CWCommander User Manual

Jul. 2018
V 2.1
 CWCommander User Manual

Disclaimer

 Any illegal utilizations is forbidden as JOUAV CW series UAV are sensitive items. Chengdu
JOUAV DaPeng UAV Tech Co., Ltd will not take any responsibility for any consequences
caused by illegal use, nor provide any technical support or promise for any obtaining through
abnormal channels. We shall not be related to any third party liability by using the products
 The direct or indirect application of JOUAV CW series UAV and products will be considered as
unconditional acceptance of this statements. If you have any dissent of any clauses, please
immediately suspend the usage.

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Contents
Disclaimer.............................................................................................................................................. 1

Overview................................................................................................................................................ 3
Software Installation and Operation.......................................................................................................4
System Requirements........................................................................................................................................4

Installation and Operation.................................................................................................................................4

Interface and Function............................................................................................................................6

Menu & Function..............................................................................................................................................6

Toolbar............................................................................................................................................................11

Flight Status.................................................................................................................................................... 13

Telemetry & Command.................................................................................................................................. 14

Integrated Instrument...................................................................................................................................... 16

Setting and Parameter.......................................................................................................................... 17

Compass Calibration.......................................................................................................................................17

Take Off & Landing Set................................................................................................................................. 18

Emergency Parameter..................................................................................................................................... 19

Aerial Task Setting......................................................................................................................................... 20

Mission Planning and Execution..........................................................................................................22

Local Flight Plan.............................................................................................................................................22

Quick Flight Plan............................................................................................................................................ 26

Landing Flight Plan.........................................................................................................................................27

Photo Flight Plan.............................................................................................................................................28

POS Data.........................................................................................................................................................33

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Overview

Ground station software CWCommander is the command & control center of the entire UAV
system. For the full-functional and highly integrated Flight Control & Navigation System of AP
Series, CWCommander performs all ground station instructions. Therefore, ground station software
is in fact the human-machine interface of AP Series Flight Control & Navigation System.

UAV

Airborne Data Flight Control and

Terminal DLI Navigation System

Ground Data
Terminal

DLI

Ground Station External C4I System

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Software Installation and Operation

System Requirements

1. Hardware Requirements
CPU: Intel Core i5 or higher
Memory: At least 4G
Monitor: At least 1024×768 (including) resolution, widescreen monitor can get better display
results.
2. Software Requirements Operating
Operating System: Windows 10
Operating Environment: Microsoft. NET Framework 4. 6. 1
Operation Authority: It must run as Administrator.

Installation and Operation

1. Installation
CWCommander is a set of Windows application programs installed via Windows installation
file. Double click the installation file to start the installation process. The installation process is a
step-by-step interface same as the general Windows programs, such as agree the copyright
agreement, select installation directory. After installation, CWCommander can be started.
2. Communication Mode
The first interface in CWCommander after start is Communication Settings Dialog Box. It’s
used to set the communication mode between the Windows system which operates
CWCommander and GCS-202 by WiFi hotspot or serial port, and the replay function.
WiFi Name: GCS202-1909XXXX
Password: 1909XXXX

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Network Server: Communication via WiFi

Server: 10. 10. 100. 254
Prot: 2010
Platform Type: Autopilot

Direct Serial: Communication via serial port

Port: Select as the Device Management
Baud: 115200

Replay File: Replay the flight

File: Select the tel file
Platform Type: Autopilot

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Interface and Function

Menu & Function

1. Main Menu
The below displays an overview of what the CW Commander looks like in a nominal
configuration with urban area map information loaded.

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2. File
Display: Display includes unit, height, engine, alarm, wind direction and power and engine

alarm setting as below figure.

Speed: m/s or km/s
Altitude: m or km
Position: DD. DDDDDDD° or DD°. MM’SS. SSS’
Height: If unselect “Altitude”, it would display AGL height
Fuel Display Setting: Fuel measurement analogy to digital voltage display. If fuel is lower than
alarm scale, it would be red background for alarm.
Power: If the power is lower than the alarm setting, it would be red background for alarm.
Self-Check: If selected, self-check of sensors data would be displayed on the screenshot.

Flight Records: Command to communicate with autopilot and download the data from black

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box.
3. Map

Import Map: the sources of map display data are from online map data. The resolution of some
areas' online data might not meet the usage requirements, if user has high precision map picture,
overlay them in the appropriate areas.
Map Source Select: Which can be selected here as
Google Geographical Map
Google Hybrid Map
Google Satellite Map
Google Topographic Map
Bing Geographical Map
Bing Satellite Map
Bing Hybrid Map
Map Cache: Downloading the map data online. Data cache can be used when offline and the
cache files can be imported and exported.
Map Search: User can use this option to quickly jump to the given longitude and latitude
position.
Map Update: N/A

DEM Data Manager: Downloading the elevation data online. (Only support China)
4. Option
Take Off & Landing Set: Set the take off and landing
parameters, including take off height, landing height, engine
auto-start throttle, etc.
Gimbal-MG Parameter: For testing by engineer.
Telemetry Frequency: Set the receiving frequency of
telemetering.
Emergency Parameter: Including altitude limits, data link limits, voltage limits, etc.
Data Manage: Manage the autopilot parameters. If all all setting finished, please select “save to
autopilot” and be sure autopilot power on during saving.
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Surface Calibration: Calibrate the control surfaces and magnetic compass, check the RC status.
TTS: Text-To-Speech, set the voice items.

5. View
GCS Data: monitor GCS GPS position and voltage.
Flight Data: real-time display the system telemetry data, including GPS data, attitude data, air
data, wind speed, engine speed, fuel, radar/ultrasound height, navigation offset distance,
magnetic heading and navigation filtering;
Sensor Data: display temperature, static pressure, dynamic
pressure, tri-axial gyroscope angular speed, tri-axial
accelerated speed, angular deviation, accelerated speed
deviation and magneticsensor.
System Status: display system running time (s), time at
pickup altitudes, system power supply status, data link
status, system version, recording status of data recorder and parameter lock-outstatus.
On-board DGPS Status: differential GPS status will be displayed here if there is Novatel
difference input.
6. Task
Flight Plan Import: Read the flight plan from the file, and

display the flight plan as local flight plan in the map form.
Aerial Photo Missions: Import and remove the Aerial
Photography areas, and import and export the planning
areas.
Aerial Task Settings: Set the camera parameters and Aerial Photography parameters involved in
Aerial Photography task.
Load Photo POS Data: The achievement results will be obtained after finishing the Aerial
Photography task, among which the picture POS data is an important result. Loading this data
can quickly examine the location of aerial photography point, to see if there are any missed shots.
MG Series Gimbal Control: Control functions for MG series gimbal.
Gimbal Settings: Parameters and control for normal gimbal.
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7. Preflight Check
Check aircraft step by step with the help of checklist, and then you can take off.

8. Layout
Restore the default layout of CWCommander.
9. Help
About: Check the CWCommaner’s version and other infromation.
License: Check the autopilot license.
Airsapce Data Download:
Unlock the no-fly zone. (Only for China)
10. Language
Change CWCommander’s language.

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Toolbar

The system toolbar of ground station software CWCommander includesinstruction toolbar, flight

plan toolbar, common operational toolbar and map view toolbar, asshown in the following figure.
Each toolbar can be floated at any location, and docked at the top, bottom and left side of the
programinterface.
1. Instruction Toolbar
Instruction toolbar consists of RC/Auto Switch, Command and Actions, as below screenshot:

RC: RC color would be switch to green or red if aircraft mode switch to RC or Auto mode as
below screenshot. Also here you can switch the control mode if there is no RC.

Command:
Take Off: It will show you Take Off if you have finished the pre-flight check.
Landing: Land aircraft.
Abort: Cancel mission if any emergency happens during taking-off.

Actions:
Starting or Turn off engine
Open or Close receiver.

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2. Flight Plan Toolbar

Flight Plan Toolbar Flight plan toolbar contains various instructions of flight plan. The

specifics refer to the relevant flight plan sections.

Select: Select and then use the map and other functions.
Multi-Point Plan: Select the waypoint and then get a multi-point flight plan.
Aerial Photo Plan: Creat a polygon and generate a aerial photo mission automatically.
Landing Plan: Creat a landing plan for approch and landing.
Quick Flight Plan: Creat a point with circle and trace to this point immediately.
Local: Show local flight plan.
Remote: Show remote flight plan.
Delete: Delete all remote flight plan.
3. Common Toolbar
Common toolbar contains aircraft centering, display the small label of flight status, range rod,
clear flight path and add map identification.

Center: Move aircraft to the center of map.

Status: Show the important information with aircraft, such as speed, altitude, RPM.
Ruler: Measure the distance and angle on the map.
Clear: Clear the flight path, point.
Elevation: Check some point’s elevation.
Mark: Mark on map.
4. Map View Toolbar
Map view toolbar contains Zoom, Pan, map north view mode and aircraft heading view
modes, the last one is TTS.

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Flight Status

System status indicator is always at the right of map form. It’s mainly used to display the key

information of autopilot’s current status. The red stands for abnormal status, the green stands for
normal status.
AS: If aircraft airspeed exceeds the max./min. airspeed range settings, it
will display inred.
ALT: If flight altitude exceeds the allowable max./min. altitude, it will
display in red.
LINE: If the aircraft attitude exceeds the attitude angle allowed by the
controller, it will display in red.
GPS: If GPS receiver couldn’t transmit correct position and speed, it will
display in red.
Communication: Telemetry data disconnection up to comm timeout
setting in emergency handle, it will display in red.
System: If aircraft is in normal fly state, it will display “Normal” [green],
or it will display prompt messages [red] such as “lateral deflection, go-around
and “decline return”.
Engine: Engine on is green and Engine killed isred.
Navigation: It display INIT if GPS signal in normal situation, it display
AHRS if GPS signal loss.
APmode: Display the flight modes of autopilot.
Payload: Task Devices (for example, parachute, Gasbag) will display green
light and normal characters in normal state; if the parachute and Gasbag are
opened, it will display yellow light and characters of relevant equipment
status.
Main Power: Autopilot battery voltage.
Servo Power: Servo power voltage.
Rotors Power: Rotors battery voltage.

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Fuel: Proportion of fuel.

Control Status:

ATT. Mode/GPS Mode/AUTO: Control mode status.

Motor lock/Motor unlock: Rotors status.
RC off/RC Normal/RC Protection: RC status.
GCS Power: The battery voltage of GCS-202.
Photo Num. : The number of total photo which has been taken.

Telemetry & Command

1. Objects
The information relating to existing UAVs and ground stations, including position, attitude, status
and navigation, will be shown in the Object List Form. If abnormal situation, the item will be
displayed in red highlight.

2. CrtlLoops
The Command Loop consists of telemetry information, current status and current instructions of 7
control loops. Please refer to the Controller Instruction Sections for the primarily supported control
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loops and their function descriptions.

3. TaskCommand
Task Instruction Form covers task instruction buttons of RC receiver, fixed wing propeller and
camera actions.
Command consists three main commands of aircraft flying circle, change altitude and regain
altitude.

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4. Gimbal Inspection
Here are some functions about surveillance flight plan in gimbal inspection, please refer to the

Flight Plan For Gimbal System.

Integrated Instrument

Instrument panel display the most important information of aircraft flight status.
Alt: Telemetry altitude(left)/Target altitude(right)
TAS: Telemetry airspeed(right)/Target
airspeed(left)
Middle-Top: Heading(degree)/Offset(m)
Center: Pitch angle(degree)
Middle-Bottom:Bank angle(degree)
ETE: Time to next waypoint
RPM: The RPM of gas engine
DEST: Distance to next waypoint

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Setting and Parameter

Compass Calibration

When the flying field is changed or the compass can’t pass the check, must calibrate the compass
to make sure the system works well.
Here are the steps of calibration.
1. Go to “Option/Surface Calibration/Magnetic Compass” .

2. Click “Request”, Then click “Calibration”, a new window should pop out as the picture.

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3. Click on Calibration to watch samples populate. Then two or more people lift the plane up,
revolve it for 1 circles on the center of the plane. While it’s revolving, there should be red dots

appear indicating the position of the head of the plane. The speed for the rotation should be
slow, no less than 1 min per circle. After the rotation, click “Stop” , then click “Ok” and click
“Send ” to send data to autopilot.
4. After calibration and sending to autopliot,save all data to autopilot via Data Manage.

Take Off & Landing Set

Minimum AGL: Aircraft would transfer to fixed wing mode if vertical lift up to the min altitude.
Climb Coe.: Climb coef. × stall speed = transfer speed (from vertical mode to fixed wing mode).
Lateral Deviation: Max cross offset of check point for landing.
Height Deviation: Max height offset of check point for landing.
Clarify Acc.: Descending rate during vertical landing period.
Deceleration length: Deceleration distance for fixed wing mode from waypoint 797 to 798.
Landing height: vertical hovering height before landing.
Cruise speed: Cruise speed for fixed wing mode.

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Climb speed: Climb speed for fixed wing mode.

Auto Start throttle: The throttle when engine start automatically.

Emergency Parameter

Emergency Altitude:
Min. altitude and Max. altitude represent the flight altitude range for UAVs controlled by the
autopilot. If the autopilot is in landing status, exceeding the minimum altitude is allowed.
Otherwise, the aircraft shall be limited by the altitude limits range. The altitude limits setting uses
height above sea level. User has to select “Min. altitude” setting and “Height Exceeds Limit,
Flgiht Termination” option. If the aircraft exceeds minimum altitude, emergency handle would be
triggered and UAV will be switch quad -copter vertical for forced landing for emergency
protection.

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Alt.Lost Return means that if aircraft lose height more than 20m with 100% throttle,it will
return to waypoint 0.

Data Link Radio Timeout Limit:

If the duration of data link signal complete loss Exceeds the time interval set by data link
timeout, the autopilot shall launch the flight plan set by data link loss waypoint. After the data
link loss time meeting the setting, the autopilot checks the data link loss flight plan and choose
the used waypoint.
Total Flight Time Limit,Flight Return:
The aircraft will return to waypoint 0 if the flight time up to limit. For mountain area where
there is bad signal.
2Km From Landing Point,Radio Timeout Landing:
If UAV system lose communication more than the setting,and it’s less than 2km to the landing
point,it will trace to waypoint 794 and land automatically.
Flight Voltage Limit:
If the main power is lower than the voltage,it will return to waypoint 0.
If the Engine Stalling:
Restart the engine during flying if engine is off.

Aerial Task Setting

Before flight,user has to confirm the camera settings.

Spacing: Take photo every same spacing.
Timing: Take photo every same time span.
Const Spacing: Take photo every same spacing and
non-stop if there are continuous photo waypoints.
Distance: Spacing, can be changed with photo plan.
Time: Time span for “timing” function.
Pre-press Time: Keep it at 0.

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Hold Time: 0.4s is recommended.Too short time may cause loose photo.

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Mission Planning and Execution

There are two types of flight plan, local and remote flight plan.
The Local Flight Plan refers to the flight plan that was created with ground station software or
stored in the ground stations, and have not been sent to the autopilot equipment. All the data in that
plan can be edited by users without restrictions. The local plan is shown in white on map.
The Remote Flight Plan refers to the flight plan stored in the autopilot. The Remote Flight Plan
received by ground station software through data link is shown in blue on map. The new Remote
Flight Plan can be created by sending a Local Flight Plan to the autopilot. Users can operate the
Remote Flight Plan through drag-and-drop operation, but which only change the latitude and
longitude of the dragged point and become effective immediately. In case of uploading failure, the
dragged point will return to the originalstate before dragging.

Local Flight Plan

1. Creat New Flight Plan

Select the button in the Flight Plan toolbar to create flight plan, and then click on the map once
with the left mouse button to form a waypoint. Clicking twice means the end of creating. The system

will automatically choose the waypoint nearest the double clicked point as the next waypoint of the
last one, to create a self-closed flight plan.
In the meanwhile, the system will pop up a
flight altitude setting dialog box. The Local
Flight Plan will be created after entering the
right height data and will be displayed in
white on the map.
Only one Local Flight Plan can exist.
The existing flight plan will lost when
creating a new flightplan.

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2. Edit Waypoint
A self-closed Flight Plan is created by flying from waypoint 0 to waypoint 1 followed by waypoint

2 and 3, and then back to the waypoint 2. The flight plan also includes the flight altitude. When the
autopilot changes a waypoint, it will create a height directive based on the height of the target
waypoint.

The target waypoint can be designated as a circling waypoint, where the UAV will circle around
that point instead of flying over it.
The circling radius, time and direction (clockwise or counterclockwise) shall be set for circling.
The UAV will first assess the circling radius. If the value of circlinssg radius is zero, it means no
circling on that point; if the value is greater than zero, it means the UAV shall circle around the point
in designated direction for a certain time and then fly to the next waypoint. However, the actual
circling radius is related to the performance of UAV and other restrictions. If the circling time is zero,
the UAV shall circle around that point with no time limit. The “Above” or “Below” can be set but
cannot be set inthe same time. If the actual height is far below the target height when UAV reaches
the waypoint at the “Below” setting, the UAV will circle up and will not change to the next waypoint
until it reaches the target height. If the actual height is far above the target height at the “Above”
setting, the UAV will circle down to reach the target height. When the “Above” or “Below” is set, the
UAV will regard whether the target height shall be reached, not the circling time, as the prerequisite
of stopping circling.
Pre-turn: The Pre-turn setting will turn the UAV prior to reaching the target waypoint, to avoid

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overshooting in the next flight path. When creating a new Flight Plan, Enabling Pre-turn is set as
default. The Pre-turn setting shall be disabled when it is required to ensure the UAV flying over the

target waypoint.
Slope: If set to be flying by gradient, the UAV will fly from the former waypoint to the height of
the target waypoint (ascending / descending) gradually by gradient, otherwise the UAV will change
the height in its maximum capacity. This mode is applied to landing primarily and can also be used
for other purposes.
Camera: If there is any photographing set at the waypoint, the air route from that point to the next
waypoint will be photographed at a fixed distance or time.
3. Edit Flight Plan
Various operations can be performed to the flight plan by moving the mouse to point at the
flight plan, clicking the right mouse button and selecting the context menu. Edit the Flight Plan
dialog box as shown below, in which only the Local Flight Plan can be edited through that dialog
box. In addition, the data of a single waypoint can be edited by selecting that waypoint.

4. Height Review
Preview of Altitudes in a Flight Plan In the planning period of a flight plan, users need to
consider the overall flight environment, among which the terrain (altitude) along the flight plan is
especially important for safe flight of UAV. Therefore, the flight plan has to avoid possibly
existing landform of mountain peak.

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CWCommander can provide basic comparison of altitude information, by supporting online

request for preview of altitude information, from the open interface of Google Maps,

corresponding to planned flight path. As shown in below picture, the red curve in the figure is the
altitude curve formed by each waypoint in the flight plan and can be compared to the altitude
curve.

5. Send Flight Plan

Newly created flight plans are all Local Flight Plansin the beginning, and they will turn into
Remote Flight Plans after being sent to the autopilot by selecting the Send Flight Plan in the
context menu.
Before sending flight plans, a Flight Plan Summary dialog box will pop up. Users can assess
the overall air range, height of waypoint etc. of a flight plan, and can send the flight plan after the
flight requirements are met. After clicking “OK”, a dialog box will come out for index number.
The index number means where the sending flight plan will be stored from when arriving at the
autopilot, which depends on the existing flight plans in the autopilot and also whether the
existing flight plan shall be replaced. Assoon as the flight plan is successfully sent, the Local
Flight Plan will be hidden to display the blue Remote Flight Plan; otherwise a prompt dialog box
will turn up to indicate “Sending failed”.

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Quick Flight Plan

Quick Flight Plan is a simple flight plan consisting of one or two waypoints, the start waypoint of
which is the current location of UAV, and the target waypoint is the location clicked with left mouse
button. The Quick Flight Plan is a simple and fast instruction used mainly for circling terminating,
and directing the UAV to a certain point. After selecting the button and clicking on the target point,
the system will pop out a Quick Flight Plan dialog box for parametersetting.
The target location of Quick Flight Plan is in the latitude and longitude clicked by mouse, and the
modifiable height is set at the current height of UAV as default. The “Circling at the Point” is
checked, in which thecircling radius default is 100 meters with no circling time limit. The serial
number of that point is set at 799 as default. The instruction will be sent immediately after clicking
“OK”, and the UAVwill be navigated to that pointstraightaway.

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Landing Flight Plan

Landing Plan is for landing, the autopilot needs to know the landing location and landing direction.
All those data can be generated by clicking on the map with the left mouse button. The first click
indicates the landing location and the second indicates the designated landing direction. After the
second click, a dialog box as shown will turn up to facilitate the creation of landing plan. The height
of landing site and the start waypoint index number of landing plan shall be designated, while the
right-turn or left-turn landing mode can be chosen. The location data displayed on the lower part of
the dialog box can be adjusted precisely; furthermore, the known precise data of landing direction
can be entered directly, or the collected at key points before flying.
Clicking “OK”, the landing location and direction will be sent to autopilot, which will produce a
landing plan automatically. The specific landing plan will be determined by the landing parameters
of the controller of autopilot. The final landing plan will be sent back and displayed on the map. The
point 798 is the touch down point, 794 is the missed approach point and the air route from 797 to 798
is the approaching route.

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Photo Flight Plan

The Photo Flight Plan is a flight plan generating mode designed specifically for aerial photography
tasks. In order to enable the system to automatically generate an aerial photography flight plan, users
only need to choose the area for aerial photography tasks on the map and simply set a few
parameters.
Import plan area as below screenshot, the import plan area would be TXT or XML (format).

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Parameters of Photo Flight Plan can be set by selecting “Select Cameras” after the Aerial
Photography Area was determined. In order to create an aerial photography air route.

The parameters of several common aerial photography cameras specified in Specifications for
Field Work of Low-Altitude Digital Aerial Photography were built in the “CamParam” page and
available for use. The correspondent relative flight altitude, the photographic baseline length, span
width between air routes can be calculated by clicking the “Calc” Button after editing through
“Customized” item.
The minimum turning radius of UAV is determined by the theoretical turning radius calculated
based on set maximum bank angle and cruise speed, but can be modified against the actuality.
In the “Aerial Task Setting” page, the aerial photography mode and shooting parameters shall be
set and sent. The interval parameter is the photographic baseline length calculated according to the
parameters in “Camera” page.
After the parameter setting is done, users can select “Generate Flight Plan” option in the context
menu of this area to create an aerial photography flight plan for this area, and change the “Route
Angle” to rotate the flight plan, as shown below.

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In the generated Photo Flight Plan, the UAV will start shooting in the start waypoint of each
working section and stop shooting in the end point, for instance: start shooting at waypoint 4 and

stop shooting at waypoint 5, and start shooting at 8 and stop at 9, etc. The extension points outside
the planned aerial photographing point are the set turning guide points, the location of which is
generated by the set minimum turning radius and span between air routes, with the purpose of
switching over working routes more smoothly.
In the generated Photo Flight Plan, there are four points with special significance. They are
generated in the center of the visible area on the map.
Waypoint 0, with the same altitude of aerial photography working plane, is set as an emergency
point, and has the setting of Infinite Circling.
Waypoint 1, with the same altitude of aerial photography working plane, is a take-off altitude
correction point for aerial photography tasks, and has the setting of “Below” Circling. The UAV will
first be navigated to waypoint 1 after taking off and switching to autopilot mode. If UAV’s altitude is
far below waypoint 1, the UAV will not be navigated to waypoint 2 until it finishes the altitude
correction by circling up.
Waypoint 67 and 68 are the last two waypoints generated.
Waypoint 67, with the same altitude of aerial photography working plane, is the pre-recover point
for return, i.e., the return point after finishing aerial photography tasks.

Waypoint 68, with the default altitude the same as that of aerial photography working plane, is the
adjusting point for recovering.
However, that point can be adjusted to a height good for recovering according to the actual
conditions, so that the UAV can circling down and prepare for landing. 100 to 150 meters from the
ground is recommended, the height would not too high in case of turning around, and not too low to
keep it safe.

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POS Data

After aerial photography tasks are done, the program will first request the sum of photos, and

download the POS data in the Aerial Task Setting menu. As soon as the download is finished, the
photo data will be stored into a text file and opened automatically. Users can save the photos to
another file to process later after checking.

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