Mapping with Hovermap

Mounting ST-X on Astro

  1. Remove the isolator and payload cable from the lower chassis. Then, screw the Hovermap ST-X dovetail bracket using the shoulder screws.

Use a 2.5mm driver and Loctite 222 on the screws. Be sure to tighten them down all the way!

  1. Attach the ZPD connector to the IO panel on Astro.

  1. Then screw the cover over the IO panel, torquing the bolts to finger-tight.

  2. Connect the cable to the back of Hovermap ST-X.

Astro Parameter Configuration

For mapping missions, the stock parameters in Astro FW 1.4.6 work with Hovermap. Parameter changes are needed for full Hovermap autonomy missions.

Pilot Pro and Hovermap Configuration

Live preview and connection is currently only supported with Pilot Pro + Astro

  1. Install the Emesent Commander App on Pilot Pro. You will need to add your Pilot Pro to the Emesent channel of apps to download it.

    1. Connect the Pilot Pro tablet to the internet via the wifi settings

    2. Uninstall existing unofficial Commander app if you have it installed

    3. Open the camera app on the tablet

    4. Scan this QR code and copy the link when it pops up

    1. Open the Freefly Updater app

    2. Go to Settings > Repositories

      1. Click on + ADD REPOSITORIES

      2. Paste the link you copied from the QR code (alternatively type this: http://freefly-updater.freeflysystems.com/v1_third_party/emesent/stable_repo/)

      3. Exit the Repository menu

    3. You might need to enable Freefly Updater app in Settings under Install Unknown Apps

    4. Go to Latest > Commander > Install

    5. Open the app once it's downloaded

    6. Permission Commander access pop up messages

    7. Enter

The latest tested version of Commander is 1.2.0_4

  1. Check that Hovermap is running hvm_st_3.1.3_astro_proto6.img firmware or later. If not, follow Emesent's documentation on firmware updates.

Hovermap Mapping Firmware v3.1.3 for Astro

  1. Power on Astro, which should also power on Hovermap. Wait until the lights on the back of Hovermap turn blue and flash slowly.

  1. Open the app and click on the ethernet icon in the upper left corner. Click Change Hostname and set the IP address to 192.168.144.101

  1. Refresh the Commander app and wait for an ethernet connection to be shown. This may take a few minutes.

  2. You're connected to Hovermap through Astro!

Mission Planning

Similar to photogrammetry missions, you can plan a mission inside AMC and upload it to Astro. The process is very similar to planning a mission for the a7R IV Payload:

pagePre-flight Planning

Hovermap ST-X specific notes:

  • Flying closer to the terrain or structure will yield better point cloud results. Based on our testing, we recommend staying within 50 meters of the terrain or structure.

If you do need to fly higher than 40m, slow down the mission speed so the lidar has more time to process and gather points from farther away. In our testing, we wouldn't recommend anything farther than 60m at or above 10 m/s from the subject for good results.

If you see several rotated, intersecting versions of your scan after processing the data, a SLAM slip has likely occurred, and you will need to fly the mission closer and/or slower.

  • Set the camera type to 'Manual (No specs)' so that AMC will display the mission planning parameters in distances rather than GSD.

  • Instead of setting the mission path based on '% Overlap', set the distance of each track of the mission to be no more than 50 meters apart.

  • We recommend flying at around 7 m/s as a starting point for your Hovermap mission. You can increase the density of the point cloud generated by flying slower or lower.

  • If your survey area has lots of 3D geometry, check the 'refly at 90' option to get more points on vertical faces and overhangs.

Flight Tips

Astro + Hovermap ST-X is limited to a maximum ambient temperature of +40C/+104F

When carrying the Hovermap ST-X, Astro is at the upper limit of its maximum takeoff weight. Be cautious when flying Astro in hot or high-altitude environments.

Astro will give warnings if the ESCs or motors start to overheat. Heed the warnings!

  • Hovermap should boot up when Astro is powered on. Hovermap will connect to Astro once the lights turn from orange to a slow blue flash.

  • Set up the Hovermap scanning via the Commander app.

    • Click Non-Autonoumous Mapping Mission.

    • Follow the prompts for pre-flight checks.

    • Name your mission and check there is enough free storage on Hovermap.

You may get a caution warning that Shield is disabled, this is normal

  • Start the scan and wait for Commander to complete the pre-flight check.

  • Once the scanner is running, switch back to AMC to execute the mission.

  • You can view a live preview of the point cloud generated by ST-X during the mission in the Commander app.

  • Stop the scan after landing via the Commander app.

For added situational awareness during the mission, you can view a live video from the aircraft using the Astro FPV Camera.

When using the FPV camera, AMC will try to take photos during the mapping mission. To turn this off:

  • Set the Start > Camera actions: Stop taking photos

  • Turn ON the option under Mission > Options 'Images in turnarounds'

If you power off Astro before stopping the scan, the data can be corrupted!

Post Processing

Check out Emesent's documentation for details on how to remove data and post-process for ST-X:

https://emesent.com/portal

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