Table of contents

Document conventions ......................................................................................... i

1 Introduction ........................................................................................................ 1
What this guide contains ...................................................................................... 1
Other Resources and Manuals in this Series ....................................................... 2
About HORIZONmp ............................................................................................... 3
System requirements ................................................................................... 3
Installing HORIZONmp .................................................................................. 4
MicroPilot HORIZONmp Licence Key ................................................................... 4
To Install the Licence Key ............................................................................ 4
g
MP1028 - Enable......................................................................................... 5
Checking the Installed Licence ..................................................................... 6
Windows 7 & User Account Control.............................................................. 6
Transferring a Licence.................................................................................. 6
Contacting MicroPilot ........................................................................................... 8

2 About HORIZONmp.............................................................................................. 9
The HORIZONmp window...................................................................................... 9
The Map ............................................................................................................ 13
Map Rotation Compass .............................................................................. 14
Auto- map rotation...................................................................................... 15
Map toolbar ................................................................................................ 15
The instrument panel ......................................................................................... 16
The Status bar ................................................................................................... 19
The Video Window ............................................................................................. 23
Menu Options and Other Features ..................................................................... 23

3 Planning a flight ............................................................................................... 24

Preparing maps ................................................................................................. 24
The Map Selector Plugin .................................................................................... 25
Adding New Maps ...................................................................................... 26
Setting Map Coordinates ..................................................................................... 26
Reading from a file ............................................................................................... 27
Entering map coordinates manually .................................................................... 27
Select Map Coordinates dialog ............................................................................ 27
Navigating the map .................................................................................... 28
Using tie points........................................................................................... 29
Selecting Maps .................................................................................................. 29
Setting the UAV Simulation Origin ..................................................................... 29
Selecting Digital Elevation Maps ........................................................................ 30
Supported DEM formats ............................................................................. 30

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Loading DEM Files ..................................................................................... 31

Adding Digital ............................................................................................. 31
Elevation Data to Horizon maps ................................................................. 31
Working with waypoints...................................................................................... 32
Waypoint commands .................................................................................. 33
Waypoint symbols ...................................................................................... 34
Fly files vs. Waypoint files .......................................................................... 34
Fly files ................................................................................................................. 34
Waypoint Files...................................................................................................... 34
To Add a Waypoint ..................................................................................... 35
Selected Waypoint Options shortcut menu ................................................. 36
To Edit a Waypoint ..................................................................................... 37
Edit Waypoint Options dialog box ........................................................................ 37
To Insert a Waypoint .................................................................................. 38
To Move a Waypoint .................................................................................. 39
Mission Types ............................................................................................ 39
To save a waypoint (.wpt) file .............................................................................. 39
To change the mission type attached to a .wpt file .............................................. 40
Examples ........................................................................................................... 40
Identifying the waypoint sequence.............................................................. 42
Editing Flight files – The Flight File Editor .......................................................... 42
Create a new .fly file ................................................................................... 43
Errors in flight files...................................................................................... 44

4 Running Simulations ....................................................................................... 45

Why we simulate flights...................................................................................... 45
Configuring simulations ...................................................................................... 45
UAV simulation settings ............................................................................. 46
Simulation Start Position / UAV Origin........................................................ 46
Conducting a Simulation .................................................................................... 48
Simulating Failure Conditions ..................................................................... 49

5 Conducting a flight .......................................................................................... 51

Communicating with the autopilot ...................................................................... 51
To Transmit a Fly file or Waypoint file to the Autopilot ................................ 51
To Connect HORIZONmp to the Autopilot.................................................... 53
Preparing for a flight........................................................................................... 54
To fly or not to fly........................................................................................ 54
Verifying autopilot operation ....................................................................... 54
Flying with HORIZONmp ..................................................................................... 55
To start a flight ........................................................................................... 55
To fly in RPV mode .................................................................................... 55
To fly in other modes .................................................................................. 56
To move waypoints during a flight .............................................................. 56
Confirming the waypoint sequence............................................................. 57
Drawing a Ruler on the map ....................................................................... 57
Marking a location on the map ................................................................... 58
To Redirect the autopilot while in flight ....................................................... 58
To an existing waypoint... .................................................................................... 58
To any point on the map... ................................................................................... 58
To Insert a Waypoint .................................................................................. 59

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Delete a Waypoint in Flight......................................................................... 60

Creating A New Waypoint File During Flight ...................................................... 60
To upload a waypoint file during flight ........................................................ 61
Camera Pointing Features ................................................................................. 62
Camera Look Here ..................................................................................... 62
Camera Look At ......................................................................................... 62
Operating payloads ............................................................................................ 64
Button controls ........................................................................................... 64
Slider controls ............................................................................................ 64
Landing .............................................................................................................. 65
Landing Release Feature ........................................................................... 65
UAV-Ownership Feature .................................................................................. 65
Additional Information................................................................................. 67
Synchronising Waypoints on Multiple GCS ................................................ 68
Multi-UAV Selection ........................................................................................... 69
Identifying the Selected UAV ...................................................................... 69
Failures .............................................................................................................. 71
GPS Failure ............................................................................................... 71

6 Sensors–Understanding data ......................................................................... 73

The Sensor Display............................................................................................ 73
The trace route display....................................................................................... 74
The strip chart display ........................................................................................ 75
User telemetry ................................................................................................... 75

7 HORIZONmp Video ........................................................................................... 79

The Video Window ............................................................................................. 79
Video Window Tools................................................................................... 79
Video Capture .................................................................................................... 81
Main video stream ................................................................................................ 81
Second video stream ........................................................................................... 81
Image snapshot.................................................................................................... 81
To save a second video stream ........................................................................... 81
To save a snapshot .............................................................................................. 82
To view a second video stream or snapshot ....................................................... 82
Supported Video Streams .................................................................................. 82

8 Menu Options / Features ................................................................................. 83

File Menu ........................................................................................................... 83
New Waypoint File ............................................................................................... 83
Open Waypoint File ............................................................................................. 83
Save Waypoint File .............................................................................................. 83
Save Waypoint File As ......................................................................................... 83
Import Waypoint File ............................................................................................ 83
Close Waypoint File ............................................................................................. 83
View Last Simulation Log ..................................................................................... 83
Edit Menu .......................................................................................................... 83
Edit Selected Object ............................................................................................ 83
View Menu ......................................................................................................... 84
Transmission Errors ................................................................................... 84
Camera Controls ........................................................................................ 84

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Failure Controls .......................................................................................... 86

Simulation Speed ....................................................................................... 86
Sensor Monitor Displays ............................................................................ 86
Extra Telemetry .......................................................................................... 87
Link Range Region Overlay........................................................................ 88
Altitude Range Overlay .............................................................................. 88
Camera Projection Overlay ........................................................................ 89
Region Key ................................................................................................ 89
Compass Arrow on Map ............................................................................. 89
Camera History .......................................................................................... 90
Show Waypoint Altitude ............................................................................. 90
Show Detailed UAV Icon ............................................................................ 90
Show GCS Position History ........................................................................ 90
Show Gains, Sensors, Waypoint ................................................................ 91
Clear UAV Bread Trail ................................................................................ 91
Maps Menu ........................................................................................................ 91
Show Map Selector .................................................................................... 91
Show Range Settings ................................................................................. 91
Show Overlay Settings ............................................................................... 92
Zoom In / Zoom Out ................................................................................... 92
Load Online maps ...................................................................................... 92
Change Map Type ...................................................................................... 92
Waypoint Menu .................................................................................................. 92
Generate Search Path................................................................................ 92
Restart Mission .......................................................................................... 93
Delete All.................................................................................................... 93
Edit Wpt ..................................................................................................... 93
Launch Waypoint Editor ............................................................................. 93
Refresh Flight File List................................................................................ 94
AutoPilot Menu .................................................................................................. 94
Reset Airspeed Sensor .............................................................................. 94
Capture Waypoints ..................................................................................... 94
Start Datalog .............................................................................................. 94
Set Datalog as Downloaded ....................................................................... 94
Change Mode....................................................................................................... 94
MP3X ................................................................................................................... 94
Run Binding Utility ................................................................................................ 94
Tools Menu ........................................................................................................ 94

9 Troubleshooting............................................................................................... 97
Common problems............................................................................................. 97
Autopilot Identification / UAV Name.......................................................... 101
ADC Calibrator ......................................................................................... 101
Aircraft Special Dfn Editor ........................................................................ 101
Autopilot Config Test ................................................................................ 101
Autopilot Configuration Wizard ................................................................. 101
Autopilot Datalog Viewer .......................................................................... 101
Autopilot Flash Loader ............................................................................. 101
Field Selector Utility.................................................................................. 102
LRC AirConfig 2028 ................................................................................. 102
LRC AirConfig 2128 ................................................................................. 102

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LRC GroundConfig ................................................................................... 102

Modem Config .......................................................................................... 102
Buttons ..................................................................................................... 102
Checklist .................................................................................................. 102
Dfn Editor ................................................................................................. 102
AVL Editor ................................................................................................ 102
Binding Utility ........................................................................................... 102
Compass Calibration ................................................................................ 103
Cropcam .................................................................................................. 103
DGPS ....................................................................................................... 103
Error monitor ............................................................................................ 103
Flight Monitor ........................................................................................... 103
GCS Tracker ............................................................................................ 103
GoTo Lat Long ......................................................................................... 103
GPS Signal to Noise................................................................................. 103
HeliStatus................................................................................................. 104
Joystick Controller .................................................................................... 104
Modem Configuration ............................................................................... 104
Map Selector ............................................................................................ 104
NMEA Generator...................................................................................... 104
Optimiser.................................................................................................. 104
Sensors .................................................................................................... 104
Status Monitor .......................................................................................... 104
Terrain Profile........................................................................................... 104
Transponder ............................................................................................. 105
Autopilot Vibration Analyser ..................................................................... 105
UAV Shape Editor .................................................................................... 105
Visual Hardware Simulator ....................................................................... 105
Waypoint Generator ................................................................................. 105
Waypoint Grid .......................................................................................... 105

Appendices

A Plug-In Tools for HORIZONmp ........................................................................ 101

B DEM Sources.................................................................................................. 106

Index 108

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