................19 Controller setup ........................19 3.1.1 The controller ..........................19 3.1.2 Tablet mount ...........................19 3.1.3 Using the controller ........................19...
  • Page 6 Zoe status bar .........................61 3.3.3.11 Zoe odometry bar ........................62 Drone operation ................... 63 Standard operating procedures....................63 4.1.1 Overview ..........................63 4.1.2 Operating procedures ......................63 4.1.2.1 Set up Hovermap-Zoe ......................64 4.1.2.2 Check the system........................66 4.1.2.3 Powering up..........................68 4.1.2.4 Flight ............................72 4.1.2.5 Post-flight..........................75 Mapping mode ........................77 4.2.1...
  • Page 7 Hovermap-Zoe user manual 4.2.3.6 Step 6: Downloading the data ....................80 4.2.3.7 Step 7: Shut down........................81 Pilot Assist mode........................82 4.3.1 Overview ..........................82 4.3.2 Pilot Assist mode functions ....................82 4.3.3 Pilot Assist mode operational checklist ................82 4.3.3.1 Step 1: Drone inspection......................82 4.3.3.2 Step 2: Powering on........................83...
  • Page 8 Hovermap-Zoe user manual 4.5.4 Center of gravity limits ......................95 4.5.4.1 Reference datum ........................95 4.5.4.2 Determining the center of gravity..................98 4.5.5 Flight and maneuver limitations ...................99 4.5.6 Battery limitations ........................100 4.5.7 Range limitations ........................100 4.5.7.1 Command and control link ....................100 4.5.7.2 Flight battery .........................101...
  • Page 9 Hovermap-Zoe user manual Maintenance....................124 Overview ..........................124 Maintenance schedule ......................124 5.2.1 Zoe flight checks ........................127 5.2.1.1 Preflight check........................127 5.2.1.2 Post-flight check........................127 5.2.2 Airframe maintenance ......................127 5.2.2.1 Airframe check ........................127 5.2.2.2 Airframe extensive check.....................128 5.2.2.3 Arm replacement ........................129 5.2.2.4 Airframe repair/replacement ....................129 5.2.2.5...
  • Page 10 Hovermap-Zoe user manual Battery maintenance ......................134 5.3.1 Battery checks ........................134 5.3.2 Visual check ...........................135 5.3.3 Charging..........................135 5.3.3.1 Before charging........................135 5.3.3.2 Charging..........................135 5.3.3.3 Discharging ..........................136 5.3.4 Battery replacement......................136 5.3.5 Battery storage........................137 Support ......................138 List of abbreviations ................... 139   Release date: 01 Nov 2021...
  • Page 11 Hovermap-Zoe user manual Tables Table 1 Settings menu ........................31 Table 2 Navigation method settings ....................35 Table 3 VESH settings..........................38 Table 4 Autonomy settings menu .....................41 Table 5 Renderer settings........................44 Table 6 Connection settings .......................46 Table 7 View controller ........................55 Table 8 Weight limits...........................94...
  • Page 12 Hovermap-Zoe user manual Figures Figure 1 Zoe front view ........................1 Figure 2 Zoe left view..........................2 Figure 3 Zoe top view ........................... 3 Figure 4 Hovermap rear view ......................4 Figure 5 What's in the Zoe box......................7 Figure 6 What's in the Hovermap box....................
  • Page 13 Hovermap-Zoe user manual Figure 28 The waypoint editor......................49 Figure 29 Waypoint types ........................50 Figure 30 XY waypoint .......................... 51 Figure 31 Planar waypoint ........................52 Figure 32 Height waypoint ........................52 Figure 33 3D waypoint.......................... 53 Figure 34 Rally point pop-up........................

  • Page 14: Introduction

    Hovermap-Zoe user manual Introduction Hovermap-Zoe Hovermap-Zoe is the powerful combination of Hovermap’s autonomy and mapping capability with the robust European-made drone platform, Zoe. Through seamless integration, Hovermap enables the Zoe drone to fly beyond line of sight and communication range, even in challenging GPS-denied environments.

  • Page 15: Figure 2 Zoe Left View

    Hovermap-Zoe user manual Figure 2 Zoe left view   Release date: 01 Nov 2021 Revision: 1.0...

  • Page 16: Hovermap

    Hovermap-Zoe user manual Figure 3 Zoe top view   Hovermap Hovermap is an intelligent 3D LiDAR mapping device and autonomy payload for industrial drones. It can map challenging underground, indoor, and outdoor GPS-denied environments without the need to send people into potentially hazardous areas.

  • Page 17: Figure 4 Hovermap Rear View

    Hovermap-Zoe user manual flight. Switching between drone and walking scans can be done with the click of a button using Hovermap’s quick-release mechanism. Figure 4 Hovermap rear view  Hovermap rear view USB ports Serial port Power port Status LED...

  • Page 18: Autonomy Modes

    Hovermap-Zoe user manual Autonomy modes There are three autonomy modes for Hovermap, providing options for every scanning need. 1.3.1 Mapping mode Mapping mode gives you fast, accurate, and high-resolution mobile scanning of environments where drone autonomy is not needed. Hovermap can be used as a mobile scanner (attached to a drone, vehicle, or pole), lowered in a cage, or mounted to a backpack.

  • Page 19: Specifications

    Hovermap-Zoe user manual Specifications     Release date: 01 Nov 2021 Revision: 1.0...

  • Page 20: Hovermap-Zoe Case Inclusions

    Hovermap-Zoe user manual Hovermap-Zoe case inclusions Figure 5 What's in the Zoe box   Release date: 01 Nov 2021 Revision: 1.0...
  • Page 21 Hovermap-Zoe user manual  What’s the in Zoe box Zoe controller with tablet mount Telemetry module Hovermap power and data cable Controller antennas and autonomy tablet Emesent cable kit, including: AS150-XT150 male to XT60 female cable 100 mm 0.5 m USB 2.0 Type A to Mini-B cable 0.5 m USB 2.0 Type A to Micro-B cable...

  • Page 22: Figure 6 What's In The Hovermap Box

    Hovermap payload. Mains power supply with country-specific plug and DC adapter. Handle. High-speed USB flash drive with Emesent Processing Software installer and license dongle. Universal carbon fiber mounting plate. Utility space for additional items (may not be included at initial purchase).

  • Page 23: Data Capture Basics

    Hovermap-Zoe user manual   Data capture basics Overview Hovermap is designed to map the surrounding environment via LiDAR data capture. Data can be captured between 1.5 m and 100 m away from the LiDAR puck. The captured data includes characteristics such as range, intensity, and the time the data was returned.

  • Page 24: Capture

    Hovermap-Zoe user manual 2.2.1 Capture Connect Hovermap to a power source (12 VDC to 54 VDC). Press the power button on the back of the Hovermap to power on the system. Connect to Hovermap’s Web UI: Open the Wi-Fi settings on your mobile device and connect to Hovermap’s Wi-Fi. Hovermap creates a Wi-Fi network containing the serial number of the unit.

  • Page 25: Connect

    2.2.3 Compute Once the data has been retrieved from the Hovermap, it is in a raw state and will need to be processed. Use the Emesent Processing Software to create a rich 3D point cloud. Refer to the Emesent Processing Software User Manual for more information.

  • Page 26: Concepts

    Hovermap-Zoe user manual Concepts 2.3.1 SLAM SLAM technology allows you to generate a map of an unknown environment, while simultaneously estimating Hovermap’s location within that environment. Hovermap uses a LiDAR-based SLAM algorithm that relies on distinct geometric features in the environment to align the sensor’s range data with the sensor data that it has already collected.

  • Page 27: Mission Planning And Scanning Techniques

    Hovermap-Zoe user manual Mission planning and scanning techniques When planning a mission, there are a few key factors that you should take into account. Certain environments, such as large outdoor areas, can present a challenge for Hovermap, so preparation and planning can make all the difference.

  • Page 28: Point Density And Resolution

    Hovermap-Zoe user manual separate walking scan is a perfectly viable solution. The data from the walking scan can be merged with the overall data later on. Only operate to your capabilities, and always have a plan. 2.4.2 Point density and resolution Point density and resolution are closely related, but are slightly different.
  • Page 29 Hovermap-Zoe user manual • Areas dominated by vegetation, such as forests, gardens, and parkland (where the 3D features all look the same, forming a homogenous blanket surface). • Smooth tunnels or passageways with featureless walls. • Environments with an excess of moving objects, such as cars, trucks, and plant machinery.

  • Page 30: Smaller Scans

    Hovermap-Zoe user manual 2.4.4 Smaller scans Hovermap uses a powerful embedded computer for data storage and autonomy algorithms. It has a memory storage capacity of 480 GB. This means that Hovermap can store up to 10 hours of scan data internally. However, there are many good reasons for breaking down the scanning project into more...

  • Page 31: Grid Pattern

    Hovermap-Zoe user manual 2.4.5.2 Grid pattern Hovermap has been found to generate dense and accurate maps when scanning in a grid pattern traveling at 5 mps with a 40 m loop spacing. This pattern allows large areas to be covered in a short space of time, subject to the proper consideration of the features of the area.

  • Page 32: Controls

    Controls Controller setup 3.1.1 The controller Hovermap-Zoe uses the Frsky X10S controller. When operating with Hovermap, many of the controls of the Zoe are disabled. Only the flight mode switch and the control sticks are enabled for Hovermap operation. The controller is programmed to use Mode 2 for the sticks. If you prefer a different control mode,...

  • Page 33: Figure 8 Zoe Controller

    The image below shows all available telemetry readouts.  Note Most information relevant to a Hovermap-Zoe flight will be available in the Hovermap App. You will only need to use the telemetry screen for stand-alone Zoe flights, or for cross-checking flight information.

  • Page 34: Figure 9 Telemetry Screen

    Hovermap-Zoe user manual Figure 9 Telemetry screen Release date: 01 Nov 2021 Revision: 1.0...

  • Page 35: Web Ui

    Hovermap-Zoe user manual Web UI 3.2.1 Overview Hovermap provides a user interface, known as the Web UI. You can use the Web UI to: • Remotely start and stop a scan. This is useful when physical access to the unit is inconvenient (for instance, if Hovermap is mounted on a backpack, or on a vehicle bonnet while driving).

  • Page 36: Web Ui Layout

    Hovermap-Zoe user manual 3.2.3 Web UI layout Figure 10 Web UI layout Release date: 01 Nov 2021 Revision: 1.0...

  • Page 37: Web Ui Functions

    Hovermap-Zoe user manual  Web UI layout Start/Stop button: The Start button appears when the system state is stopped. The Stop button appears when the system state is running. The Wait button appears during the transition between states. Set button: Press Set to confirm the scan name.

  • Page 38: Set The Scan Name

    Hovermap-Zoe user manual 3.2.4.2 Set the scan name Press the Scan Name field to enter the scan name. If the name is unchanged, the field background will be white. If information has been entered but not yet saved, the background will turn orange. Press Set to save the scan name.

  • Page 39: Figure 11 Scans File Management

    Hovermap-Zoe user manual Figure 11 Scans file management   Two options appear: Move: This option transfers the scan data to the Transferred tab, removing it from the Scans tab. Download: This option shows the BAG and BIN files that are available for download.

  • Page 40: The Hovermap App

    Hovermap-Zoe user manual Clear Data The Clear Data button allows you to bulk delete your files. Free up space by entering the amount of space that you require. The system will then delete data until the space requirement is met.

  • Page 41: The Hovermap App

    Other tablets may be used. However, these have not been tested with the Hovermap App and are not guaranteed to work as effectively. Emesent provides a range of accessories to help mount these tablets to the remote control. 3.3.2 The Hovermap App...

  • Page 42: App Color Guide

    Hovermap-Zoe user manual  The Hovermap App Settings menu Hovermap status bar Hovermap workflow Hovermap Wi-Fi Connection settings Mission settings Navigation Method settings VESH settings Shortcut to the Waypoint UI Shortcut to the Web UI Hovermap odometry bar Hovermap platform...

  • Page 43: Hovermap App Components

    Hovermap-Zoe user manual • Gray: Unavailable (not applicable or disabled) • Blue: Ready • Green: Active and functioning as desired • Yellow: Warning • Red: Error/alert/unavailable 3.3.3 Hovermap App components 3.3.3.1 Settings menu Press the Settings button to open the menu.

  • Page 44: Table 1 Settings Menu

    Hovermap-Zoe user manual The following options are available. Table 1 Settings menu Field Data Zoe (Mavlink) settings Compass Shows the compass calibration status. Max Height Sets the height ceiling that has been set for the drone. Return Height Sets the height that the drone will move to when a return to home is triggered.

  • Page 45: Hovermap Status Bar

    Hovermap-Zoe user manual 3.3.3.2 Hovermap status bar The Hovermap status bar shows the status of the system. It uses color, a message, and in certain cases, an audio notification. In the case of critical errors, the highest priority critical error will appear in the Hovermap status bar.

  • Page 46: Figure 17 Notifications

    Hovermap-Zoe user manual Figure 17 Notifications    Warning If any of these notifications are present before the flight, don't take off. For more detail on emergency procedures and notifications, refer to the Emergency Procedures section. Release date: 01 Nov 2021...

  • Page 47: Hovermap Workflow

    Hovermap-Zoe user manual 3.3.3.3 Hovermap workflow The icons on the right-hand side of the Hovermap App are the settings that need to be checked before every flight. The standard procedure is to work from top to bottom, ensuring that all settings have been checked and are correct.

  • Page 48: Table 2 Navigation Method Settings

    Hovermap-Zoe user manual When active, the mission settings appear as follows: Figure 19 Stop scanning   Navigation method settings Press the Navigation Method button to open the menu. Use these settings to set your primary (SLAM or GPS) and secondary navigation methods (SLAM, GPS, or INS). The secondary navigation system will be used only if the primary is no longer available.
  • Page 49 Hovermap-Zoe user manual Icon Navigation method Navigate using SLAM Navigate using INS  Note Always set the secondary navigation method to INS when in a GPS-denied environment. The color of the button provides the following information: • Green: Hovermap is flying with the navigation method selected.

  • Page 50: Figure 20 Vesh Settings

    Hovermap-Zoe user manual  Warning VESH works by adjusting and overriding pilot commands to prevent the drone from flying into obstacles. However, if the drone is passively drifting towards an obstacle, or dynamic obstacles are moving towards the drone, VESH won’t stop or move the drone to prevent a collision.

  • Page 51: Table 3 Vesh Settings

    Hovermap-Zoe user manual The following options are available. Table 3 VESH settings Field Data Horizontal This slide bar allows you to set the closest horizontal distance that the drone can fly to an obstacle. The minimum XY axis VESH sizes for Zoe are 1.5 m and 1.1 m for the Z axis.

  • Page 52: The Waypoint Ui

    Hovermap-Zoe user manual • Blue (INC): The user-set limits are different (inconsistent) from the active limits. This can happen when changing the drone you are using, the navigation method, or when Autonomous Waypoint mode is active. • Red (ERR): Red indicates an error. You should restart the system.

  • Page 53: Figure 22 Quick-Access Menu

    Hovermap-Zoe user manual  The Waypoint UI The Waypoint UI introduces three new functions: The Autonomy Settings menu The Waypoint Manager The View Controller Autonomy Settings menu Press the Autonomy Settings button to control the display and access the system log files for analysis.

  • Page 54: Table 4 Autonomy Settings Menu

    Hovermap-Zoe user manual Settings menu Press the Settings button to open the menu. Figure 23 Settings section The following options are available. Table 4 Autonomy settings menu Field Data Fullscreen Turn on fullscreen mode to hide the top browser bar. The default setting is off.
  • Page 55 Hovermap-Zoe user manual Field Data Observer Mode Observer mode can be enabled on a second device to allow another person to view the mission without being able to send commands to Hovermap. The default setting is off. Show Top Menu Controls the appearance and disappearance of the top menu.

  • Page 56: Figure 24 Renderer Section

    Hovermap-Zoe user manual Renderer settings Press the Renderer Settings button to open the menu. Figure 24 Renderer section   Release date: 01 Nov 2021 Revision: 1.0...

  • Page 57: Table 5 Renderer Settings

    Hovermap-Zoe user manual The following options are available. Table 5 Renderer settings Field Data Current Pointcloud Allows you to export the current point cloud as a CSV file. Cursor Choose your preferred icon to show the location of the drone.
  • Page 58 Hovermap-Zoe user manual Field Data • Clamp: Bounds are set manually. This style will bleed into the minimum (blue) and maximum (red colours) if points are outside of the set bounds. It renders larger environments faster. • Auto: Sets the range from top to bottom based on highest and lowest point in the currently visible scan.

  • Page 59: Table 6 Connection Settings

    Hovermap-Zoe user manual Connection settings Press the Connection Settings button to open the menu. This menu shows the link status of the communications used by the app. Figure 25 Connection settings The following options are available. Table 6 Connection settings...

  • Page 60: Figure 26 Logs

    Hovermap-Zoe user manual Logs Press the Logs button to open the menu. Up to 20 mission logs are captured. These can be deleted or downloaded using the buttons on the right. The logs can be used to replay the mission for training review, or for incident analysis.
  • Page 61 Hovermap-Zoe user manual   • Press Send to immediately send waypoints to the mission.   • Press Pause to pause the mission. As waypoints are achieved by the drone, they are removed from view on the real-time display. The remaining waypoints will move to the left in the Waypoint Manager. Once all waypoints have been achieved, the drone will hover and the status will show as idle while it waits for a new command.

  • Page 62: Figure 28 The Waypoint Editor

    Hovermap-Zoe user manual The Waypoint Editor The Waypoint Editor appears on the left of the screen when a new waypoint is added, or when an existing waypoint is edited. Figure 28 The waypoint editor • In the Type field, select your waypoint type from the dropdown list.

  • Page 63: Figure 29 Waypoint Types

    Hovermap-Zoe user manual Waypoint types and concepts Figure 29 Waypoint types    Waypoint types XY waypoint Planar waypoint Height waypoint 3D waypoint Release date: 01 Nov 2021 Revision: 1.0...

  • Page 64: Figure 30 Xy Waypoint

    Hovermap-Zoe user manual XY waypoints An XY waypoint is a waypoint that is placed on an XY coordinate, without regard to altitude. Hovermap will navigate the drone to the XY coordinate location in a straight line, maintaining the same height. An XY waypoint appears as a vertical line in the Waypoint UI.

  • Page 65: Figure 31 Planar Waypoint

    Hovermap-Zoe user manual Figure 31 Planar waypoint Height waypoints A height waypoint is similar to a planar waypoint, but it is placed on a horizontal plane instead. Height waypoints can be placed above or below the starting position. They are good to use when you want to explore in a vertical direction in an area that may be obscured.

  • Page 66: Figure 33 3D Waypoint

    Hovermap-Zoe user manual 3D waypoints A 3D waypoint has specific X, Y, and Z coordinates, relative to the starting position. Hovermap will attempt to navigate the drone to this singular point in space. 3D waypoints are slower to place during a mission.

  • Page 67: Figure 34 Rally Point Pop-Up

    Hovermap-Zoe user manual Speed Speed is a user-defined parameter for the speed that the drone will move to the set waypoint. You may select a range of 0.5 mps to 2.0 mps (in 0.5 mps increments). Minimum safe distance Similar to VESH, which is used in Pilot Assist mode, the minimum safe distance is the safety buffer around the drone.

  • Page 68: Table 7 View Controller

    Hovermap-Zoe user manual View Controller The View Controller allows you to interact with the point stream to pan, zoom, and change views. Figure 35 The view controller The following options are available. Table 7 View controller Field Data Perspective Provides a 3D view of the point cloud.

  • Page 69: The Web Ui

    Hovermap-Zoe user manual Press the Center button to center the screen on the drone. In this mode, your viewpoint will move with the drone.  Note Once it has been pressed, the button will change to the Follow button. Press the Follow button to unlock the screen from the drone, instead of having the display follow the drone.

  • Page 70: Hovermap Odometry Bar

    Hovermap-Zoe user manual 3.3.3.6 Hovermap odometry bar The Hovermap odometry bar shows: • The distance from the scan start location • The height relative to the scan start location • Horizontal speed • Vertical speed For troubleshooting purposes, you can compare this data against the data that Zoe provides.

  • Page 71: Master Controls

    Hovermap-Zoe user manual  Note Although the range of the LiDAR is 100 m, the obstacle distances shown in the current version of the indicator are limited to 40 m. 3.3.3.9 Master Controls Change to Pilot Assist mode This button allows you to change back to Pilot Assist Mode, giving you back stick controls. This may be required if you want to pass through a small opening to gain access to a larger area.

  • Page 72: Figure 39 Return To Home Confirmation

    Hovermap-Zoe user manual Return to home Hovermap’s return to home is an intelligent, advanced autonomy function that allows a safe return to home in complex environments. When the return to home is activated, the drone will pause for a moment and then start making its way back to within 3 meters of the home point. On activation, you will have to confirm the action via a pop-up.

  • Page 73: Figure 40 Confirmation: Begin Takeoff

    Hovermap-Zoe user manual Figure 40 Confirmation: Begin takeoff   Figure 41 Confirmation: Begin landing   Release date: 01 Nov 2021 Revision: 1.0...

  • Page 74: Zoe Status Bar

    Hovermap-Zoe user manual 3.3.3.10 Zoe status bar The Zoe status bar contains all Zoe-related status indicators. Figure 42 Zoe status bar  Zoe status bar Zoe status indicator Flight mode indicator Message indicator GPS status indicator Battery indicator Release date: 01 Nov 2021...

  • Page 75: Zoe Odometry Bar

    Hovermap-Zoe user manual Zoe status indicator Press the status bar to open information on the suite of Zoe sensors. Figure 43 Zoe sensor status 3.3.3.11 Zoe odometry bar This panel shows telemetry data that is reported and used by Zoe. It shows: •...

  • Page 76: Drone Operation

    This section contains detailed information on the Hovermap-specific workflow. As part of Hovermap-Zoe operations, it is important that you are familiar with the standard operating procedure of the Zoe drone.

  • Page 77: Set Up Hovermap-Zoe

    Hovermap-Zoe user manual 4.1.2.1 Set up Hovermap-Zoe Required equipment You should have the following equipment for Hovermap-Zoe operation: • Zoe drone • Controller • Controller batteries: Check the screen to make sure that these are fully charged  Note The screen gives a voltage, not a percentage. Fully charged is 8.4 V. Do not start a flight if the voltage is less than 7.2 V.
  • Page 78 Hovermap-Zoe user manual Step 2: Check Hovermap Make sure that Hovermap is ready for operation. Check that Hovermap is running the latest version of the firmware. Check that you have the latest version of the Hovermap App installed on your tablet.

  • Page 79: Check The System

    Hovermap-Zoe user manual Step 5: Set up the takeoff and landing site  Caution Ensure that you adhere to local regulations when choosing a takeoff and landing site. It is your responsibility to make a safety assessment before any operation.
  • Page 80 Hovermap-Zoe user manual  Caution • Do not calibrate your compass where there is strong magnetic interference, such as a magnet, a car park, or underground steel reinforcements. • Do not carry ferromagnetic objects, such as keys or mobile phones, with you during calibration.

  • Page 81: Powering Up

    Hovermap-Zoe user manual All controllers respond appropriately to inputs. The flight controller and the ESCs are communicating. Check the motor mount assembly for any excessive play or deformation. When in doubt, use the propeller track method for verification. Check that all fasteners and fixtures are tightened and that they are free from excessive play. In the case of marked fasteners, make sure that they are in line with the markings.
  • Page 82 If this is the case, remove any USB default permissions for all applications. With USB permissions correctly set, the Hovermap-Zoe information and battery data should be available in the Hovermap App. If not, recheck the USB permissions and then check the serial connection cable between Zoe and the Hovermap unit.
  • Page 83 Hovermap-Zoe user manual Pilot Assist mode For Pilot Assist mode, do everything outlined in Mapping mode, and then continue as follows: Press the Navigation Method button to set the primary and secondary navigation methods. For outdoor areas with unobstructed GPS: Select GPS as your primary method, and SLAM as your backup method.
  • Page 84 Hovermap-Zoe user manual Autonomous Waypoint mode For Autonomous Waypoint mode, do everything outlined in Mapping mode and Pilot Assist mode, and then continue as follows: Check that the velocity and position values at the bottom of the Hovermap App are close to zero.

  • Page 85: Flight

    Hovermap-Zoe user manual  Note If the left stick is held in the bottom position for too long after arming, Zoe will disarm. Step 3: Perform stationary mode checks Check that all motors start normally. If one or more motors don’t turn, or behave unusually, do not take off.
  • Page 86 Hovermap-Zoe user manual If VESH has not been enabled, enable it now. Press the VESH button, and then select Enable. Check that the VESH is functioning correctly. With the VESH enabled and no warning alarm: Decrease the height of Zoe and notice it slow to a stop before and at the VESH limit set.
  • Page 87 Hovermap-Zoe user manual • Brake-mode: In this mode, Zoe stops immediately and continues hovering in position, holding height.  Note You can’t select Brake mode manually. Zoe will automatically go into Brake mode if Hovermap becomes disconnected in flight, or if a geofence is breached.

  • Page 88: Post-Flight

    Hovermap-Zoe user manual Pull down on the throttle until Zoe is on the ground. Hold the throttle fully down to shut down the motors. Keep holding the throttle down until the motors have stopped spinning. Stop the Hovermap scan using the Mission menu.
  • Page 89 Hovermap-Zoe user manual Power off the Hovermap and any additional equipment. Check that all other electronic equipment is turned off after the last flight. Check the airframe, propellers, and Hovermap for any cracks or damage. Step 2: Move Zoe from its landing spot To avoid damage or injury, remove any payload from the quick release before transporting Zoe.

  • Page 90: Mapping Mode

    Offset the antennas by 90 degrees. For best results position one antenna vertically, and the other horizontally. If using the Samsung tablet, connect the tablet to the controller using the supplied USB-A to USB- C cable. Conduct the standard Hovermap-Zoe checks, including: Release date: 01 Nov 2021 Revision: 1.0...

  • Page 91: Step 2: Powering On

    Warning If using the Samsung tablet, ensure that it is connected to the controller using the supplied USB-A to USB-C cable. This ensures that Hovermap-Zoe data is shown in the Hovermap App. Power on the Zoe. The green battery lights should light up.

  • Page 92: Step 3: Taking Off

    Hovermap-Zoe user manual  Note Do not move the Hovermap until the slow, pulsing blue state is reached. If the status LED is not blue after 60 seconds, power cycle the Hovermap. When the auto-initialization and checks are complete, the slow pulsing blue indicates that the system is ready.

  • Page 93: Step 4: Flight/Scanning

    Hovermap-Zoe user manual 4.2.3.4 Step 4: Flight/scanning  Warning Never stop the scan during flight. Maintain visual line of sight to the aircraft. Always maintain visual line of sight to the Zoe. During the flight, monitor the drone battery level in the Hovermap App and on the drone status LED.

  • Page 94: Step 7: Shut Down

    Hovermap-Zoe user manual 4.2.3.7 Step 7: Shut down To shut down Hovermap, turn off Zoe or disconnect the Hovermap power cable once the status LED shows a slow pulsing blue. Release date: 01 Nov 2021 Revision: 1.0...

  • Page 95: Pilot Assist Mode

    Hovermap-Zoe user manual Pilot Assist mode 4.3.1 Overview Pilot Assist mode is the first advanced autonomy level available for Hovermap. It provides safe, line of sight flight, with LiDAR-based, omnidirectional collision avoidance and GPS-denied stability control. In this section, we will walk through the complete setup of the system, and then walk through the steps required to get it in the air.

  • Page 96: Step 2: Powering On

    Warning If using the Samsung tablet, ensure that it is connected to the controller using the supplied USB-A to USB-C cable. This ensures that Hovermap-Zoe data is shown in the Hovermap App. Power on the Zoe. The green battery lights should light up.
  • Page 97 Hovermap-Zoe user manual  Note Do not move the Hovermap until the slow, pulsing blue state is reached. If the status LED is not blue after 60 seconds, power cycle the Hovermap. When the auto-initialization and checks are complete, the slow pulsing blue indicates that the system is ready.

  • Page 98: Step 3: Taking Off

    Hovermap-Zoe user manual Press the VESH button and do the following: • Check that the limits are appropriate. • Set a buffer if required.  Note Flying less than 50 cm from rotor-tip to wall may result in an aerodynamically- induced crash.

  • Page 99: Step 4: Flight/Scanning

    Hovermap-Zoe user manual  Note Changing the navigation mode from SLAM to GPS is only possible when Zoe is in drone control mode. 4.3.3.4 Step 4: Flight/scanning  Warning Never stop the scan during flight. Always maintain visual line of sight to the Zoe.

  • Page 100: Step 5: Landing

    Hovermap-Zoe user manual 4.3.3.5 Step 5: Landing Landing can be performed in the following ways: • Auto-landing: Select either the red (away from home position) or blue (at or near home position) button to initiate an auto-landing. • Pilot Assist mode: Recommended in a GPS-denied environment. Disable VESH, land the drone, and then hold only the throttle down until the motors are off.

  • Page 101: Autonomous Waypoint Mode

    Hovermap-Zoe user manual Autonomous Waypoint mode 4.4.1 Overview Autonomous Waypoint mode enables flight beyond line of sight and communications range. Place smart waypoints on the live-streamed 3D point cloud, and Hovermap plans and self-navigates a path to safely complete its mission, even in GPS-denied environments.

  • Page 102: Step 2: Powering On

    Warning If using the Samsung tablet, ensure that it is connected to the controller using the supplied USB-A to USB-C cable. This ensures that Hovermap-Zoe data is shown in the Hovermap App. Power on the Zoe. The green battery lights should light up.
  • Page 103 Hovermap-Zoe user manual Turn on Hovermap by pressing the power button once on the back of the unit. While booting/ initializing, the status LED will flash red, then light blue, then orange, and finally a slow, pulsing blue.  Note Do not move Hovermap until the slow, pulsing blue state is reached.

  • Page 104: Step 3: Taking Off

    Hovermap-Zoe user manual Ensure that the blue Ready (SLAM) or Ready (GPS) indicator to the top-right is blue. Press the VESH button and do the following: • Check that the limits are appropriate. • Set a buffer if required. ...

  • Page 105: Step 4: Flight/Scanning

    Hovermap-Zoe user manual 4.4.3.4 Step 4: Flight/scanning  Warning Never stop the scan during flight. Maintain visual line of sight to the drone. Always remain vigilant and ready to take over control of Zoe by switching to Loiter or Altitude- Hold mode in the following circumstances: •...

  • Page 106: Step 6: Downloading The Data

    Hovermap-Zoe user manual • Pilot Assist mode: Recommended in a GPS-denied environment. Disable VESH, land the drone, and then hold only the throttle down until the motors are off. • Altitude-Hold/Loiter mode: Switch out of Hovermap mode, land the drone and hold the left stick on the controller down for 3 seconds until the motors stop.

  • Page 107: Operating Limitations

    Hovermap-Zoe user manual Operating limitations 4.5.1 Overview This section contains operating limitations for Zoe. These are necessary for the safe operation of the drone, its motors, and standard equipment. 4.5.2 Weight limits  Warning Exceeding weight limitations may lead to overloading the drone structure. This can cause loss of control or structural damage.

  • Page 108: Zoe Flight Limitations

    Hovermap-Zoe user manual 4.5.3.2 Zoe flight limitations If Zoe loses GPS signal and exceeds the distance limits set in the ArduPilot software, it will fly back within the set range once it receives a GPS signal again. You can set Zoe flight limitations in the Hovermap App.
  • Page 109 Hovermap-Zoe user manual Release date: 01 Nov 2021 Revision: 1.0...

  • Page 110: Table 9 Center Of Gravity Limits

    Hovermap-Zoe user manual Table 9 Center of gravity limits Zoe center of gravity Left/right 0 mm -2 mm 30 mm Longitudinal center of gravity limits Forward 25 mm -25 mm Release date: 01 Nov 2021 Revision: 1.0...

  • Page 111: Determining The Center Of Gravity

    Hovermap-Zoe user manual Vertical center of gravity limits Down -175 mm 100 mm Lateral center of gravity limits Left -25 mm Right 25 mm 4.5.4.2 Determining the center of gravity This is a general method for finding the center of gravity of your drone, independent of its configuration, shape, or mass.

  • Page 112: Flight And Maneuver Limitations

    Hovermap-Zoe user manual 4.5.5 Flight and maneuver limitations Table 10 Flight and maneuver limitations Maximum battery voltage 25.2 V Minimum average battery voltage 21.0 V Maximum pitch/roll angle 45° from horizontal Maximum yaw rate 150°/second Maximum airspeed 76 km/h (41 knots) Flight modes •...

  • Page 113: Battery Limitations

    Hovermap-Zoe user manual 4.5.6 Battery limitations Table 11 Battery limitations Maximum battery voltage 25.2 V Minimum average battery voltage 21.0 V Failsafe 1 autonomous return to home 21.0 V voltage Failsafe 2 autonomous land voltage 20 V 4.5.7 Range limitations 4.5.7.1 Command and control link...

  • Page 114: Flight Battery

    Hovermap-Zoe user manual 4.5.7.2 Flight battery The following flight times are representations of the typical flight time in normal conditions. These are dependent on a number of factors. The conditions in which these flight times have been tested are at 20°C ambient temperature, with a nominal wind speed of 8 knots, while hovering at a height of 5...

  • Page 115: Emergency Procedures

    Hovermap-Zoe user manual Maximum precipitation Moderate rain conditions, although it is recommended to fly in dry conditions. Maximum rain 10 mm/h, 30mm/3h Emergency procedures 4.6.1 Hovermap failsafes Hovermap has been engineered to operate autonomously when attached to a compatible drone or ground vehicle.

  • Page 116: Low Battery Rth Failsafe

    Hovermap-Zoe user manual 4.6.1.1 Low Battery RTH failsafe  Modes of operation • Pilot Assist mode • Autonomous Waypoint mode Figure 44 Hovermap returning home The Low Battery RTH failsafe is an advanced, fully autonomous function (no pilot input required) that will bring the system back to the set mission home position.
  • Page 117 Hovermap-Zoe user manual Once Low Battery RTH is triggered, Hovermap takes control away from the pilot to fly the drone back to its home position safely. The system will say “going home” as an audible warning, and will show Low Battery - Going Home in the Hovermap status bar.

  • Page 118: Critical Battery Auto-Landing Failsafe

    Hovermap-Zoe user manual 4.6.1.2 Critical Battery Auto-landing failsafe  Modes of operation • Pilot Assist mode • Autonomous Waypoint mode The Critical Battery Auto-landing failsafe is an advanced, fully autonomous function (no pilot input required) that will land the drone in a controlled manner in its current location.

  • Page 119: Wi-Fi Communications Loss Rth Failsafe

    Hovermap-Zoe user manual Once initiated, the system will say “RC loss going home” as an audible warning, and will show Going Home in the Hovermap status bar. This function uses advanced autonomy to keep the system safe. Once the communications link between the drone and the remote control has been restored, you can abort the automatic function to regain control of the system.

  • Page 120: Heavy Dust Backtrack Failsafe

    Hovermap-Zoe user manual  Note All advanced autonomy functions and failsafes will continue to operate as normal. The real-time point stream will also continue while in Wi-Fi range. 4.6.1.5 Heavy Dust Backtrack failsafe  Modes of operation • Autonomous Waypoint mode The Heavy Dust Backtrack failsafe is an advanced autonomy failsafe.
  • Page 121 Hovermap-Zoe user manual During the flight, it is possible that a SLAM loss can occur. A SLAM loss means that the system is no longer able to track its location in the environment using LiDAR. SLAM loss generally occurs as a result of environmental factors, such as smoke, moving objects, flying over a body of water, flying over large featureless areas, or flying too high above the ground.

  • Page 122: Lidar Error Failsafe

    Hovermap-Zoe user manual If the system is operating beyond Wi-Fi range in Autonomous Waypoint mode, it will execute automatic return to home. If possible, you should abort the return to home and fly the drone home yourself. You can double-toggle the flight mode switch to use Pilot Assist mode for the remainder of the flight.

  • Page 123: Figure 45 Lidar Error Warning

    Hovermap-Zoe user manual  Warning After a LiDAR error, return to home may be inaccurate, and the drone may not return to the correct home position. You should use Pilot Assist mode to bring the drone home safely. You should either bring the system home in Pilot Assist mode (recommended), or guide it home using waypoints in Waypoint UI.

  • Page 124: Poor Waypoint Failsafe

    Hovermap-Zoe user manual 4.6.1.8 Poor Waypoint failsafe  Modes of operation • Autonomous Waypoint mode The Poor Waypoint failsafe is an advanced autonomy failsafe that is triggered when the system is unable to reach a waypoint set by the user. This function will take into account the amount of slack set for the waypoint.

  • Page 125: Gcs Communication Failure

    Hovermap-Zoe user manual • If Zoe is in Altitude-Hold mode and doesn’t have sufficient GPS signal, the Return to Launch failsafe will immediately land the drone. • If Zoe is in Hovermap mode, it will continue with the mission. ...

  • Page 126: Emergency Procedures

    Hovermap-Zoe user manual 4.6.3 Emergency procedures If a critical error (in red) appears in the Hovermap status bar, do the following: Switch to drone control by changing the flight mode switch out of Hovermap mode. If GPS is available, switch to the Loiter mode. If GPS is not available, switch to Altitude-Hold mode.
  • Page 127 Hovermap-Zoe user manual Error Meaning Drone behavior Pilot action Lost Navigation The navigation The drone may start As above. system has failed. to behave erratically, or may start drifting. Lost Dronelink The physical Hovermap now has no As above. connection...
  • Page 128 Hovermap-Zoe user manual Error Meaning Drone behavior Pilot action • That all cables are connected correctly. • That all cables are connected to the correct payload (with the correct Wi-Fi). • The tablet Wi-Fi connection. Battery The battery could The drone may shut Land the drone immediately.
  • Page 129 Hovermap-Zoe user manual Error Meaning Drone behavior Pilot action Lost Authority This indicates that The drone will take In drone control mode, fly back (Geofence) you have just away control from out of geofence. Once you have breached a Hovermap. You will...

  • Page 130: Table 15 Warnings

    Hovermap-Zoe user manual Table 15 Warnings Error Meaning Drone behavior Pilot action Lost GPS GPS has been lost. Drone behavior Watch the drone Hovermap will now depends on the carefully and try to fly use its fallback navigation method back into a GPS navigation source.
  • Page 131 Hovermap-Zoe user manual Error Meaning Drone behavior Pilot action surrounded by backtrack for 30m performance obstacles. without absorbing any degradation. new points. Once clear of dust, it will return to home. Lost Remote Control The drone remote If you are in Pilot...

  • Page 132: Table 16 Cautions

    Hovermap-Zoe user manual Error Meaning Drone behavior Pilot action VESH Error The VESH system has The drone won’t have Fly home safely. Be stopped functioning. the protection of careful to avoid VESH. obstacles. Hovermap Not Ready The system has not...
  • Page 133 Hovermap-Zoe user manual Error Meaning Drone behavior Pilot action V-Velocity Unstable The drone is reporting This can lead to Always check that an abnormally high aggressive takeoffs, as velocity is stable prior to climb or descend rate the drone falsely arming.

  • Page 134: Loss Of Propulsion

    Hovermap-Zoe user manual Error Meaning Drone behavior Pilot action error that Hovermap reports. Tablet Battery The battery in your You will lose Hovermap Bring the drone home Critical tablet is low, and the controls and situational as soon as possible.

  • Page 135: Loss Of Gps Signal

    Hovermap-Zoe user manual 4.6.3.3 Loss of GPS signal If Zoe experiences a loss of GPS signal, do the following: Use the flight mode switch to switch to Altitude-Hold mode. Hold Zoe in cruise position with sufficient distance from any possible objects.

  • Page 136: Approach The Drone After An Emergency

    Hovermap-Zoe user manual 4.6.3.6 Approach the drone after an emergency Always follow this procedure after any emergency (other than a Return to Launch automatic landing). If the motors have not stopped after the drone has hit the ground, switch to Altitude-Hold mode and hold the throttle down until the motors have stopped.

  • Page 137: Maintenance

    Hovermap-Zoe user manual Maintenance Overview This section outlines the recommended procedures for proper handling of the Zoe. These inspection and maintenance requirements must be followed if the Zoe is to retain its original performance and dependability. Maintenance schedule It is recommended that you perform an extensive maintenance check after every 160 hours of operation, or after 350 flights.
  • Page 138 Hovermap-Zoe user manual   Every Every day flight hour hours hours hours/ hours/ required operation / 300 / 600 1200 after flights flights flights flights pre/post flight check Airframe           extensive check        ...
  • Page 139 Hovermap-Zoe user manual   Every Every day flight hour hours hours hours/ hours/ required operation / 300 / 600 1200 after flights flights flights flights pre/post flight check Balancing the             propeller Propeller    ...

  • Page 140: Zoe Flight Checks

    Hovermap-Zoe user manual   Every Every day flight hour hours hours hours/ hours/ required operation / 300 / 600 1200 after flights flights flights flights pre/post flight check Autopilot check               IMU calibration  ...

  • Page 141: Airframe Extensive Check

    Hovermap-Zoe user manual Check for excessive play in the landing gear. Check that all fixtures and fasteners are in place, and that they are not loose. If they are loose, fasten them with the appropriate tools. If you notice any excessive damage, contact Customer Success 5.2.2.2 Airframe extensive check...

  • Page 142: Arm Replacement

    Hovermap-Zoe user manual  Landing gear/damping Check the landing gear for any damage, cracks or, deformities. If there is any crack or dent larger than 2 mm, please contact Customer Success If there is excessive deformation in the landing gear, or excessive play on the landing gear leg...

  • Page 143: Visual Check

    Hovermap-Zoe user manual 5.2.3.1 Visual check Check each propeller for visual damage. If any cracks, dents, or bends are visible, replace the propeller. Do not attempt to fly the drone. If during a preflight check or operation, you have doubt about the propeller's performance (vibrations, or large visual track), check the propeller for balance and track.

  • Page 144: Propeller Replacement

    Hovermap-Zoe user manual If the propeller does not tilt in one direction, it is fine and can be used again. Check the motor for excessive vibrations. If the propeller does tilt in one direction, use some clear varnish spray on the opposite propeller tip until the propeller stops tilting.

  • Page 145: Motor Cleaning

    Hovermap-Zoe user manual Move the tip of the propeller to check the motor for excessive bearing clearance. This clearance should not be more than 4 mm. If it does exceed 4 mm, contact Customer Success Spin the motor to see and hear if there is anything preventing it from moving freely. If in doubt,...

  • Page 146: Esc Maintenance

    Hovermap-Zoe user manual 5.2.5 ESC maintenance Zoe’s ESCs do not require any maintenance themselves. They are embedded in the center frame of the Zoe, and are vital to the performance of the drone. Do not attempt to open the center frame, as the internal components are very sensitive and should be handled with care.

  • Page 147: Imu Calibration

    Hovermap-Zoe user manual 5.2.6.1 IMU calibration When flying in Attitude mode, if Zoe seems to drift over 1 mps, and conditions are calm, you should recalibrate the IMU. Please see Accelerometer Calibration for instructions on how to perform an IMU calibration.

  • Page 148: Visual Check

    Hovermap-Zoe user manual 5.3.2 Visual check Check the batteries for any damage or deformation. Check the power cables for any cuts or breakage. Check the balance cables for any cuts or breakage. Check the power connectors for damage. If they appear burnt, try to clear them by using a piece of sandpaper (1 mm thick) to polish the metal connectors.

  • Page 149: Discharging

    Hovermap-Zoe user manual • Always set the charger to the amp charge rate listed on battery labels. • Never charge batteries at a rate greater than 1C, unless a different C-rate is specified by the manufacturer, or the rate is preset as part of a specific battery and charger combination. Do not alter the charge rate once charging has begun.

  • Page 150: Battery Storage

    Hovermap-Zoe user manual 5.3.5 Battery storage • Never store LiPo batteries in direct sunlight or in extreme temperatures. • LiPo batteries should be stored in temperature conditions between -10°C and 45°C. • When storing batteries for longer periods (over 3 months), store them in the following conditions: Temperature 18°C to 28°C.

  • Page 151: Support

    Hovermap-Zoe user manual Support Our Customer Success team is here to help you at every stage of your Hovermap experience. If you have any questions, concerns or technical issues, please visit our Customer Portal . From here, you can: •...

  • Page 152: List Of Abbreviations

    Hovermap-Zoe user manual List of abbreviations Abbreviation Definition Above ground level BAG file Standard robotics file type (contains the scan with point data) BIN file Log file Electronic speed controller First person view Ground control station Global positioning system Inertial measurement unit A secondary navigation mode.
  • Page 153 Hovermap-Zoe user manual Abbreviation Definition Return to launch Return to home Receive Software development kit SLAM Simultaneous localization and mapping Transmit User interface Coordinated universal time VESH Virtual ellipsoid shield. Provides collision detection and avoidance capabilities. Release date: 01 Nov 2021...
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