AscTec Navigator - User Manual PDF

AscTec Professional
Line
AscTec Navigator
Manual
AscTec Navigator Manual
Table of Contents
1 INTRODUCTION .............................................................................................................................................. 5
1.0 CHAPTER TABLE OF CONTENTS ................................................................................................... 5
1.1 INTRODUCTION TO THE ASCTEC NAVIGATOR....................................................................... 5
1.2 LICENSE INFORMATION .................................................................................................................... 5
1.2.1 Software License Agreement .................................................................................................. 5
2 INSTALLATION ............................................................................................................................................. 13
2.0 CHAPTER TABLE OF CONTENTS ................................................................................................ 13
2.1 SYSTEM REQUIREMENTS .............................................................................................................. 13
2.2 INSTALLATION.................................................................................................................................... 13
2.3 INITIAL SETUP ..................................................................................................................................... 17
2.4 REMOVING ASCTEC NAVIGATOR ............................................................................................... 19
2.4.1 What Will And What Will Not Be Removed From Your System ............................ 20
3 GENERAL OVERVIEW ................................................................................................................................ 21
3.1 MAIN WINDOW ................................................................................................................................... 21
3.2 MENU ...................................................................................................................................................... 22
3.3 PROGRAM SETTINGS ....................................................................................................................... 25
3.3.1 Maps ............................................................................................................................................... 25
3.3.2 Folder............................................................................................................................................. 26
3.3.3 Camera .......................................................................................................................................... 26
3.3.4 Thermal Editor ........................................................................................................................... 30
3.3.5 Graphics ........................................................................................................................................ 30
4 WAYPOINT NAVIGATION ........................................................................................................................ 31
4.1 WAYPOINT TYPES............................................................................................................................. 31
4.1.1 Waypoint Types Overview .................................................................................................... 31
4.1.2 Waypoint Visualization........................................................................................................... 32
4.1.3 Waypoint Parameters ............................................................................................................. 34
4.2 CREATE A NEW FLIGHTPLAN ....................................................................................................... 40
4.2.1 Create New Flightplan Via Menu ........................................................................................ 41
© 2017 Intel Corporation. All rights reserved

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4.2.2 Create New Flightplan Via The Database ....................................................................... 45
4.3 OPEN A FLIGHT PLAN ...................................................................................................................... 45
4.3.1 Open Flightplan Via Menu .................................................................................................... 46
4.3.2 Open Flightplan Via Database............................................................................................. 47
4.4 FLIGHTPLAN EDITOR ....................................................................................................................... 48
4.4.1 Overview Flightplan Editor ................................................................................................... 48
4.4.2 Tool Overview ............................................................................................................................ 49
4.4.3 Selection Tool And Context Menu..................................................................................... 50
4.4.4 Single Waypoint Tool.............................................................................................................. 52
4.4.5 Matrix Tool................................................................................................................................... 53
4.4.6 Line Tool ....................................................................................................................................... 55
4.4.7 COI-Tool ....................................................................................................................................... 57
4.4.8 Ruler ............................................................................................................................................... 60
4.5 FLIGHT PLAN TYPES AND FURTHER INFORMATION ......................................................... 61
4.5.1 Tips And Visualization ............................................................................................................ 61
4.5.2 Crucial Further Information About Matrix Waypoints ............................................... 67
4.6 IMPORT WAYPOINTS ....................................................................................................................... 70
4.6.1 How To Import Waypoints .................................................................................................... 70
4.6.2 CSV File Structure..................................................................................................................... 71
4.7 PLACEMARKS ...................................................................................................................................... 75
4.7.2 Adding A Single Point As Placemark ................................................................................ 76
4.7.3 Adding A Line Or Polygon As Placemark ........................................................................ 76
4.8 FLYING A PLANNED MISSION WITH THE ASCTEC FALCON 8........................................ 76
4.8.1 Step By Step Instructions ...................................................................................................... 77
4.8.2 Things to consider when flying an AscTec Navigator waypoint flight................ 78
4.8.3 Starting and flying a mission................................................................................................ 79
4.8.4 Interrupting a mission............................................................................................................. 81
4.8.5 Resuming a mission ................................................................................................................. 81
4.9 FLYING A PLANNED MISSION WITH THE INTEL® FALCON™ 8+ DRONE..................... 82
4.9.1 Things To Consider When Flying An AscTec Navigator Waypoint Flight ......... 82
4.9.2 Exporting The Flight Plan And Flying A Mission .......................................................... 83
4.9.3 Interrupting A Mission ............................................................................................................ 86
4.9.4 Resuming A Mission................................................................................................................. 87
5 FLIGHTBOOK ................................................................................................................................................ 88

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5.0 Chapter Table of Contents............................................................................................................. 88
5.1 OVERVIEW ............................................................................................................................................ 88
5.1.1 Open Log Files In The Flightbook...................................................................................... 89
5.1.2 Copy To Database .................................................................................................................... 90
5.2 EXPORT OPTIONS ............................................................................................................................. 91
5.2.1 Export To KML............................................................................................................................ 91
5.2.2 Export To GPX ............................................................................................................................ 92
5.2.3 Export For Sending .................................................................................................................. 92
6 PHOTO TAGGER .......................................................................................................................................... 93
6.1 DESCRIPTION ...................................................................................................................................... 93
6.1.1 How The Photo Tagger Works ............................................................................................ 93
6.2 ASCTEC PHOTO TAGGER WIZARD ............................................................................................ 94
6.2.1 New Project ................................................................................................................................. 94
6.2.2 Open An Existing Project ....................................................................................................... 96
6.3 EDIT/EXPORT PROJECT ................................................................................................................. 96
6.3.1 Overview ....................................................................................................................................... 96
6.3.2 Photo Tagger Tools ................................................................................................................. 98
6.3.3 Export A Project......................................................................................................................... 98
6.4 ERROR MESSAGES ......................................................................................................................... 101
7 FLIR CONVERTER ..................................................................................................................................... 103
7.0 CHAPTER TABLE OF CONTENTS ............................................................................................. 103
7.1 ASCTEC FLIR CONVERTER OVERVIEW.................................................................................. 103
7.1.1 Starting The FLIR Converter .............................................................................................. 103
7.1.2 Program Overview ................................................................................................................. 104
7.2 STEP BY STEP INSTRUCTIONS ................................................................................................. 105
7.2.1 Converting Single Files ........................................................................................................ 105
7.2.2 Converting Complete Directories ................................................................................... 107
7.3 GOOD TO KNOW ............................................................................................................................ 109
7.4 KNOWN BUGS .................................................................................................................................. 109
8 DATABASE .................................................................................................................................................. 111
8.1 OVERVIEW ......................................................................................................................................... 111
8.2 DATABASE CONTENT TYPES .................................................................................................... 112

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8.2.1 Information Area .................................................................................................................... 112
8.2.2 Options Menu Bar .................................................................................................................. 114
8.3 EXPORT/ IMPORT ATX FILE ....................................................................................................... 116
8.3.1 Export ......................................................................................................................................... 116
8.3.2 Import ......................................................................................................................................... 117
9 THERMAL EDITOR ................................................................................................................................... 119
9.1 CREATE/OPEN PROJECT............................................................................................................. 119
9.1.1 Create A New Project ........................................................................................................... 119
9.1.2 Open An Existing Project .................................................................................................... 120
9.2 EDIT/ EXPORT PROJECT ............................................................................................................. 122
9.2.1 Thermal Editor Project Window ...................................................................................... 122
9.2.2 Exporting A Project ............................................................................................................... 128
10 FURTHER INFORMATION ................................................................................................................. 130
10.0 CHAPTER TABLE OF CONTENTS ......................................................................................... 130
10.1 MAPBOX INTEGRATION .......................................................................................................... 130
10.1.1 Create A Mapbox Account ................................................................................................. 130
10.1.2 Set Up A Map In Mapbox .................................................................................................... 131
10.1.3 Set Up The Mapbox Service In The AscTec Navigator ........................................... 133
10.2 FREQUENTLY ASKED QUESTIONS (FAQ) /// TROUBLE-SHOOTING ................... 136
10.2.1 Frequently Asked Questions............................................................................................. 136
10.2.2 Trouble-Shooting .................................................................................................................. 136
10.3 CHANGELOG ................................................................................................................................ 138
11 WORKFLOWS AND TIPS................................................................................................................... 139
11.1 PHOTOGRAPHY BASICS AND OTHER TIPS .................................................................... 139
11.2 WORKFLOW BASICS ................................................................................................................. 143
11.2.1 Planning ..................................................................................................................................... 143
11.2.2 In The Field ............................................................................................................................... 143
11.2.3 Post Processing ...................................................................................................................... 143

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1 INTRODUCTION
1.0 CHAPTER TABLE OF CONTENTS
• 1.1 Introduction to the AscTec Navigator
• 1.2 License Information
1.1 INTRODUCTION TO THE ASCTEC NAVIGATOR

Welcome to the AscTec Navigator!
The PC software AscTec Navigator enables planning and performing complex flight
patterns for remote surveying applications and the combination of telemetry data with the
recorded images.
The software features many functions that enable you to plan, fly and prepare the data for
post processing for different applications:
• Flightplan Editor
• Flightbook
• Photo Tagger
• FLIR Converter
• Database and
• Thermal Editor
More information on the features can be found in the
respective chapters of this manual.
In case of a support request, please visit https://supporttickets.intel.com".
1.2 LICENSE INFORMATION

1.2.1 Software License Agreement
DO NOT DOWNLOAD, INSTALL, ACCESS, COPY, OR USE ANY PORTION OF THE
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YOU AGREE TO BE LEGALLY BOUND BY THE TERMS AND CONDITIONS OF THIS
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has not authorized You to accept, these terms and conditions, do not install, access, copy,
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This SOFTWARE LICENSE AGREEMENT (this “Agreement”) is entered into between Intel
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employer or other entity for whose benefit you act, as applicable. If you are agreeing to the

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terms and conditions of this Agreement on behalf of a company or other legal entity, you
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or Manufacturer is Intel Corporation, 2200 Mission College Blvd., Santa Clara, CA 95054.

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15. Assignment
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INTEL END USER SOFTWARE LICENSE AGREEMENT
IMPORTANT - READ BEFORE COPYING, INSTALLING OR USING.
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agree to prevent unauthorized copying of the Software.
b) Licensee may not reverse engineer, decompile, or disassemble the Software.

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c) Licensee may not sublicense the Software.
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TERMINATION OF THIS LICENSE. Intel or the sublicensor may terminate this license at any
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THIRD PARTY BENEFICIARY. Intel is an intended beneficiary of the End User License
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U.S. GOVERNMENT RESTRICTED RIGHTS. The Software is a commercial item (as defined in
48 C.F.R. 2.101) consisting of commercial computer software and commercial computer
software documentation (as those terms are used in 48 C.F.R. 12.212), consistent with 48
C.F.R. 12.212 and 48 C.F.R 227.7202-1 through 227.7202-4. You will not provide the
Software to the U.S. Government. Contractor or Manufacturer is Intel Corporation, 2200
Mission College Blvd., Santa Clara, CA 95054.
EXPORT LAWS. Licensee agrees that neither Licensee nor Licensee’s subsidiaries will
export/re-export the Software, directly or indirectly, to any country for which the U.S.
Department of Commerce or any other agency or department of the U.S. Government or
the foreign government from where it is shipping requires an export license, or other

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governmental approval, without first obtaining any such required license or approval. In
the event the Software is exported from the U.S.A. or reexported from a foreign destination
by Licensee, Licensee will ensure that the distribution and export/re-export or import of
the Software complies with all laws, regulations, orders, or other restrictions of the U.S.
Export Administration Regulations and the appropriate foreign government.
APPLICABLE LAWS. This Agreement and any dispute arising out of or relating to it will be
governed by the laws of the U.S.A. and Delaware, without regard to conflict of laws
principles. The Parties to this Agreement exclude the application of the United Nations
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out of or relating to this Agreement. The Parties consent to personal jurisdiction and venue
in those courts. A Party that obtains a judgment against the other Party in the courts
identified in this section may enforce that judgment in any court that has jurisdiction over
the Parties.
Licensee’s specific rights may vary from country to country.

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2 INSTALLATION
• 2.1 System Requirements
• 2.2 Installation
• 2.3 Initial Setup
• 2.4 Removing AscTec Navigator
2.1 SYSTEM REQUIREMENTS

The AscTec Navigator is designed to run on a broad spectrum of system configurations.
Windows XP, up to version 3.2.3

Windows Vista
OPERATION
Windows 7
SYSTEM:
Windows 8, 8.1
Windows 10, from version 3.4.0
Intel Atom N450 (Dual Core System with minimum of 1,66GHZ) or
PROCESSOR:
better
RAM: Minimum 2GB
DISPLAY: 1024x768px or higher
Approx. 200 MB for flight plans and maps
DISK SPACE:
Additional space for pictures needed - depending on camera > 1 GB
1 USB Port (preferably USB 2.0) to connect an AscTec Falcon 8, or
FALCON LINK:
export a flight plan to a USB stick for the Intel Cockpit Controller (CTR).
2.2 INSTALLATION
To download an installation executable of the AscTec Navigator, please go to the
download section of the wiki.
If you have already installed a version of the AscTec Navigator, you don't need
to uninstall it when you install it to the same place. Please close the AscTec
Note
Navigator before you install a new version, otherwise you will get an error
during installation.

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This is the welcome screen. Click on Next to continue.
• To install the AscTec Navigator, you have to agree with the license agreement.
• Choose the folder, where you want to install the AscTec Navigator. All needed
subfolders and the folder itself will be create automatically.

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• The selected components to install will be shown. It is important to install the USB
driver to enable the communication between AscTec Navigator and the Mobile
Ground Station.
• Choose a Start Menu folder for the AscTec Navigator shortcuts. This will include the
program itself and an uninstall option. Click on Install to start installation.
• Now wait until the AscTec Navigator is installed. After the installation is completed
a new console will pop up to install the USB drivers.

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• Click on Extract and follow the instructions of the installation menu. If you already
have the newest drivers installed, you can skip this step by clicking on cancel.
• After the USB drivers are installed, the installation process is completed. Click on
Finish to close the setup window.

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2.3 INITIAL SETUP

With the first start of AscTec Navigator, a setup wizard will appear to configure the AscTec
Navigator.
Note All settings can be changed in the program settings.

• This is the start page of the AscTec Navigator Introduction Wizard. You will
configure two different settings:
o The workspace, which defines where all data will be stored on your
computer
o The camera of your AscTec Falcon 8 or Intel® Falcon™ 8+ drone
• Workspace
o All data, you create with the AscTec Navigator will be stored in three folders.
i. Map saving Path
ii. Flightplan saving Path
iii. Falcon SD storage path
o The Falcon SD storage path (3.) includes all data created with Photo Tagger,
the thermal camera etc. and will be the biggest folder of all.
o The map (1.) and flight plan (2) folder only include jpeg maps and created
waypoints. Both folders are rather small in general (less than 500MB).
Note The folders will not be deleted, if you uninstall the AscTec Navigator.

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• Camera
o To create an automated flight plan, it is necessary to specify your camera.
To do so, select your camera from the list. If your camera is not included,
skip this step by clicking next. You can setup your camera later in the
program settings.
Please check 3.3 Program Settings for more information on the camera
Note
templates, how to customize them and how the template affects flight planning.
• All settings are stored. By clicking on finish, the program will start.

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2.4 REMOVING ASCTEC NAVIGATOR

To remove the AscTec Navigator from your System, follow the instructions below. Please
mind, you will need administrator rights.
• Open the Windows Control Panel
o Windows 7: Start / Control Panel
o Windows 8/10: Right mouse click on Start / Control Panel
• Click on Programs and Features to see all installed programs
• Scroll down (if necessary) until you see the AscTec Navigator entry
• Select the entry with the left mouse button
• Click on Uninstall
• The uninstall dialog will appear
• Within the uninstall, you can choose if you want to keep your settings and
configuration files
• To delete the files, uncheck “Please keep my settings and configurations files”.

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• Confirm by left clicking on Uninstall
• After the AscTec Navigator is removed from your system, confirm and close the
window by left clicking Finish
2.4.1 What Will And What Will Not Be Removed From Your
System
This will be removed:
• The AscTec Navigator program folder and its content
• The app data of the AscTec Navigator (includes saved crashlogs, news and
configurations like your camera list)
• All created registry entries (configurations like program and workspace path)
This will not be removed:
• Your workspace in the directory you selected (if you want to delete your projects,
please delete the folders manually)
• The USB driver (No need to uninstall them. Only contains information about the
serial USB driver and is placed in your system)

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3 GENERAL OVERVIEW
• 3.1 Main Window
• 3.2 Menu
• 3.3 Program Settings
3.1 MAIN WINDOW

After configuring the AscTec Navigator workspace and camera, or when you start up the
program you will see the following screen:
This is the main screen of the AscTec Navigator. It's organized in different areas to always
have an overview of your entire work:
1. Menu Bar – Horizontal menu bar at the top with four different items: File; Settings;
Window; Help (You can find more details about the menus in Chapter 3.2.)
2. Tab Bar – Directly beneath the menu bar. All open tools will be displayed here. It
will help you to get an overview of your opened projects
3. Recent Projects – All recently opened and modified projects will be listed here.
Quick access to all recently used projects, without the need to search for them in
your database

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4. News – The area informs you about new products and events. All recent news will
be downloaded from the AscTec server and stored on your hard disk. Internet
connection is only required to get the latest news
5. Social Media – Newly released videos regarding applications, new and future
developments are recommended in this area
3.2 MENU
Connect to an AscTec Falcon™ 8 system.
Plug in your USB cable to the Mobile
Ground Station to establish a connection.
Connect
See 4.8 Flying a Planned Mission with the
AscTec Flacon 8 for details. Not valid for
Intel® Falcon™ 8+ drones.
Create a new flight plan for waypoint
navigation. You can select an existing,
New
previously created map or create a new
Flightplan
one. See 4.2 Create A New Flightplan for
details.
Open an existing flight plan from your
workspace. If more than one flight plan is
Open
saved in the database, a new window with
Flightplan
a list of all flight plans will be shown. See
4.3 Open A Flight Plan for details.
Save the current project, which is currently
Save opened. This can be a flightplan or a
Project thermal project. Photo tagger projects will
be automatically saved after changes.
Import a CSV file with waypoints on the
current map. A map needs to be open to
Import
have this option available. A template of
Waypoints
the CSV format can also be saved through
this option.
Import Import a ATX file. See 8.3 Export/ Import
ATX Atx File for details.
Export Export the currently opened flight plan to
Cockpit an Intel Cockpit controller station
Project compatible project.
Exit: Quit the program.

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Open a window, where you can setup

Program different options for the AscTec
Settings Navigator. See 3.3 Program Settings
for details.
Add a placemark to your placemark
list. They will be shown on your map.
Placemarks You can add lines, points or
polygons. See 4.7 Placemarks for
details.
You can display your Intel® Falcon™

8+ drone logs directly on a map,
create KML files of your flights or
Flightbook
copy logs to your workplace for
creating Photo Tagger projects. See
5. Flightbook for details.
Tag photos from the AscTec Falcon 8
or the Intel® Falcon™ 8+ drone logs
Photo
and export them GPS referenced to a
Tagger
CSV or Agisoft PhotoScan project file.
See 6. Photo Tagger for details.
Open and edit thermal images and
Thermal
create reports. See 9. Thermal Editor
Editor
for details.
FLIR Convert ARA and ARV files to native

Converter FLIR radiometric JPEG files.
View and manage all created data like

Database projects, flightplans, maps, etc. See 8.
Database for details.

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Shows the introduction wizard with

Introduction basic information about AscTec
Navigator.
Open your standard web browser for

Manual displaying the AscTec Navigator
manual.
Check for Download the newest version of

New AscTec Navigator and see the
Version changelog.
Open your standard e-mail program

Submit
for sending us feedback about
Feedback
AscTec Navigator
About Open a window with imprint and

AscTec license information about AscTec
Navigator Navigator.

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3.3 PROGRAM SETTINGS

By clicking on Settings / Program Settings you can configure the AscTec Navigator to your
needs.
3.3.1 Maps
3.3.1.1 Map Source

The map source is the web map service interface for accessing aerial images and storing
them into your workspace.
Currently two service providers for map services are available:
• Open Street Map: This is the basic option and completely free
• MapBox: This is a commercial web service, which offers aerial imagery.
For integrating MapBox into AscTec Navigator, please take a look at the
Note
MapBox Integration manual.
3.3.1.2 Map Index

The Map index is an index file of saved maps on your local machine. If maps are missing in
your database, that are located in the map folder, refresh the map index by clicking on the
Update Map Index button.
This may be needed, if you add manually maps into your workspace without using the
AscTec Navigator Import/Export function. We recommend deleting, rename and export
maps through the database. Otherwise, the maps might not load properly or be corrupt.

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3.3.2 Folder
The Folder settings allow you to change the location of your current workspace, meaning
the location of files managed by the AscTec Navigator Database. These files can be
divided into three categories and therefore three separate folders:
• Map saving Path – Directory for all created or imported maps
• Flightplan saving Path – Directory for all created or imported flight plans
• Falcon SD storage path – Directory for all imported logs, Photo Tagger and
Thermal Editor project files and pictures
The Falcon SD storage path (3.) needs the most disc storage due to the pictures.
For (1.) and (2.) less disk space is needed. Only JPEGS of the maps and ATF text files
containing the waypoint information are stored here.
Note that the changes will take effect after you restart the program! Existing
Note maps, flight plans and Falcon data will not be copied to the new but remain at
the old location!
3.3.3 Camera
The camera settings influence the calculation of the waypoint parameters during flight
planning and therefore have a direct effect on the success of a mission. The following
parameters rely on correct camera settings:
• Waypoint position
• Ground Sample Distance (GSD)
• Height
• Overlap and
• Recommended Speed
For most of the available cameras for the AscTec Flacon 8 or the Intel® Falcon™ 8+ drone,
pre-configured templates can be selected as a reference. They can and need to be adapted
for different scenarios. Please find more information under Explanatory Notes below.

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3.3.3.1 Adding A Camera And Adapting The Parameters:
• Click the Add (1.) button.

• Select one of pre-configured templates from the drop-down menu (2.).
• Enter a name for the camera or leave the standard name.
• Adapt the parameters to your needs.
If there is no template for your camera, all parameters can be entered manually. Please
keep in mind that all parameters are mandatory for correct flight planning.
3.3.3.2 Explanatory Notes
Process Time
Minimum available time between two waypoints during a semi-automated waypoint flight
using the recommended flight speed. In other words, the maximum time the camera is
given to process and store a triggered photo. If this value is to low, it might happen that
not all pictures will be taken during an automated flight.
Process and storage time depend on several factors:
• Image resolution: The higher the resolution, the more data has to be processed and
stored
• File format and image quality: RAW images contain the most information and are
the largest files, high quality settings will need more time during JPEG compression
and more space to store
• Writing speed of the SD card: If the card is too slow, this will slow down the saving
process
• Image content: Motives with complex structures (i.e. meadows, forest) will need
more time and space during JPEG compression than plain and simple motives (i.e.
roads, flat unstructured surfaces)
All templates are tested for maximum JPEG quality with the included SD card and the
automatically calculated speed. Given values should only be considered as a starting point
for your own experiments.

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Delay Time
The time between receiving the triggering command and actual triggering the photo. This
value is an estimate. If, for example, auto focus is activated (what we do not recommend!)
the time between triggering the photo and taking the photo will increase.
Given values should only be considered as a starting point for your own experiments.
Camera Templates
FOCAL RESOLUTION
CAMERA / SENSOR SENSOR LENGTH CROP FOCAL
(PIXEL, PROCESS
DELAY
LENS WIDTH HEIGHT LENGTH TIME
as1 FACTOR2 3 WIDTH X TIME (ms)
(mm) (mm) ff (mm) (ms)
(mm) HEIGHT)
Sony Alpha
7R / 35.9 24 35 1 35 7360 x 4912 1500 100
SEL35F28Z
Sony Alpha
6000 / 23.5 15.6 20 1.5 30 6000 x 4000 1200 100
SEL20F28
Sony Alpha
NEX-7 / 23.5 15.6 18 1.5 27 6000 x 4000 1500 100
SEL1855
Sony Alpha
NEX-5N / 23.4 15.6 16 1.5 24 4912 x 3264 1500 100
SEL16F28
FLIR TAU 2
640 /
10.89 8.77 19 3.1 59 640 x 512 1500 100
19mm f /
1.25
Teracam
ADC Micro
6.55 4.92 8.43 5.3 45 2048 x 1536 1500 100
/ 8.43 mm f
/ 3.2
Panasonic
Lumix 6.2 4.6 4.3 5.6 24 4320 x 3240 1500 100
DMCTZ31
1
Referred to actual sensor size, maximum wide angle on zoom lenses
2
Crop Factor
3
Referred to full frame, see Crop Factor for details.

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FOCAL RESOLUTION
CAMERA / SENSOR SENSOR LENGTH CROP FOCAL
(PIXEL, PROCESS
DELAY
LENS WIDTH HEIGHT 4 5 LENGTH TIME
as FACTOR WIDTH X TIME (ms)
(mm) (mm) ff6 (mm) (ms)
(mm) HEIGHT)
Panasonic
Lumix
6.2 4.6 4.3 5.6 24 4896 x 3672 1800 100
DMCTZ41 /
TZ61
Panasonic
Lumix 6.2 4.6 4.3 5.6 24 4000 x 3000 1800 100
DMCTZ71
Panasonic
Lumix 7.4 5.5 5.1 4.7 24 3648 x 2736 1500 100
DMCLX37
Panasonic
Lumix 7.4 5.5 5.1 4.7 24 3648 x 2736 1500 100
DMCLX54
Panasonic
Lumix 6.8 5.1 4.7 5.1 24 3648 x 2736 1500 100
DMCLX74
Sony
5.5 3.1 3.8 6.8 26 6544 x 3680 1500 100
PJ780VE
Sony
4.1 2.3 2.9 9.2 26.8 6592 x 3712 1500 100
PJ810E
4
Referred to actual sensor size, maximum wide angle on zoom lenses
5
Crop Factor
6
Referred to full frame, see Crop Factor for details.
7
Multi-format sensor which can be switched between different aspect ratios (4:3, 3:2 and 16:9).
Stated values are for 4:3 aspect ratio.

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3.3.4 Thermal Editor

If you are using Thermal Editor, you can change the color palette for displaying the raw
images.
Also, the color of pins can be changes here.
3.3.5 Graphics
The graphics setting lets you
• turn on/ off anti-aliasing and high-resolution display of waypoint numbers
• turn on/ off fade-in/-out effects in flight plan
Turn both settings off to reduce process load. It can help if the computer becomes slow
with a project that features a large number of waypoints.
Note Note that the changes will take effect after you restart the program!

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4 WAYPOINT NAVIGATION
• 4.1 Waypoint Types
• 4.2 Create A New Flightplan
• 4.3 Open A Flight Plan
• 4.4 Flightplan Editor
• 4.5 Flight Plan Types And Further Information
• 4.6 Import Waypoints
• 4.7 Placemarks
• 4.8 Flying A Planned Mission With The AscTec Falcon 8
• 4.9 Flying A Planned Mission With The Intel® Falcon™ 8+ Drone
4.1 WAYPOINT TYPES

A waypoint is reference point in physical space used for purposes of navigation [...].
Wikipedia
Waypoints are used to plan a flight for surveying. Therefore, waypoints consist of several
information and parameters to define the Unmanned Aerial Vehicle’s (UAV) position in
space and camera orientation.
Reaching a waypoint and the defined camera orientation, a picture will be automatically
taken.
In the AscTec Navigator you can choose between several types of waypoints.
4.1.1 Waypoint Types Overview

Currently the AscTec Navigator supports three types of waypoints. Two for the current
AscTec Trinity flight controller, and one for the predecessor AscTec Autopilot.
• Single Waypoint (AscTec Trinity only): Single Waypoints will be approached
separately. Each time the UAV reaches a waypoint, it will stop and orientating itself
as defined in the waypoint, and take the picture. After the set time is passed, it will
continue to the next waypoint.

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• Matrix Waypoint (AscTec Trinity only): A Matrix Waypoint belongs to a set of
waypoints with synchronized configuration parameters. The UAV will fly through all
waypoints continuously, and take the pictures precisely when passing a waypoint.
The configuration parameters of waypoints belonging to the same matrix are

synchronized. Changing camera pitch, heading, height or velocity of a single
waypoint within a matrix, will change the configuration parameters of all
waypoints of the same matrix. Thus, a matrix will always be flown at a constant
height and velocity with the same heading and camera pitch for all waypoints.
Note
If changes are required, e.g. if the survey area has a slope and different heights
are necessary to achieve a constant ground sample distance, a matrix can be
split into sectional matrices by setting a Last Point of Matrix. The following
waypoints will then form a second (third, fourth...) matrix and allow different
parameter settings.
• AscTec Autopilot Waypoint (AscTec Autopilot only): If you are using an AscTec
Falcon 8 with the AscTec Autopliot you will need to use this type of waypoint. The
UAV will approach each waypoint separately. As soon as it is within a preset
accuracy, it will hold the position for a preset time and trigger a photo after half the
time has passed.
This type of Waypoint is for the predecessor AscTec Autopilot systems. The
Note AscTec Falcon 8 with AscTec Trinity and the Intel® Falcon™ 8+ drone cannot
work with this type and vice versa.
4.1.2 Waypoint Visualization

• Waypoint – All waypoints are shown as red dots with a black stroke and a number
in them.
• Last Point of Matrix – This option is only available for Matrix Waypoints. If a
waypoint is framed by another red stroke, it is set as Last Point of Matrix/
Trajectory. In a matrix flight, all waypoints after the eligible waypoint can have a
different parameter (i.e. height, orientation)
.
• Selected Waypoint – A selected waypoint turns yellow and the orientation of the
camera and system will be shown.

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• Camera is tilted straight downwards (-90°) – A transparent white rectangle shows
the part of the map which will be covered by a photo from this waypoint. The area
depends on the selected camera, its optics and the height of the system at the each
waypoint. The higher the system, the greater the area covered by a photo (shown in
the picture below: The height increases from waypoint 1 to 3).
If the rectangles overlap, the photos of the corresponding waypoints cover in parts
the same area.
If the rectangle is rotated in relation to the flight path, the camera and therefore the
system is not orientated in flight direction as well (i.e. in the picture above, the
system is orientated in flight direction only at the 2nd waypoint).
• Camera not tilted straight downwards - If the camera pitch is greater than -89°,
the orientation of the system is shown by a coned white indicator that gradually
fades out.
The size of the cone is not related to the camera settings or anything else. It is
Note
merely an indicator of the orientation!
• If more than one waypoint is placed on a map, they will be connected by a

colored, dotted line.
o Single Waypoint or Autopilot Waypoints are connected with a light blue
dotted line:
o Matrix Waypoints are connected with a yellow dotted line:
▪ The selected camera template and the set velocity guarantee that
the flight time between two waypoints is greater than the process
time of the camera template.

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o Waypoints connected with a flashing red dotted line:
▪ Both waypoints are Matrix Waypoints, but the set velocity is too high
for the currently selected camera template
▪ The flight time between the two waypoints is shorter than the
process time of the camera template
▪ Can lead to missing pictures, if the camera can't process the images
within the given time frame
▪ Reduce the velocity until the connection stops flashing and turns
yellow.
4.1.3 Waypoint Parameters

4.1.3.1 Single Waypoint And Matrix Waypoint Parameters
SINGLE WAYPOINT MATRIX WAYPOINT
By selecting one or more waypoints, you can change their parameters. All parameters and
how they can be changed are listed in the table below.

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CAMERA
All your preconfigured cameras can be selected from this drop-down
menu. The corresponding camera parameters will be used to calculate the
Camera drop flight time, ground sample distance, and more. It is important to select the
down menu correct camera to get accurate data.
Note The camera is valid for all waypoints, selected or not.
Camera
Horizontal Shows the horizontal field of view. Camera dependent.
Angle
Camera
Shows the vertical field of view. Camera dependent.
Vertical Angle
FLIGHT PLAN
Shows and lets you change the number of the selected waypoint (hidden
Waypoint
when more than one waypoint is selected). Waypoints are approached in
number
ascending order.
Number of Gives the amount of selected waypoints ((hidden when only one waypoint
Waypoints is selected)
Longitude of the waypoint (hidden when more than one waypoint is

Longitude
selected)
Latitude Latitude of the waypoint (hidden when more than one waypoint is selected)
Focus Heading If the checkbox is marked for the selected waypoint/s, the orientation of the
/ Footage camera will always be shown, even if the waypoint/s are deselected.
WAYPOINT CONFIGURATION
Type Drop down menu to set or change the type of the selected waypoints
Shows and lets you change the vertical camera tilt. If set to -90,00°, the
Camera Pitch
camera looks straight down. Can be set from 110° to -110°.
If this checkbox is set, the heading will automatically in flight direction. If

unchecked, the heading can be set manually, i.e. to survey a horizontal
plane.
Heading in
Flight Unchecking this option (without changing the heading manually), will result
direction in the UAV flying the rows of the matrix forwards and backwards
alternating.
This checkbox can't be selected if "Single Waypoint" is set as type.
Heading
Change the heading of the UA.
The heading is specified as the angle between North and the middle
Note axis of the UA. If the checkbox Heading in Flight direction is set, the
value can't be changed.

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WAYPOINT CONFIGURATION (Continued)
Change the height of the selected waypoints in meter.

Height is always specified as the level above the starting position of the
UAV (the position where the motors were switched on).
Height
Height is always specified as the level above the starting position of

Note
the UAV (the position where the motors were switched on).
Sets the time the UAV holds the position at the selected Single Waypoint(s).
Time at After the time has elapsed, an image is triggered and the UAV continues to
Waypoint the next waypoint.
This parameter is greyed out if "Matrix Waypoint" is set as type.
Minimum Time at Waypoint is 1 second. Values below 1 second will

Note
be ignored.
Shows and lets you change the speed at which the UAV approaches (Single
Waypoint) or flies through (Matrix Waypoint) a waypoint.
Velocity When planning with Matrix Waypoints: Depending on the camera

parameters set in the Program Settings the AscTec Navigator will suggest a
calculated maximum speed. If the velocity is set higher than the calculated
maximum, the connections between the waypoints will blink red.
With this option, an automated survey flight can be divided in several

sectional matrices. Each section can have its own height, ground sample
distance, camera orientation etc.
Last Point of
Matrix/ This option has no effect on Single Waypoints.
Trajectory
Changes to any waypoint of a matrix or sectional matrix affect all

Note
waypoints of that matrix or sectional matrix.

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OPTIONS
This function lets you set the heading of the UAV - and therefore the
camera - by clicking on the map. This is helpful when planning with Single
Waypoint and the UAV is supposed to orientate itself towards a specific
point while the COI (circle of interest) function can't be used due to
obstacles or different heights. If more than one waypoint is selected, all
waypoints will be orientated to that point.
Set Heading
on Map
To set the heading via map

• Select all relevant waypoints
• Click on Set Heading on Map the mouse cursor will turn into a cross
hairs
• Click on the desired point on the map.
This option is greyed out if "Matrix Waypoint" is set as type.
For Single Waypoint: all parameters of the selected waypoint will be set as
Set as Default default for any new waypoint created on any map. This does not apply for
“Matrix Waypoint”.
If you have selected more than one waypoint, attributes with varying values will
Note be greyed out. Changing these attributes will equalize them for all selected
waypoints.

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4.1.3.2 AscTec Autopilot Waypoint Parameters
By selecting one or more waypoints, you can change their parameters.

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CAMERA Check Single Waypoint and Matrix Waypoint parameters
WAYPOINT INFORMATION
Shows and lets you change the number of the selected waypoint (hidden
Waypoint
when more than one waypoint is selected). Waypoints are approached in
Number
ascending order.
Longitude of the waypoint (hidden when more than one waypoint is

Longitude
selected)
Latitude Latitude of the waypoint (hidden when more than one waypoint is selected)
Number of Gives the amount of selected waypoints ((hidden when only one waypoint
waypoints is selected)
If the checkbox is marked for the selected waypoint/s, the orientation of

Focus Heading
the camera will always be shown, even if the waypoint/s are deselected.
/ Footage
Note This option will not be adjustable, if the Trigger at Angle setting is
unchecked.
WAYPOINT CONFIGURATION
Type Drop down menu to set or change the type of the selected waypoints.
Trigger at If this option is checked, the AscTec Falcon 8 / Intel® Falcon™ 8+ drone will
Angle take a picture. The adjustable angle defines the pitch angle of the camera.
Set the amount of pictures, which the AscTec Falcon 8 / Intel® Falcon™ 8+
Number of
drone should take on each waypoint.
Pictures
If you don't want any picture on this waypoint, uncheck the Trigger at
Note
Angle option.
If this checkbox is set, the heading will automatically in flight direction. If

unchecked, the heading can be set manually, i.e. to survey a horizontal
Heading in plane.
Flight
direction
Unchecking this option (without changing the heading manually), will result
in the UAV flying the rows of the matrix forwards and backwards
alternating.
Change the heading of the UA.

For your understanding: If the heading is set to 90°, the UAV will pinpoint to
the East. At 180° to the South and so on.
Heading
The heading is specified as the angle between North and the middle
Note axis of the UA. If the checkbox Heading in Flight direction is set, the
value can't be changed.

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WAYPOINT CONFIGURATION (Continued)
Change the height of the selected waypoints in meter.
Height If generating a waypoint matrix for automated surveying flights, height and
ground sample distance relate to each other. Setting either one manually,
the AscTec Navigator will automatically calculate the other.
Height is always specified as the level above the starting position of

Note
the UA
Change the desired position accuracy of the selected waypoints.

The AscTec Flacon 8 / Intel® Falcon™ 8+ drone always tries to reach a
Position waypoint as accurate as possible. The position accuracy defines a radius
Accuracy around a waypoint. When the UAV comes within the radius the Time at
Waypoint starts counting down. After half the time, the AscTec Falcon 8 /
Intel® Falcon™ 8+ drone takes the images and continues the flight.
Time at Change the available time to reach a waypoint, you have selected. Also see
Waypoint "Position accuracy".
OPTIONS
Maximum Change the maximum flight speed to the waypoint. Note that the AscTec
Speed Falcon 8 / Intel® Falcon™ 8+ drone needs approx. 20 m to reach full speed.
All parameters of the selected waypoint will be set as default for any new
Set as default
waypoint created on any map.
If you have selected more than one waypoint, attributes with varying values will
Note be greyed out. Changing these attributes will equalize them for all selected
waypoints
4.2 CREATE A NEW FLIGHTPLAN

Each Flightplan requires a geo referenced map. Consequently, the first step when creating
a new Flightplan must be creating a new map or selecting an existing map on which the
waypoints defining the flight path will be planned.
To create a new Flightplan, the AscTec Navigator offers two approaches:
• Create new Flightplan via Menu
• Create new Flightplan via the Database

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4.2.1 Create New Flightplan Via Menu

4.2.1.1 Menu Overview
• Create New Map – Create a new map with the help of an online map service.
• Open Map – Open a previously created map.
• Use Image with GCPs – Use a map from a different source with ground control
points.
Step by step instructions:
• Click on File / New Flightplan or hit Ctrl+N on your keyboard
• A new dialog will open up (see picture below)
• Choose how to select the map for the new flight plan
• Follow the instructions given in the corresponding sections below
4.2.1.2 Create New Map

Allows you to set up a new map from the area of interest.
Step by step instructions
• Select Create new map and confirm with Next
• A full screen map of the preset provider (Open Street Map or Mapbox) will be
shown. To choose a different provider, please check the Program Settings

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• Navigate to the area of interest
• Zoom in or out, and position the map so that the whole area that has to be covered
is visible
• Click on to save this area (or cancel by clicking on or hitting ESC on your
keyboard
• A new window will open with information about your chosen area
• Type in a name for the map

• Confirm with Ok (or abort with Cancel or hitting ESC on your keyboard)
• The saved map will be opened

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4.2.1.3 Open Map
By choosing Open Map, you get an alphabetical list of previously created maps. On the
right-hand side additional information of the selected map will be shown.
Step by step instructions:
• Select a map
• Confirm the selection with Ok (or abort with cancel)
• The selected map will be opened
4.2.1.4 Use Image With GCPs

This option allows you to use any given orthophoto or map as a source to generate a
georeferenced map.
Image format JPEG

Image resolution minimum 400 x 400 pixels
Number of reference points 3
Coordinates of reference points latitude and longitude
WGS 84, decimal degree (comma as decimal
Coordinate System
mark)

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Basic steps:
• Choose Use image with GCPs and confirm with Next
• Navigate to the location on your hard drive, where the desired orthophoto or map
is located
• Select the desired orthophoto or map and confirm with open (or abort with cancel)
• A new tab is opened to reference the selected orthophoto or map
• Position the three yellow pins with the pointed end on the reference positions of
your selected area
o Use the scroll wheel to zoom in and out for more precise positioning of the
pins
o While holding the right mouse button, you can move the map section
o If you move a pin close the edge of the map, it will automatically change its
orientation
• Enter the corresponding latitude and longitude in vertical menu bar on the left
PLEASE CONFIRM THE CORRECT ENTRY OF THE COORDINATES. IT IS VERY

WARNING
EASY TO MIX UP THE ORDER OF LONGITUDE AND LATITUDE.
• Confirm with Save and use map

• The map will be opened

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4.2.2 Create New Flightplan Via The Database

If a map for the area to survey already exists in the Database, you can simply create a new
Flightplan directly from the Database.
Steps:
• Open the Database via Window / Database or by hitting F9 on your keyboard
• In the list view at the bottom, open the Maps tree
• Select the desired map
• Click on Create new flightplan in the tool bar directly above the list view
• The Flightplan Editor will automatically open and you can start editing
4.3 OPEN A FLIGHT PLAN

To open a previously saved flight plan, there are two ways:
• Via the Open Flightplan ... menu item
• Via the Database
To import or export a flight plan, check 4.6 Import Waypoints and 6.3
Note
Edit/Export project.

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4.3.1 Open Flightplan Via Menu

To open an existing flight plan via the menu bar, please follow these steps:
• Click File / Open Flightplan... or hit Ctrl+O on your keyboard
• A new window opens up with a list of all flight plans saved in the current workspace
• Select the desired flight plan

• Confirm with Open (or abort with Cancel)
• Depending on the availability of saved map covering the area of the flight plan,
there are three options:
o If only one map is stored in the database covering the area, the selected
flight plan will open with this map
o If more than one saved map exists in the database covering the area, a new
window Select Map... will open. Select the correct map from the alphabetic
list and confirm with Select.

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o If no map exists in the database covering the area, you will be asked if you
want to create a new map. By clicking Yes the map snapshot tool will open
centered on the first waypoint of the selected flight plan. After saving a new
map, the flight plan will open.
4.3.2 Open Flightplan Via Database

To open an existing flight plan via the Database, please follow these steps:
• Open the Database by pressing on Window / Database or hitting F9 on your
keyboard
• A new tab showing the Database will open up
• Select the flight plan from the list in the bottom half of the AscTec Navigator
• Confirm with Open flightplan right above the list on the left side

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• Depending on the availability of saved map covering the area of the flight plan,
there are three options. Please continue with final step. of Open Flightplan via
menu
4.4 FLIGHTPLAN EDITOR

Semi-automated flights are based on waypoints set into relation to each other to achieve a
desired flight path. The Flightplan Editor offers different tools to ease planning and
creation of such flight paths.
• Overview Flightplan Editor
• Tool Overview
• Selection Tool and context menu
• Single Waypoint Tool
• Matrix Tool
• Line Tool
• COI-Tool
• Ruler
4.4.1 Overview Flightplan Editor
1. Toolbar – Vertical toolbar on the left showing all available tools for creating and
editing a flight plan.
2. Map View/ Workspace – Actual flight planning area. View of the selected map, the
already created waypoints and flight path.
3. Coordinates – Latitude and longitude of the position of the mouse tip.
4. Configuration Panel – Shows either the configuration of the selected waypoints, or

the configuration/ status and control of the actual flight. You can find more details
in 4.9 Flying a planned mission and Trouble Shooting.

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5. Status Bar/ Panel – Shows if an AscTec Falcon 8 is connected to the system. If
connected, more information is shown. You can find more details in 4.9 Flying a
planned mission and Trouble Shooting. The Status Bar is not relevant if you are
flying an Intel® Falcon™ 8+ drone.
4.4.2 Tool Overview

Selection Tool Select any object on the map for displaying more
information or for editing.
Waypoint Tool
Add one or more waypoints with individually adjustable
parameter.
Matrix Tool
Create a Matrix to define an area which should be mapped.
Line Tool
Create a Matrix with just one line.
COI Tool
Set a point of interest which should be orbited.
Ruler
Select two points on the map to measure the distance
between them.
To move the map, click and hold the right mouse button
Right mouse button
and move your mouse.
Mouse wheel To zoom into or out of the map, use the mouse wheel.
Regardless of the selected tool you can see the longitude and latitude at the position of
your mouse cursor in the status bar at the bottom left of the program.

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4.4.3 Selection Tool And Context Menu

With the selection tool, you can select, move or edit matrix points and waypoints on the
map.
4.4.3.1 Selection Tool

How to select waypoints:
• Click and hold the left mouse button
• Draw a rectangle around the desired waypoints
• Release the mouse button when all desired waypoints are within the rectangle
• Selected waypoints will be marked yellow
To select all waypoints
• Press the right mouse button anywhere on the map
• Click on Select all waypoints

Or
• press Ctrl + A
To add or remove waypoints to a selection
• Press and hold cntrl
• Click with the left mouse button on each waypoint you want to add or deselect
Or
• Press and hold shift
• Click with left mouse button on the last waypoint you want to add, to add all
waypoints between the selection, and the one clicked

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4.4.3.2 Context Menu
• Copy - Copy the selected waypoints for pasting them in the currently used flight
plan. It is not possible to copy them to another flight plan. Use this function to
create the same pattern on a different spot on the map. If you have selected no
waypoints, this action is not selectable.
Keyboard Shortcut: Ctrl + C.
• Paste - Paste the copied waypoint on the position of the context menu. This will
deselect all waypoints and the pasted waypoints will be selected. If there are no
waypoints copied, this action is not selectable.
Keyboard Shortcut: Ctrl + V.
• Delete - Delete the selected waypoints from the map. If you have selected no
waypoints, this action is not selectable.
Keyboard Shortcut: delete or backspace.
• Select all waypoints - Select all waypoints on the map. If there are no waypoints on
the map, this action has no effect.
Keyboard Shortcut: Ctrl + A
• Arrange waypoints - This menu gives you options to automatically perform actions
on selected waypoints. Right now, there are two actions shown:
o Invert path: Inverts the flight direction of the selected waypoints (1-2-3-4-5
becomes 5-4-3-2-1)
Inverting a path will remove the "End of Matrix/Trajectory" settings when

Note
applied to Matrix Waypoints.
o Group path: Not yet implemented
• Relative correction - This menu gives you advanced options to correct selected
waypoint positions and their corresponding camera orientation.

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A relative correction always means that the value of a waypoint configuration parameter is
changed by the value entered. For example:
Waypoint 1 2 3
Height before relative correction (in meter) 70 90 50
Height after relative correction by 10 m (in meter) 80 100 60
The functionalities are not yet implemented correctly. Therefore, it is currently not
recommended to use this function.
Changes will be applied in the direction of the actual flight/

Change in current camera direction. If selected Longitude and Latitude will be
camera direction replaced by one single option Offset.
Longitude Shift the selected waypoints in east-west direction

(meters) (horizontal).
Latitude (meters) Shift the selected waypoints in north-south direction (vertical).
Available if Change in current camera direction is selected.

Offset
Shifts selected waypoints in the direction of their camera
(meters)
orientation.
Camera
Change the vertical camera tilt by the entered value.
Pitch
Change the orientation of the camera in the x, y plane by he

Heading
entered value.
Height Change the height of each selected waypoint by the entered

value.
Change the speed in which the waypoint will be flown through
Velocity
by the entered value.
4.4.4 Single Waypoint Tool

The waypoint tool lets you create complex flight plans where every waypoint has custom
settings. This is helpful for monitoring purposes, when pictures have to be easily
reproducible.
• Click on the waypoint tool button
• Add waypoints by clicking on the

• desired location on the map
• Adjust the waypoint settings to your needs
Every newly added waypoint will be appended after the waypoint with the
Note
highest number

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4.4.5 Matrix Tool
Also referred to as Polygon Tool.
With the Matrix Tool you can enclose an area of interest and let the AscTec Navigator
automatically generate a flight matrix. Creating survey flights becomes an easy task.
It is important to choose the correct camera before generating the matrix. Only
Note then the AscTec Navigator can calculate the correct positions of the waypoints
and the height/ ground sampling distance.
Step 1: Creating the outline

• Select the Matrix Tool by clicking on the icon
• Add at least three points to create a polygon on the map
• Check that the whole area of interest is within the bounds of the set points
• When enough points are set, click on Finish in the right panel
The covered area (in m²) of a polygon is displayed in the right panel after
Note
clicking on Finish.
Step 2: Adjusting the outline and parameter

• If needed, the points of the polygon can be moved by clicking and dragging, while
you do so, the covered area will adapt
• Choose the correct camera from the drop down in the right panel
• Enter the required parameter (height/ ground sample distance, overlap and speed)
• Choose a flight direction and therefore the first point of the matrix by clicking on
arrows next to Matrix Alignment

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• Click Generate Matrix to see where the waypoints will be placed
Step 3: Check and create Matrix

• Adjust the parameter if needed
• Confirm the matrix by clicking on Apply Matrix
Step 4: Final adjustments

• AscTec Navigator will then generate all waypoints and show the flight path
• The parameter and position of each waypoints can be changed manually (not
recommended when using Matrix Waypoints)

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• To divide the flight path in sectional matrices, gradually select the last point of each
section and check Last Point of Matrix / Trajectory
The configuration parameters of waypoints belonging to the same matrix are

synchronized. Changing camera pitch, heading, height or velocity of a single
waypoint within a matrix, will change the configuration parameters of all
waypoints of the same matrix. Thus, a matrix will always be flown at a constant
height and velocity with the same heading and camera pitch for all waypoints.
If changes are required, e.g. if the survey area has a slope and different heights
are necessary to achieve a constant ground sample distance, a matrix can be
Note
split into sectional matrices by setting a Last Point of Matrix. The following
waypoints will then form a second (third, fourth...) matrix and allow different
parameter settings.
After reaching the last waypoint of a sectional matrix, the AscTec Flacon 8 /
Intel® Falcon™ 8+ drone will still continue the flight and start with the next
section, unless Stop is pressed in the AscTec Navigator, or the flight is
interrupted using the Mobile Ground Station.
Some things to consider:
Note For further Information please see the Intel Falcon 8+ User Manual.
• The AscTec Falcon 8 / Intel® Falcon™ 8+ drone will fly in the direction of the matrix,
if you have checked the Orientation in fly direction checkbox. Meaning that at the
end of each column the AscTec Falcon 8 / Intel® Falcon™ 8+ drone will turn by 180°
to fly the next column facing forward. This way the position offset between the GPS
module of the flight system and the camera sensor is compensated during post-
processing. If the option is not ticked, the columns will be flown alternating
forwards and backwards.
• Before applying the Matrix: If you change the height of your matrix, the ground
sample distance (GSD) will be automatically adjusted. You can also change the GSD
to adjust the height. Also, define the desired horizontal and vertical overlap of the
taken images. You can see the size of the area, you have selected with the four
corner points.
4.4.6 Line Tool

The line tool helps you to create survey or monitoring flights for long areas like roads or
streams.
It is important to choose the correct camera before generating the matrix. Only
Note then the AscTec Navigator can calculate the correct positions of the waypoints
and the height/ ground sampling distance.

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Step 1: Creating the line
• Select the Line Tool
• Add at least two or more points to generate a line
• When enough points are set, click on Finish in the right panel
Step 2: Adjusting the line and parameter

• If needed, the points of the line can be moved by clicking and dragging
• Choose the correct camera from the drop down in the right panel
• Enter the required parameter (height/ ground sample distance, minimal overlap)
• Click Generate Matrix to see where the waypoints will be placed
Step 3: Check and create Matrix

• Confirm the matrix by clicking on Apply

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Step 4: Final adjustments
• All waypoints are Matrix Waypoints.
Please note: Changing the configuration parameter of any waypoint, will affect
all waypoints of the matrix or sectional matrix.
Note After reaching the last waypoint of a sectional matrix, the UAV will still continue
the flight and start with the next section, unless Stop is pressed in the AscTec
Navigator, or the flight is interrupted using the Mobile Ground Station.
If needed, the waypoints can be changed to Single Waypoints. This is helpful,

Note
e.g. if the camera heading has to be adapted within a line.
4.4.7 COI-Tool
The Circle of Interest Tool generates waypoints arranged in a circle around an object of
interest. This can be used to generate a 360° coverage of an object to create a 3D model,
i.e. for monument conservation.
WHEN FLYING A FLIGHT PLAN CREATED WITH THE COI-TOOL PLEASE

MIND, THAT MAPS USED TO PLAN THE FLIGHT CAN HAVE DEVIATIONS IN
WARNING ACCURACY. TOGETHER WITH THE LIMITS OF GPS ACCURACY, THE CENTER
DURING THE ACTUAL EXECUTION OF THE FLIGHT PLAN MIGHT NOT
MATCH THE PLANNED CENTER.

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Step 1:
• Select the COI Tool
• Click on the center of the object of interest
• A turquoise point will mark the selected point
Step 2:
• Set the radius by setting a second point in the desired distance
• In the right panel, latitude and longitude of the center plus the set radius will be
displayed
• Adjust the center and radius by clicking and dragging the respective point on the
map
• Set the parameter in the right bar as desired
o Direction: Flight direction during the execution
o Increment Angle: Defines the angular distance between the waypoints
o Height: Set the height of the waypoints
o Camera Angle: Set the camera angle
• Confirm by clicking Generate

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Step 3:
• Confirm the matrix by clicking on Apply
Step 4:
• The parameter and position of each waypoints can be changed manually
The camera selection has no influence on the waypoints and the planning in
Note
general, but of course on the outcome of the flight.
Do not change the waypoints into Matrix Waypoints. This will lead to an
inefficient calculation of the flight trajectory. Instead use the COI functionality
Note
directly from your mobile ground station (available with the Photo package).
For further details please see the Intel Falcon 8+ User Manual.

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4.4.8 Ruler
With the ruler tool, you can calculate distances between two points.
• Click on the map to create a first measuring point

• With another click create a second measuring point
• The coordinates of both points will be displayed and you can see the distance
between them in the right panel
Regardless of the selected tool you can see the longitude and latitude of your mouse
cursor on the map in the status bar at the bottom of the program. Also, you can measure
areas with the matrix tool.
To measure an area, you can use the matrix tool:

• Select the Matrix Tool
• Add three points (Matrix Tool) for a polygon on the map
• Check that the whole area of interest is within the bounds of the set points
• When enough points are set, click on Finish on the right panel
• In the right panel the area is given in hectare

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4.5 FLIGHT PLAN TYPES AND FURTHER INFORMATION
4.5.1 Tips And Visualization
Using the given tools of the Flightplan Editor, flight plans for various applications can be
created. Exemplary flight plans for the most common missions are described below.
Including helpful information on how to plan and what to consider while planning, plus
illustrations of how they will be displayed within the Flightplan Editor.
4.5.1.1 Independent Waypoint Flight
Valid for AscTec Trinity Single waypoints and AscTec Autopilot waypoints.
Note
Please mind the different configuration options.
Visualization
• Placement: Random, at user set positions
• Connection: straight light blue dotted line between all waypoints
• Focus Heading illustration:
o -90°: transparent white framed square, waypoint in the center
o any other angle: coned white indicator
Purpose
• Create reproducible images for monitoring purposes
• Construction sites
o Forestry
o Vegetation coverage
o Monument conservation

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To consider
• The Waypoint tool creates AscTec Trinity Single Waypoints. If you are using the
AscTec Autopilot, you will have to change the waypoints to AscTec Autopilot
Waypoints
• Objects between two waypoints have to be considered
o AscTec Falcon 8 / the Intel® Falcon™ 8+ drone will approach each waypoint
in a straight line, ascending or descending continuously if necessary
• If the last waypoint of the matrix is the furthest from the starting position, include
the time the UAV needs to come back in your planning
4.5.1.2 Regular Matrix Survey Flight
Note Valid only for AscTec Trinity Matrix waypoints
Visualization
• Placement: organized in lines
• Connection:
o straight yellow dotted lines between waypoint of one line
o curved yellow dotted trajectory between lines
Purpose
Survey flights for generating
3D point clouds
Digital elevation models
Orthophoto

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To consider
• The Matrix tool creates AscTec Trinity Matrix Waypoints. If you are using the AscTec
Autopilot, you will have to change the waypoints to AscTec Autopilot Waypoints
• Objects between starting position and the first/ resuming waypoint have to be
considered
o The UAV will approach the first waypoint of the matrix in a straight line,
ascending (or descending) continuously if necessary
o If the matrix has to be split into several flights (in case of larger areas), the
AscTec Falcon 8 / Intel® Falcon™ 8+ drone will approach the next waypoint
after resuming (i.e. because of a battery change) in straight line
• If the area has a steep pitch, choose the height of the flight accordingly
• Plan the matrix and the pilots position in a way, that the antennas of the UAV and
the Mobile Ground Station are parallel to the greatest possible extent
o The lines of the matrix should be facing in your direction (i.e. waypoint 41 in
the above picture would be a good position for the pilot, but not waypoint
5)
4.5.1.3 AscTec Autopilot Waypoint Survey Flight
Note Valid only for AscTec Autopilot waypoints

Visualization
• Placement: organized in several parallel lines

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Purpose
• Survey flights with the AscTec Falcon 8 with the former Autopilot flight controller
for generating
o 3D point clouds
o Digital elevation models
To consider
• The Matrix tool creates AscTec Trinity Matrix Waypoints. If you are using the AscTec
considered
UAV will approach the next waypoint after resuming (i.e. because of a
battery change) in straight line
5)
4.5.1.4 Sectional Matrix Survey Flight
Note Valid only for AscTec Trinity Matrix waypoints

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Visualization
• Placement: organized in lines
• Waypoints: red stroke around all waypoints with the option Last Point of Matrix/
Trajectory checked
• Connection:
o straight yellow dotted line between all waypoints of one columns
o curved, yellow dotted trajectory between columns, where the last waypoint
of the first column is not a Last Point of Matrix/ Trajectory-waypoint
o straight yellow dotted line between columns, where the last waypoint of the
first column is a Last Point of Matrix/ Trajectory-waypoint
Purpose
• Survey flights of areas with a steep pitch, where each line has to be flown in a
different height
o 3D point clouds
o Digital elevation models
To consider
• Sectional matrices will not be affected by changes to other sectional matrices
• Plan your flight starting with the highest altitude moving down to the lowest
o The flying altitude is given and measured relative to the starting position. If
you start from a lower position, the height difference to the highest point of
the area to be surveyed has to be considered when calculating the flying
altitude.
considered
5)

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4.5.1.5 Single Waypoint Line Flight
Valid for AscTec Trinity Single Waypoints and AscTec Autopilot waypoints.
Note
Please mind the different configuration options.
Visualization
• Placement: organized in (bended) lines
Purpose
• Monitoring or surveying narrow but longer areas
o i.e. rivers, streams, streets, motorways
To consider
• The Line tool creates AscTec Trinity Single Waypoints. If you are using the AscTec
considered
• If a longer distance has to be covered and the pilot drives along the UA, select the
correct emergency mode
4.5.1.6 Matrix Waypoint Line Flight
Note Valid only for AscTec Trinity waypoints

Visualization
• Placement: organized in (bended) lines
• Connection: straight yellow dotted line between all waypoints

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Purpose
• Monitoring or surveying narrow but longer areas
o i.e. rivers, streams, streets, motorways
To consider
• After using the line tool, waypoints have to be manually transformed into Trinity
Matrix waypoints
• Every corner waypoint has to be set to Last Point of Matrix/ Trajectory for the UAV
to fly correctly (illustrated with a red stroke around the corresponding waypoint)
o If not, the UAV will fly the plan nevertheless, but with unwanted curves at
the beginning of each line segment. This has to do with the way Trinity
Matrix waypoints are calculated at the moment
considered
• If a longer distance has to be covered and the pilot drives along the UA, select the
correct emergency mode
4.5.2 Crucial Further Information About Matrix Waypoints

ASCTEC TRINITY MATRIX WAYPOINTS ONLY WORK WHEN ALL
WAYPOINTS ARE ALIGNED IN STRAIGHT LINES OR A REGULAR GRID, AS
CREATED WITH THE LINE OR MATRIX TOOL. IF A MATRIX WAYPOINT IS
WARNING
PULLED OUT OF A LINE OR GRID, THE FLIGHT PATH OF THE UAV CAN
DEVIATE FROM WHAT IS VISUALIZED IN THE FLIGHTPLAN EDITOR AND
LEAD TO INCIDENTS.
If one or more Matrix Waypoints have to be moved away from their original position, make
sure that the moved waypoint(s), the waypoints before and after the moved waypoint(s)
create a functional (sectional) matrix. A matrix can be described as functional
• If it consists of at least two waypoints,
• all waypoints are aligned within a straight line, or on a regular grid, and
• the last waypoint of each (sectional) matrix is set as Last Point of Matrix/Trajectory
(LPTM)

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In case of uncertainty, please select the relevant waypoints and change the type from
Matrix to Single Waypoint.
4.5.2.1 Examples Of Functional Matrices
Matrix Waypoint Grid Along A Hill
• Matrix divided into four sectional matrices using the LPTM option for waypoints 12,
18 and 24.
• 30 is a LPTM by default, since it is the last waypoint of the original matrix.
• Each sectional matrix is flown on a different height.
Deformed Matrix Waypoint Grid
Waypoint positions changed to follow the contour of the hill.

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Original sectional matrices not changed.
Flight path is not predictable. Can be seen e.g. between waypoints 10 and 11, 17 and 18 or
23 and 24.
Caused by moving matrix waypoints away from their original position.
DO NOT FLY SUCH A FLIGHT PLAN! IN CASE OF UNCERTAINTY, CHANGE ALL

WAYPOINTS TO SINGLE WAYPOINTS
Fixed Deformed Matrix Waypoint Grid
• Waypoints 6, 9, 11, 12, 14, 16, 18, 20, 22, 24, 26, 28 set as LPTM to create
functional sectional matrices. E.g.:
o Waypoint 9 is set as LPTM.
o Waypoint 10 is the first waypoint of the following sectional matrix.
o Waypoint 11 has to be set LPTM, since Waypoint 12 is not on a straight line
with 10 and 11.
o UAV would fly to waypoint 9, stop, fly to 10 and immediately start off to 11.
Stop again at 11 and then fly to 12. And so on.
o Flight time: 5:50
• Changing all waypoints - except the first 6 - to Single Waypoints reduces flight time
to 4:43. Plus it reduces the risk of an unwanted flight path.

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4.6 IMPORT WAYPOINTS
4.6.1 How To Import Waypoints
When a map is opened, there is the possibility to import waypoints from a CSV file. The
required structure is described below.
To do so
• Navigate to File/ Import Waypoints...
• A dialog opens
• Click on Select file... to choose a CSV file
• After a file has been selected, AscTec Navigator will evaluate if the file contains
valid waypoints and if they are located on the currently opened map
• If conforming waypoints are found, confirm with Import
• The waypoints will be displayed on the map
4.6.1.1 The Import Waypoints Dialog

INFORMATION
Filename Name of selected CSV file
File valid Gives you an error message, if the file is not correct.
Number of
Gives you the amount of detected waypoints in the selected CSV file
waypoints
Waypoints
Gives you the amount of correctly defined waypoints
valid
Waypoints in Gives you the amount of waypoints, which are within the area of the
map selected map and therefore can be imported
TEMPLATE
Lets you generate a CSV template with the correct structure to save time.

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4.6.2 CSV File Structure
The CSV file have to be structured in a specified way to be read by the AscTec Navigator.
Depending on the structure, the AscTec Navigator automatically distinguishes between
waypoints for the AscTec Trinity system and AscTec Autopilot.
Note The values have to be separated by a semicolon
Yellow highlighted cells are mandatory and have to be in the first row of the
csv file. The content is case sensitive, i.e. writing type is not valid, the import
dialog will show an error message:
Note
Invalid header. Please check your file, or use a template from below
The green highlighted cells are mandatory to import a waypoint. If a value is
missing, the respective waypoint will not be imported.
4.6.2.1 CSV /// AscTec Trinity Waypoints

Rows and columns are reversed for better display.
DESCRIPTION FORMAT MANDATORY

Defines the waypoint type. Must M = Matrix Waypoint
Type Yes
begin with a capital letter! S = Single Waypoint
Longitude Longitude of the waypoint. ##.#####... Yes
Latitude Latitude of the waypoint. ##.#####... Yes
Height of the UAV at the
Height ##.## No
waypoint.
follow = UAV
orientates itself in flight
Heading of the UAV at the direction
Heading No
waypoint. ## = angle of the UAV in
relation to North, specified
in degree
Tilt angle in degree of the
Camera
camera at the ### No
pitch
waypoint.
Speed in meters per second
(m/s) of the
Velocity UA, in which a matrix is flown or ##.# No
a
Single Waypoint is approached.
Optional. Can be used to add
Comment
extra
(will be No
information or a description to a
ignored)
waypoint

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If Height, Heading, Camera pitch or Velocity do not change from one waypoint
Note to the next, the value can be omitted. Please mind, Height will be needed at
least for the first waypoint in the list.
Example of CSV shown as table:
Type Camera
Longitude Latitude Height Heading Velocity Comment
pitch
First waypoint,
M 11.35426298 48.09428981 30 follow 90 6 North-West corner
of the soccer field
M 11.35554525 48.09417639
Last waypoint of
M 11.35547473 48.0936735
matrix
S 11.35479512 48.09373127 10 90 45 6
S 11.35416039 48.09378049 15 45 4
Corresponding CSV code as it will be displayed in a text editor:

Type;Longitude;Latitude;Height;Heading;Camera pitch;Velocity;Comment
M;11.35426298;48.09428981;30.00;follow;90;6;First waypoint, North-West corner
of the soccer field
M;11.35554525;48.09417639;;;90;;
M;11.35547473;48.0936735;;;90;;Last waypoint of matrix
S;11.35479512;48.09373127;10;90;90;;'follow' heading flag applies for the whole
matrix
S;11.35416039;48.09378049;10;45;;6;

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4.6.2.2 CSV /// AscTec Autopilot Waypoints
Description Format Mandatory

Longitude Longitude of the waypoint. ##.#####... Yes
Latitude Latitude of the waypoint. ##.#####... Yes
Height Height of the UAV at the waypoint. ##.## Yes
Heading of the UAV at the waypoint. Angle in ##
Heading Yes
relation to North (degree)
Trigger? If set to 1, the Trigger at Angle checkbox is
1 or 0 No
(default=1) activated. The UAV will take a picture
Camera
Tilt angle in degree of the camera at the
Angle ### No
waypoint.
(default=90)
Amount of
Number of pictures that will be taken at the
Pictures ## No
waypoint.
(default=1)
Position
Distance to the waypoint, from where the
Accuracy
Time at Waypoint starts to count down. In #.# No
(default =
meter.
2.5m)
Time at Time to define when the picture will be
Waypoint triggered. Picture will be triggered after half #.# No
(default=2) the set time. In seconds.
Maximum
Speed Speed at which the waypoint will be
#.# No
(default = approached. In meter per second(m/s).
100%)
Comment
(will be not Optional. Can be used to add extra
No
used by the information or a description to a waypoint
program)

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Longitude 11.35557018 11.35576506 11.35595995

Latitude 48.09417087 48.09415299 48.0941351
Height 30 40 30
Heading 97.82 97.82 97.82
Trigger? (default=1) 1 1 0
Camera Angle (default=90) 90 0
Amount of Pictures (default=1) 1 2 5
Position Accuracy (default = 2.5m) 2.5 5
Time at Waypoint (default=2) 2 5
Maximum Speed (default = 100%) 100 50 50
Comment (will be not used by the
Custom Text
program)
Corresponding CSV code as it will be displayed in a text editor:

Longitude;Latitude;Height;Heading;Trigger? (default=1);Camera Angle (default=90);
Amount of Pictures (default=1);Position Accuracy (default = 2.5m);Time at Waypoint
(default=2);Maximum Speed (default = 100%);Comment (will be not used by the
program)
11.35557018;48.09417087;30.00;97.82;1;90.0;1;2.5;2;100;Full data.
11.35576506;48.09415299;40.00;97.82;1;;2;;;50;All missing fields will be replaced
with default values
11.35595995;48.0941351;30.00;97.82;0;0;5;5;5;50;
4.6.2.3 Generate A CSV Template Out Of AscTec Navigator

You can generate a template for either AscTec Trinity or AscTec Autopilot systems. To do
so
• Open File/ Import Waypoints...
• Click on Autopilot template or Trinity template
• Navigate to where you want to save the CSV template
• The template will be created
It is best to use a text editor such as Editor, Notepad, or Notepad++ to edit or

create a CSV with waypoints.
Note If you use Microsoft Excel, keep an eye on the format of longitude and latitude.
Excel changes the number format by default and makes the values unreadable
for the AscTec Navigator. To hinder Excel in doing so, change the number
format of all cells to Text.

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4.7 PLACEMARKS
Placemarks are points, lines or polygons, that can be set manually in the AscTec Navigator.
They can be used to mark points of interest or other elements to the map in use, if i.e. the
map is out of date. All Placemarks will automatically be displayed on every map, if the
Placemarks are within the map area. To add a Placemark you need to know longitude and
latitude of all points/ corners!
Visualization of single points, line and polygon Placemarks:
Placemarks are organized in groups for easier management:
1. Add New group button

2. Existing Group, not indented with the option to expand and collapse
3. Single point placemark, indented once
4. Line or polygon placemark, indented once with the option to expand and collapse
5. Point of a line or polygon, indented twice

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4.7.2 Adding A Single Point As Placemark
To add a single point of interest as a Placemark, follow these steps:
• Open the Placemark List via Settings / Placemarks
• Create a New group by clicking on the exact button
• Enter the group name in the right part of the window
• Add a point by clicking on Add point
• Enter a point name and the coordinates (longitude and latitude)
• To add another Placemark, select the group again and press Add point
4.7.3 Adding A Line Or Polygon As Placemark

In the Placemark List, lines and polygons are shown as indented groups within a
Placemark group.
To add a line or polygon as Placemark, follow these steps:
• Create a New group by clicking on the exact button
• Enter the group name in the right part of the window
• Add a polygon by clicking on Add polygon
• Enter a name for the polygon
• Create the first point of the polygon by clicking Add point
• Enter a point name and the coordinates (longitude and latitude)
• Click in the left list on the polygon and add a second point to create a line
• You can add as many points to a polygon as you want
The points will be connected in the order of creation, the last point is connected
Note
to the first
4.8 FLYING A PLANNED MISSION WITH THE ASCTEC FALCON 8

Before you can fly a planned mission, you will have to connect the UAV to your PC/
notebook.
Please mind: to fly a previously planned mission, the Mobile Ground Station
Note
(MGS) has to be connected to the PC/ notebook with the flight plan at all times.

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4.8.1 Step By Step Instructions
To connect the UAV with your PC/ notebook, please follow these steps:
• Turn on and establish the connection between the AscTec Falcon 8 and MGS
• Plug in the micro USB cable on the left side of the diversity link unit
• Connect the USB cable with your PC/ notebook
• On first connection, Windows will search for the required drivers of the USB port,
please wait until you receive confirmation that the hardware was successfully
installed
• Open the Connect... dialog via File / Connect... or by hitting Ctrl+T on your keyboard
• In the Connect... dialog, select the correct serial port from the drop-down menu

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o You recognize the correct port by the manufacturer. It must be FTDI
• Confirm with Connect
• On the lower right side, a yellow status bar will show up
o If no MGS is connected, a grey bar is shown stating Disconnected
• On first connection, the system has to initialize
o A percentage of the progress is shown within the status bar
o Initialization can take up to 5 min
• When the connection is established, and there is no warning, the status bar will be
green
o Clicking on the status bar will show additional telemetry data from the
AscTec Falcon 8
4.8.2 Things to consider when flying an AscTec Navigator

waypoint flight
• During the complete mission, the pilot must always be able to take over control
(commands from the MGS will override waypoint flight and stop it immediately).
• The flight system must always remain within line of sight.
• A good GPS signal (> 75 % = 4 bars) needs to be available in the complete area in
which the UAV will fly in.
• The space in which the AscTec Falcon 8 will be flying in, must be free of obstacles.
• Always plan missions with sufficient distance from obstacles and people. There will
always be positioning errors of your UAV due to GPS drift and external influences
like wind. In addition, the map file may not be absolutely accurate.
• In windy conditions, the UAV may not always fly in a straight line between two
waypoints. Plan the mission accordingly.
• Always plan missions with enough height above ground. The aircraft may
temporarily lose as much as 5 meters of height when flying between waypoints
(due to variations in barometric air pressure - drift in sensor values). Due to these
variations, it is recommended to plan missions at a height of at least 15 meters
above the highest object.

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4.8.3 Starting and flying a mission
To fly previously planned missions with the AscTec Falcon 8, follow these basic steps:
1. Open the flight plan on your Notebook and connect the Mobile Ground Station
(MGS)
2. After the connection has been established, the UAV is shown as a green pictogram
at his current GPS position
3. Start the UAV, take off and ascend to the approximate position of the first waypoint
4. With the selection tool activated click on Start
• The button now changes to Stop
• The Status will go from Not Started to Flying or Started
Objects between starting position, the first or a resuming waypoint and objects
between waypoints have to be considered! The UAV will approach waypoints of
Note
the matrix in a straight line, ascending (or descending) continuously if
necessary!
5. The waypoints will now be uploaded to the AscTec Falcon 8, this can be seen above
the Start/ now Stop button

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6. When the UAV has enough waypoints to start the mission, it will automatically
approach the first waypoint and consecutively the next
7. Completed waypoints will be marked green inside of the AscTec Navigator, the next
waypoint is marked yellow
A green waypoint indicates that the AscTec Falcon 8 successfully passed the
waypoint, sent a trigger command to the camera and a tag was created in the
Note
log. It does not necessarily mean that the camera successfully triggered and
stored the image.

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8. When all waypoints are done, the UAV will stop at the last waypoint and set the
camera angle according to the selected position of the two sliders on the MGS
9. The UAV can now be landed to switch batteries and be prepared for the next
mission
4.8.4 Interrupting a mission

A planned flight can be interrupted at all times, i.e. to change the batteries during larger
survey mission. There are two possibilities to interrupt a flight manually:
1. Clicking on Stop in the AscTec Navigator
a. The upload of new waypoints will be stopped, but
b. The UAV will only stop after the currently approached yellow marked waypoint
2. Taking over manually and give the UAV a command from the MGS
a. This will stop the UAV immediately, as well as the mission in the AscTec
Navigator
When interrupted, the AscTec Navigator stops the flight plan after the last completed
waypoint, meaning all completed waypoints will still be shown green and the Start with
Waypoint: value changes to the next waypoint in line.
If your connection from the MGS to AscTec Navigator was interrupted (e. g. if the
USB cable was accidentally unplugged), connect the cable again, click on File -
Note
> Disconnect and again on File -> Connect. Your mission will automatically
continue.
4.8.5 Resuming a mission

During a mission, the AscTec Navigator automatically increments the Start with Waypoint:
value. If a mission was interrupted, i.e. for swapping batteries, it can be continued by
simply clicking Start again.

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To continue a mission later or to only fly parts of a mission, each flight plan can be started
and stopped at any waypoint:
1. Deselect any waypoint
2. In the right preferences and information pane, set the Start with Waypoint: value to
the desired starting waypoint
3. Check the Stop with Waypoint: checkbox and set the desired end-waypoint
4. Start the mission via the Start button
4.9 FLYING A PLANNED MISSION WITH THE INTEL® FALCON™ 8+ DRONE

With the help of the Cockpit Controller application you can load and fly survey projects
created in the AscTec Navigator Software. To do this, export the existing project from the
AscTec Navigator Software by clicking in the AscTec Navigator Software in the Pull-Down-
Menu File on Export Cockpit project. A file with the extension .ANP will be created, which
you have to store onto a USB stick.
This is only applicable for Intel® Falcon™ 8+ drone with Intel Cockpit Ground
Control Station and the Cockpit Controller application.
AscTec Navigator Software missions can only be executed on the Intel Cockpit
GCS. It is not possible to modify AscTec Navigator projects with the Cockpit
Note
Controller application. If necessary, please open the project in the AscTec
Navigator Software
make the modifications, and then export it to the Intel Cockpit GCS with help of
the USB stick.
Please refer to the Intel® Falcon™ 8+ drone manual for further information on
Note
the Intel Cockpit Controller Application.
4.9.1 Things To Consider When Flying An AscTec Navigator

Waypoint Flight
• During the complete mission, the pilot must always be able to take over control
(commands from the MGS will override waypoint flight and stop it immediately).
• The flight system must always remain within line of sight.
• A good GPS signal (> 75 % = 4 bars) needs to be available in the complete area in
which the UAV will fly in.
• The space in which the AscTec Falcon 8 / Intel® Falcon™ 8+ drone will be flying in,
must be free of obstacles.

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• Always plan missions with sufficient distance from obstacles and people. There will
always be positioning errors of your UAV due to GPS drift and external influences
like wind. In addition, the map file may not be absolutely accurate.
• In windy conditions, the UAV may not always fly in a straight line between two
waypoints. Plan the mission accordingly.
• Always plan missions with enough height above ground. The aircraft may
temporarily lose as much as 5 meters of height when flying between waypoints
(due to variations in barometric air pressure - drift in sensor values). Due to these
variations, it is recommended to plan missions at a height of at least 15 meters
above the highest object.
4.9.2 Exporting The Flight Plan And Flying A Mission

4.9.2.1 Exporting The Flight Plan
• Open the flight plan on your Notebook
• Click on File / Export Cockpit project, the windows dialog to select location and
name of the exported file pops up

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• Navigate to the folder where you want to store the flight plan
You can choose to store it directly on the USB stick connected to your notebook,
Note
that will later be used on the Intel Cockpit to load the project.
• Enter a name and click on Save
• A file with the extension .ANP will be created

• If you did not store the flight plan directly on a USB stick, you will have to copy it
from your local drive now to continue
4.9.2.2 Import And Fly A Project With The Intel Cockpit Controller
Application
• Insert the USB stick, containing the exported .ANP file, into USB port 2, 3 or 4 of the
Intel Cockpit GCS
• Tap on the NAVIGATOR button in the main screen of the Cockpit Controller
application
• The window ASCTEC NAVIGATOR PROJECT opens. In this window, you can load an
exported AscTec Navigator Software project from an inserted USB stick.

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• Tapping on Load Project in the ASCTEC NAVIGATOR PROJECT window (see above)
opens the window ASCTEC NAVIGATOR PROJECT - LOAD. In this window, you
select the desired project by tapping on it. The previously stored waypoint path,
and the map view of the AscTec Navigator Software, will be loaded.
• Tapping on the checkmark in the lower right corner under the Map Preview,
transfers the exported project onto the touchscreen tablet.
• After loading an AscTec Navigator Software project you can fly the mission. First
you have to take-off and climb to a minimum of 10 m height.
• After reaching the minimum height, and tapping on the shown play button, the UAV
starts the mission and flies to the next waypoint on the path. After tapping on the
black play button, it changes into the blue pause button shown below.

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• After tapping on the play button, during flight, you see the following buttons on the
right side:
o Tapping on this button sets the mission to stand-by.
o Tapping on the stop button stops the mission. The UAV stops and remains
at the actual height and position.
4.9.3 Interrupting A Mission

A planned flight may be interrupted at any time, for example to change the batteries
during larger survey missions. There are three ways to interrupt a flight manually:

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• Tapping on the pause button (see above): the upload of new waypoints will be
stopped, and the UAV will stop and hover in the air, until you tap on the (blue) play
button again.
• Tapping on the stop button (see above): the upload of new waypoints will be
stopped, and the UAV will stop and hover in the air.
• Taking over manually, and giving the UAV a command from the Intel Cockpit GCS.
This will stop the flight of the UAV immediately, as well as the flight mission.
4.9.4 Resuming A Mission

• If a survey flight needs to be interrupted e.g. to exchange the flight battery of the
UA, it can be resumed at the position where is was interrupted.
• If you interrupted the mission by tapping on the pause button, resuming a mission
is easily done.
o Launch the UAV up to the minimum height of 10 m.
o Fly close to the waypoint from which the flight shall proceed. Tap on the
play button.
o The UAV resumes the mission automatically by heading for the next
waypoint.
• If you had to abort a mission by tapping on the stop button, you have to note the
last waypoint passed when you tapped on the stop button. The number of this
waypoint is shown on the right side of the map area on the touchscreen tablet. The
number of already passed waypoints in comparison to the total number is shown
right to “passed:” located at the right side of the screen. To resume the mission, you
have to:
o Tap on the waypoint (to select it on the touchscreen tablet) with which the
flight will proceed.
o Tap on the button to declare the selected waypoint as the new start point.
o Launch the UAV and climb to a minimum height of 10 m.
o Make sure that there are no obstacles in the direct trajectory between UA,
and the new start point.
o Tap on the play button. The mission will be continued from the waypoint
which was selected as the new start point.

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5 FLIGHTBOOK
The Flightbook shows all flight logs from a chosen directory. Each flight can be displayed
on a map, additional information is shown in a list. From here, flights can be imported into
the AscTec Navigator database for further processing.
To open up the Flightbook, click on Window / Flightbook or press F3 on your keyboard.
5.0 Chapter Table of Contents

• 5.1 Overview
• 5.2 Export Options
5.1 OVERVIEW

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The Flightbook is separated into three areas and a functions menu bar:
Vertical bar on the left side. Lets you navigate

FOLDER STRUCTURE
to the directory, where the logs are saved.
If a selected folder contains logs, they will be

shown here with additional information:
• Log ID
• Date and time when the motors of a
flight were started
• Latitude and longitude of the starting
LOG LIST position
• Location: If a map excerpt covering the
flight area has already been stored
within the AscTec Navigator, the name
of that map is shown
• Number of Tags: Number of pictures
triggered during the flight
The flight pattern along with the photo

MAP WINDOW positions of a selected log will be shown on
the map set in the program settings.
COPY TO Copy the selected flight to the AscTec

DATABASE Navigator database
EXPORT TO This allows you to check flights inside of i.e.

KML google Earth
EXPORT TO GPS Exchange Format for ease import into

MENU other programs
GPX
BAR
EXPORT
Export Flightbook as CSV for third party
FLIGHTBOOK
applications or backup
AS CSV
In case you're experiencing problems, this
EXPORT FOR allows you to export the selected log as zip file
SENDING to attach or upload it for sending
5.1.1 Open Log Files In The Flightbook

To open a flight log from the AscTec Falcon 8 / Intel® Falcon™ 8+ drone, follow these steps:
• Insert the User SD card of the AscTec Falcon 8 / Intel® Falcon™ 8+ drone into your
PC
• Open the Flightbook via Window / Flightbook, or by pressing F3
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• Navigate in the folder structure to the USB stick
o If you already copied the Logs to your local workstation, navigate to the
respective directory
• Click on the ASCTEC folder located on the USB stick
• The log files will be loaded and shown in the list on the bottom right
To unfold a drive or folder in the folder structure, press on the small arrow next
to it, or double click with the left mouse button
Note If you insert an external storage device (i.e. SD card or USB stick) while the
Flightbook is already open, it will not be recognized. In case, close the
Flightbook and reopen it.
5.1.2 Copy To Database

To tag images with GPS positions and other information from the flight system, it is
necessary to copy the desired log into the database of the AscTec Navigator.
• Select one or several logs to import
• Click on Copy to database in the horizontal menu bar above the map
• If you selected one single log:
o Enter a descriptive name
• If you selected several logs:

o Enter a descriptive name
o Set the starting number for the serialization
• Click on Copy to start the import

You can also rename and delete it in the database later.
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5.2 EXPORT OPTIONS
5.2.1 Export To KML
KML files are used to describe three dimensional routes, for example in Google Earth. This
way it is possible to visualize a complete flight.
• Select the desired log
• Click on Export to KML in the horizontal menu bar above the map
• A new dialog shows up
• Click on Browse, choose a directory in the new window and enter a descriptive
name
• Click on Save
• The KML is saved to the and a confirmation will be shown
The KML file only includes the flight data. All GPS information, where the motors of AscTec
Falcon 8 / Intel® Falcon™ 8+ drone were turned off, are not included in the KML file. The
path will be shown in one of three possible colors, representing a flight in one of the
different flight modes:
GREEN PATH Flight in GPS Mode
YELLOW PATH Flight in Height Mode
RED PATH Flight in Manual Mode

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5.2.2 Export To GPX

The GPS Exchange Format can be used to easily import a flight into third party programs.
• Click on Export to GPX in the horizontal menu bar above the map
• A new dialog shows up
• Click on Browse, choose a directory in the new window and enter a descriptive
name
• Confirm directory and name by clicking Save
• By selecting the check boxes, choose whether you want to export
o the photo tags
o the flight path
• Select the desired step size (in ms)
• Click on OK
• The GPX file(s) will be saved at the chosen location
100 ms are recommended as min. Minimum time step. Shorter intervals will
Note
increase data quantity and file size without improvements in quality and detail.
5.2.3 Export For Sending

If you have a support issue, or the support teams asks for the log files for deeper analysis,
you can easily zip them with Export for sending:
• Click on Export for sending
• Choose a directory and enter a descriptive file name
• Click on Save, a confirmation will be shown
• Attach the created zip file to your mail

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6 PHOTO TAGGER
• 6.1 Description
• 6.2 AscTec Photo Tagger Wizard
• 6.3 Edit / Export Project
• 6.4 Error Messages
6.1 DESCRIPTION
Photo Tagger is a tool for adding geo-referenced information to your images.
Two sets of data are needed to do that:
• The AscTec Falcon 8 / Intel® Falcon™ 8+ drone log of the desired flight
• The images corresponding to the log
6.1.1 How The Photo Tagger Works

The Photo Tagger searches for a time pattern in the creation time of the images and the
corresponding information within the log file. For example, image 1 was taken at time t1.
At the same time, the GPS coordinates have been stored in the log file. The AscTec Falcon
8 / Intel® Falcon™ 8+ drone needs four seconds to reach the next waypoint and take a
photo at time t2. Again, at the same time t2 the GPS coordinates are stored in the log file.
The flight is continued and another four seconds pass until the next photo / GPS
coordinates are stored, after that another three seconds, and so on... (see illustration
bellow)
The time pattern 4s, 4s, 3s, 5s between photos and stored GPS coordinates is matched by
Photo Tagger. Therefore, it is important to always use ALL images of one flight in Photo
Tagger. Never delete any photos before the GPS tagging has been done. Otherwise the
time gap between images will no longer match the pattern in the log file. Later on, within
the project you can always deactivate pictures for further processing.
As in complex projects consisting of many flights, the time gap pattern might be
very similar between different flights, it is advisable to copy all images taken
Note during one flight into a subdirectory. This way a structure can be created, so
that each log for each flight has a corresponding sub-directory with all images
taken during the flight.
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6.2 ASCTEC PHOTO TAGGER WIZARD
To combine the pictures taken during a flight with the corresponding log, you will need to
create a Photo Tagger project. This can be done using the AscTec Photo Tagger Wizard:
• To open Photo Tagger
o click on Windows / Photo Tagger (or press F4)
o select log file within the Database and click on Tag Images in the tool bar
• The AscTec Photo Tagger Wizard will start
• You can choose between

o New Project to create a new Photo Tagger project
o Load Project to open an existing Photo Tagger project
• Click on Next to continue
6.2.1 New Project

• A list of all AscTec Falcon 8 / Intel® Falcon™ 8+ drone log files previously copied
into the database is presented

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• Select the desired log file
• If you want to add pictures to the log manually, click on Finish
o The AscTec Navigator will create the project without images
o Images can be added manually
• If you want to add images automatically, select the checkbox
o Click on Browse and navigate to the directory containing the pictures and
click Select Folder
o The folder location will then be shown in the Image Path: field
o Select the right image format from the drop-down menu, you can choose
between Tiff or JPEG
o Click on Finish to start the matching, a new window will show up
The AscTec Navigator can handle up to three discrepancies between the

amount of tags in the log and the pictures assigned. I.e. If four pictures are
Note missing (SD card full, false process time), the automated tagging will not work.
In this case the pictures have to be added manually after opening the Photo
Tagger project.
• If the detection algorithm is successful, the project will be created and the images
will be copied into your workspace. Otherwise, you can choose to create the project
anyway and add images manually to the project.
Log files displayed in green already have a corresponding Photo Tagger

project. If a Photo Tagger project was renamed in the database, it will no longer
Note
be recognized as corresponding to any log file. In this case, it is possible to tag
images again with this log.

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6.2.2 Open An Existing Project

• A list of previously created projects is displayed
• Open a project by selecting it and clicking on Next
Projects can also be opened via the database. To do that, select a Photo Tagger
Note
project and click on Open project.
6.3 EDIT/EXPORT PROJECT

After a project has been created, it will be automatically opened in a new tab.
6.3.1 Overview
The Photo Tagger project window consists of three areas and a functions menu bar.

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1. Waypoint list – List of all waypoints contained in the used log. Additional is shown
for each waypoint:
o Waypoint Number
o File name of the assigned picture
o Date and Time
o Height
o Camera pitch, roll and yaw
2. Flight Plan View – Shows an outline of the flight with all waypoints
GREEN WAYPOINT Waypoint with assigned picture
YELLOW WAYPOINT Selected waypoint
RED WAYPOINT Waypoint without assigned picture
GREY WAYPOINT Disabled Waypoint
3. Image Preview – Shows the assigned picture of a selected waypoint
4. Menu Bar - Functions within a Photo Tagger project
o Add images
o Remove images
o Disable waypoints
o Add pictures automatically
o Move pictures up and down
o Export project to another file format

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6.3.2 Photo Tagger Tools

The tools of the Photo Tagger allow you to edit the images
Choose and add images to empty places. It is possible
select multiple images which will then be placed into the
ADD IMAGES list in subsequent order. Please note that it is not possible
to select more images that there are empty tags in the
projects.
REMOVE IMAGES Remove the selected image(s) from the list.
DISABLES / Disable/Enable points from the list. If a project is exported,

ENABLE IMAGES all disabled tags will not be included (even if they have
assigned images).
Try to automatically add images to the correct position of
the list. All previously included images will be removed.
MERGE IMAGES This tool works the same way as the Add images
automatically option when creating a new Photo Tagger
project (see 6.2 AscTec Photo Taggar Wizard)
Move selected images up to the next empty space. It is also
MOVE IMAGES UP possible to move a group of images. Select multiple images
by holding shift and clicking on another image.
MOVE IMAGES Move selected images down to the next empty space (same
DOWN as Move images up).
EXPORT PROJECT Export data to another file format. See below for more
information
6.3.3 Export A Project

By clicking on the Export project button, a new window showing several export options will
appear:

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1. Export to / File location
• Chose a file format and location for the export. Three formats are available.
• By changing the export format, the software will automatically change the
exported height value (3.) to the recommended option. You can also change the
value manually.
• 1st row contains header
• Order of data:
User-defined CSV file with a user o Date Time; Filename;
CSV File defined separator for longitude [degree]; latitude
(.CSV) the data. [degree]; height [m]; yaw
[degree]; pitch [degree]; roll
[degree]
• The pictures will be linked correctly
and further processing can start
right away
• An additional option "Project Type"
Agisoft PhotoScan is shown in the Export dialogue:
AgiSoft *.PSZ project file o Select "Trinity" from the
PhotoScan including all drop-down when an AscTec
Project File necessary information Falcon 8 with AscTec Trinity
and links to all images or an Intel® Falcon™ 8+ drone
log file was used.
o Select "Autopilot" when an
AscTec Falcon 8 Autopilot
log file was used.
• No header
• Order of data:
o Filename, Latitude [degree],
Pix4DMapper CSV file compatible Longitude [degree], Height
CSV File with Pix4DMapper. [m], Roll [degree], Pitch
[degree] (Pix4D defines 180°
as looking straight down),
Yaw [degree]
2. Copy images to file location
• If selected, a copy of all pictures within the Photo Tagger project is copied to
the target directory
• During this process, the GPS information and all angles are written into the EXIF
header of the pictures
o If you do not copy the pictures, the originals will not contain these
information
• While exporting to an Agisoft PhotoScan project, unchecking this option will
lead to absolute paths to the pictures within the project
o The pictures cannot be easily relinked, i.e. if you move the project to a
different workstation
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o To keep relative paths to the pictures within the project file, keep this
option checked
3. Height Value
• Select witch value for the height shall be stored within your exported file
• This will use the barometrically measured
height above ground from the UAV
Relative To Start
• Height is relative to the start position (same
Position
value as shown on the Mobile Ground
Station during flight)
Absolute (WGS84 • This will use the GSP heights according to
Ellipsoid) the WGS84 coordinate system
• Allows you to add a correction value to the
relative barometric values
Add Value To
• If you know the exact height of your starting
Relative Height
position, this will give you the most accurate
altitude information
4. Export
• If everything is set as desired, press Export to start the process

• A new dialog will show the status of the export
• If the option Copy Images to the csv file location is ticked, all images will be
copied to the export directory and GPS and attitude information will be added
to the EXIF data of the images. This will not recompress the images and there
will be no change in image quality.

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6.4 ERROR MESSAGES

During the automated tagging process, the following error messages can occur:
Processing Error – Shown when the referenced folder contains no (supported) image files.
• Possible causes and solutions – Please check that the correct folder was
selected and the folder contains supported file types (jpeg, tiff).
Then please try again.
Images Problem – The Photo Tagger algorithm can handle up to three discrepancies
between the amount of tags in the log file, and the available images in the referenced
folder. If the discrepancy is higher, this warning will be shown. It can mean that:
• The selected log file contains more than Three more tags, than images are
located in the referenced folder
• More than three images in the referenced folder do not match the time interval
between the tags in the selected log
You can choose to create the Photo Tagger project anyway, e.g. to add and align the
images manually.
When the tagging process:
When the tagging process Tagger Project:

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• Possible causes and solutions:
o More tags than images:
▪ Time between trigger points – The most common reason for this
is a too short process time between images:
Depending on the camera settings and the speed of the SD card
(camera), the process time for an image changes. Triggering too
fast can fill up the internal buffer storage. As soon as it is full,
images can’t be triggered with the same speed.
▪ Focus Settings – Using auto focus instead of manual focus can
delay the actual triggering of an image. In the worst case, the UAV
already reached the next waypoint before the auto focus was
able to focus and the camera triggered an image. In both cases,
trigger commands will be ignored by the camera, even though
the trigger count on the MGS will increase.
o More than three discrepancies between tags and images: - This can
happen if e.g. the folder does not contain the correct images, or if the
triggering of an image was delayed on the camera. The triggering can be
delayed when taking images using auto focus. The time needed to set
the focus varies, depending on the motive. This results in varying time
intervals between two images, differing from the intervals in the log files.
When adding pictures manually to a Photo Tagger project, the following error message can
occur:
Too many images! - Shown when using the "add images" tool, and more images have been
selected than empty tags are available in a Photo Tagger project.
• Possible causes and solutions - Please try again, selecting only as many
images, as there are empty tags in the Photo Tagger project.
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7 FLIR CONVERTER
• 7.1 AscTec FLIR Converter Overview
• 7.2 Step By Step Instructions
• 7.3 Good To Know
• 7.4 Known Bugs
7.1 ASCTEC FLIR CONVERTER OVERVIEW

The AscTec FLIR Converter only works with ARA files created with AscTec RAW Data
Logger firmware version 1.9-28-4727 or later.
The AscTec FLIR Converter allows you to convert images from ARA to the original FLIR
radiometric JPEG file format and videos from ARV to the original FLIR SEQ video format.
The radiometric JPEGs as well as the FLIR SEQ video files can be opened and edited with
FLIR Tools.
7.1.1 Starting The FLIR Converter

The FLIR Converter is delivered as part of the AscTec Navigator and can be started within
the AscTec Navigator or the Windows start menu.
Starting via AscTec Navigator
• Start the AscTec Navigator
• Click on Window / FLIR Converter or press F7 on your keyboard
• The AscTec FLIR Converter will open in a new window
Starting via Windows start menu
• Click on
o Start / All Apps (Win 10)
o Start / All Apps (arrow below live tiles) (Win 8)
o Start / All Programs (Win 7)
• Navigate to the AscTec Navigator program folder and expand it
• Click on AscTec FLIR Converter
• The AscTec FLIR Converter will open in a new window
Alternatively, you can click on Start and start typing Converter on your keyboard. All
programs containing "Converter" will be listed, select AscTec FLIR Converter and it will
open in a new window.

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7.1.2 Program Overview
The AscTec FLIR Converter has a very simple user interface, reduced to the relevant
functions.
1. Tool bar – Contains tools to:

• add single or multiple ARA/ ARV files.
• add complete directory
• Remove single or multiple files from the file list.
• Clear the complete file list.

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2. Drag & drop area and file list – Allows you via drag & drop to add
• single or multiple ARA/ ARV files
• single or multiple directories
3. Target location - Allows you to set the target location.
4. Convert to FLIR - Starts the conversion to radiometric JPEG files.
7.2 STEP BY STEP INSTRUCTIONS

7.2.1 Converting Single Files
• Start the AscTec FLIR Converter.
• Click on Add Files.*
o The Add Files… dialogue opens.
o Navigate to the location of the desired ARA/ ARV files.
o Select one or several ARA/ ARV files.
o Click on Open.
*Alternatively, you can drag & drop files from the Explorer onto the grey area.
• The added files will be shown in the file list below the tool bar.

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• Click on Browse to select the target location.*
o A new dialog opens up.
o Navigate to the desired location.
o Click on Select Folder.
*Alternatively, you can enter a location directly into the white field on the left of the
Browse button.
• Start the conversion by clicking on Convert to FLIR.
o No progress bar is shown.
o If the conversion was successful, the file list will be cleared.
• The converter will create new directories named after the directories of the original
ARA/ ARV files.

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7.2.2 Converting Complete Directories
• Start the AscTec FLIR Converter.
• Click on Add Folder.*
o The Add Directory… dialogue opens.
o Navigate to the location of the desired directory.
o Select the directory.**
*Alternatively, you can drag & drop directories from the Explorer onto the grey area.
** When using the Add Folder button, only one directory can be added at a time.
• All files within the selected or dropped directory will be added and shown in the file
list below the tool bar.

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• Click on Browse to select the target location.*
o A new dialog opens up.
o Navigate to the desired location.
*Alternatively, you can enter a location directly into the white field on the left of the
Browse button.
• Start the conversion by clicking on Convert to FLIR.
o No progress bar is shown currently.
o If the conversion was successful, the file list will be cleared.
• The converter will create new directories named after the directories of the original
ARA/ ARV files.

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7.3 GOOD TO KNOW
• No progress bar is shown when converting files.
o Currently no progress bar is shown when converting files to radiometric
JPEG. During the conversion, the program may seem unresponsive. The
conversion is finished when the file list is cleared.
• Only single folders can be added when using the Add Folder button.
o When clicking on Add Folder only one single directory can be added. Using
drag & drop allows you to add several folders at once.
• New directories will be created inside the target location corresponding to the
directories of the ARA files.
o When converting the added files, the program creates a folder structure
corresponding to the original structure. E.g. if two ARA/ ARV files from two
different locations are converted, the target location will contain two
folders, each with the name of the original folder of the source images.
• Meta data is lost during the conversion. GPS location available when opening in
FLIR Tools.
o The additional information stored in the ARA files is lost during the
conversion. The converted JPEGs do not have any EXIF information. After
opening and saving a converted JPEG with FLIR Tools, some data is
restored. Amongst others the location information (GPS).
• Editing radiometric JPEG files in any other program than FLIR Tools will remove
radiometric capabilities.
o The radiometric information stored in the converted JPEG files will be lost
when editing the files with any other software than the FLIR Tools. However,
viewing the image without changing/ overwriting the file is possible.
• Converted videos contain GPS information for each frame
• When converting a video, the GPS information is contained. FLIR Tools will show
the GPS coordinates of each frame when playing the video.
7.4 KNOWN BUGS

• Drag & drop area not highlighted after startup or when dropping complete folders.
o When starting the program, the drag & drop area is not highlighted when
dragging files over it. After adding files and clearing the list again, or after
the first conversion, the drag & drop area is highlighted correctly when
dragging files over it.
o The drag & drop area is never highlighted when dragging folders over it.
• Converter can’t create new folders via entering a target location path
o When entering a target location path manually (or via copy & paste) that
includes the name of a new folder, the conversion will not work. Clicking on
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“Convert to FLIR” will clear the list of files, but the new folder will not be
created and no files converted. Only target location paths to existing folders
are working.

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8 DATABASE
The AscTec Navigator completely manages your created projects and data in the
Database. As set up during the first start, or later in the program settings, all data will be
stored in your workspace.
Don't change any data in the workspace manually. In the database window you
Note
can export, edit, rename and delete files as you require.

• 8.1 Overview
• 8.2 Database Consent Types
• 8.3 Export / Import ATX File
8.1 OVERVIEW
After clicking on Window/ Database the overview window of the AscTec Navigator
database is shown. It includes all created content like AscTec Falcon 8 / Intel® Falcon™ 8+
drone log files, Photo Tagger projects, thermal images, flight plans and maps. All content
can be managed via the database.

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1. List of Content - Shows a list of all content types and their items in a tree structure.
Items can be selected to be viewed or changed.
2. Options Menu Bar - Menu bar with options for the selected item. For each content
type, there are different options available.
3. Information Overview - Shows additional information for the selected item. If no
item is selected in particular, the total disk usage and total amount of data will be
displayed.
Note Please see the next chapter 8.3 Database Content Types for details.
8.2 DATABASE CONTENT TYPES

As soon as any item is selected, its additional information will be displayed in the upper
part of the screen and different options will be available above the database list. All items
can be deleted or renamed by using the buttons... Rename and Delete in the upper right
corner of the information area.
8.2.1 Information Area

FALCON LOGS
Name Log name
Date of the flight (based

Date on the first received GPS
date).
Name of a map stored in
the data base, that covers
the area of the first GPS
Location
position. If no map
matches, the location is
'Unknown'.
Longitude of the first
Longitude
known GPS position.
Latitude of the first known

Latitude
GPS position.
Tags Number of taken images.
Total flight time of the

Flight Time
flight.

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PHOTO TAGGER
Name Name of the project
File format version of the
File Version
selected project.
Date of the log file used in
Date
the project.
Picture file format used in
Format the project. Can be JPEG
or TIFF.
he area of the first GPS
Location
position of the used log. If
no map matches, the
location is 'Unknown'.
Longitude of Longitude of the first tag
the first tag within the used log file.
PHOTO TAGGER (Continued)
Latitude of Latitude of the first tag
the first tag within the used log file.
Height of the Height of the first tag
first Tag within the used log file.
Number of taken images
Total Tags
according to the log file.
Total amount of images
Image Tags attached to tags of the log
file.
Tags
Manually disabled tags.
disabled
THERMAL IMAGES
Name Project name
File format version of the
Version
selected project.
Date of the first thermal
Date
image.
Total
Number of thermal images
Thermal
in the project.
Images
Total Number of enabled
Enabled thermal images in the
Images project.
Resolution and
Measurement measurement type of the
Type thermal images (if
available).
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FLIGHTPLANS
Given name of the flight
Name
plan
the area of the first GPS
Location
position of the used log. If
no map matches, the
location is 'Unknown'.
Creation date of the flight
Date
plan.
Total number of
Number of
waypoints in the selected
Waypoints
flight plan.
MAPS
Name Given Name
Source or service provider
Source
of the map
FALCON LOGS
Width Width of the map in meter.

Height of the map in
Hight
meter.
Longitude of the maps
Longitude
center.
Latitude of the maps

Latitude
center.
8.2.2 Options Menu Bar

8.2.2.1 Options For Falcon Logs
• Tag Images – Use the AscTec Falcon 8 / Intel® Falcon™ 8+ drone Log to tag images
and create a new photo tagger project.
o Similar to Window / Photo Tagger / New Project
• Export KML – Export the selected Falcon Log as KML for third party programs.

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• Export ATX – Export the selected project as ATX file. This will open a new window
(See ATX File).
• Export GPX – Export the selected project as GPX file for third party programs.
8.2.2.2 Options For Photo Tagger Projects
• Open Project - Open the selected project.

o Similar to Window / Photo Tagger... / Open Project
• Export - Export the selected photo tagger project (See Export Project).
o Similar to Window / Photo Tagger... / Open Project / (select project and
open) / Export data to another file format
• Merge Project - Merge this project with another photo tagger project.
• Split Project - Split the project to two new projects.
• Export ATX - Export the selected project as ATX File. This will open a new window
(SeeATX File).
8.2.2.3 Options For Thermal Images
• Open Project - Open the selected project.

o Similar to Window / Photo Tagger.../ Thermal Editor... / Open Project
• Export Images - Export all images to JPEG.
o Similar to Window / Thermal Editor... / Open Project / (select project and
open) / Export the whole project
8.2.2.4 Options For Flightplans
• Open Flightplan - Open this flightplan (See Open Flightplan).

o Similar to File / Open Flightplan...
• Export ATX - Export the selected project as ATX file. This will open a new window
(See ATX File).

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8.2.2.5 Options For Maps
• Create new Flightplan - Create a new flightplan with the selected map.
o Similar to File / New Flightplan... / Open Map
• Export ATX - Export the selected project as ATX file. This will open a new window
(See ATX File).
8.3 EXPORT/ IMPORT ATX FILE

ATX is a file format which allows to easily exchange projects and data between different
computers. All content types used in the AscTec Navigator (like flight plans, maps, log files
and Photo Tagger projects) can be packed into an ATX file, copied to another computer
and imported into the AscTec Navigator database again.
This is useful, when i.e. a flight plan is done on an office computer, while only a small
notebook will be taken into the field to perform the waypoint flight.
8.3.1 Export
To export a project or any other content, pleas follow these steps:
• From the database select any item (flight plan, map, log file or Photo Tagger
project) which you would like to export as an ATX file
• Click on the option Export to ATX....
o If a flight plan is selected you will be asked, if you wish to include the
respective map used in this flight plan. If "Yes" is chosen, the map will be
pre-selected in the next window

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• A new window Export data to ATX... pops up
• The selected item will already be checked in the tree view

• You can choose further items to be included into the ATX file by ticking the relating
check boxes
• Click on Browse and navigate to the desired storage path
o Enter a name for the ATX file and confirm with Save
• If the option Delete items after exporting is activated, all exported items will be
deleted from the local database. This is useful to export many items of the
database into a backup file while simultaneously cleaning up the database.
• Confirm the export with Save
• After all the data and content is packed, you will get a confirmation of the export.
Proceed by clicking OK.
8.3.2 Import
To import an ATX file into the AscTec Navigator database please follow these steps
• From anywhere in the AscTec Navigator:
o Press File / Import ATX...
• Within the database:
o Deselect any selected item by clicking on Overview or a content type (like
Falcon Logs, but not an actual log)
o Click on Import ATX from the Options menu bar, above the tree view
• In both cases a new window opens up
• Browse to the location of the ATX file, select it and confirm with Open
• A window will pop up, showing the progress of the import

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• After the import is done, the results will be displayed
In case there are items in the ATX file which are already in the database, they
Note
will not be imported but listed under Not imported Data (see above graphic).

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9 THERMAL EDITOR
• 9.1 Create/Open Project
• 9.2 Edit/ Export Project
9.1 CREATE/OPEN PROJECT

The Thermal Editor allows you to open, process and export thermal images in the ARA file
format, as recorded by the FLIR TAU 2 640 in combination with the AscTec IR Raw Data
Logger. The Thermal Editor saves pictures in projects within the AscTec Navigator
database.
See 6.3 Edit/ Export Project for details about the project window and editing capabilities
9.1.1 Create A New Project

To create a new project, please follow these steps:
• Open the Thermal Editor Wizard via Window / Thermal Editor or pressing F6 on
your keyboard
• Choose New Project in the wizard dialogue
• Navigate to the directory of the ARA files (FLIR SD card or on your PC) and confirm
with Open folder
o If the folder contains no ARA files, an error will be displayed

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• If the folder contains ARA files, the wizard will now show a list of all pictures and a
preview area
• Select the pictures to be included in the new project via

o ticking the check boxes next to the image name
o using the buttons on the bottom of the list (Select all, Select only photos,
Deselect all)
• Enter a name for the project above the preview area
• Confirm with Finish
• The Thermal Editor Wizard will now copy the images to the predefined workspace
(see 2.3 Initial Setup for more details) and open the project
9.1.2 Open An Existing Project

There are two possibilities to open a project with thermal images
• Via the AscTec Navigator database or
• The Thermal Editor Wizard
9.1.2.1 Open A Project Via The Database

• Open up the database via Window / Database, or by pressing F9 on your keyboard
• Open the Thermal Images tree by double clicking on it, or left click on the small
arrow to the left
• Select a project and click on Open project in the Options menu bar above the list
• The project will be opened

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9.1.2.2 Open A Project Via Thermal Editor Wizard
• Open the Thermal Editor Wizard via Window / Thermal Editor or pressing F6 on
your keyboard
• Choose Open Project in the wizard dialogue
• A list of all projects containing thermal images will open
• Select the desired project and confirm with Next

• The project will open in the Thermal Editor

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9.2 EDIT/ EXPORT PROJECT

This chapter contains information about the Thermal Editor editing and report generating
capabilities.
9.2.1 Thermal Editor Project Window

The Thermal Editor project window consists of four areas.
1. Image View – Contains a view of the selected image plus corresponding image
editing tool bar and color options.
Allows you to:
• set measurement points/ areas
• zoom in/ out of the image
• change the color range
• Export a single image
2. Image List – List of all images embedded in the project plus tool bar for managing
the pictures.
Allows you to
• Add a custom title and information to individual images
• Disable pictures
• Remove pictures

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• Export the project
3. Image Information – Shows a histogram or additional information (EXIF) of the
selected image.
4. Image Measurements – Shows measurement points or areas added to the selected
pictures.
Allows you to
• Change the point ID
• Change the orientation of the marker for better overview
9.2.1.2 Image View And Editing Tools

If an image is selected a preview is shown in this area. With the tools provided you can
start working on the pictures to get the measurements needed.
Editing Tool Bar

• Selection Tool – Tool to select measurement points and move or delete them.
Activated by default when creating or opening a project.
o Select a measurement point by left clicking on it

o A selected measurement point turns yellow
o To delete a measurement point, press Delete on your keyboard
o To move a measurement point, click and hold while dragging it to the
desired position
• Add Measurement Point – Tool to add measurement points to the selected image.
o Select the tool by clicking on it

o Place the mouse cursor on the spot you want to read out the
o temperature value and create a measurement point by left clicking
o Added points will be displayed in the image measurement area (4.)

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• Add measurement rectangle – Tool to define an area and examine highest and
lowest temperature within that area.
o Select the tool by clicking on it

o Position the mouse cursor on one of the desired corner points of the
rectangle
o Click and hold while moving the mouse to the diagonal opposite corner to
span the rectangle
o Release when the desired area is fully covered
o The Thermal Editor will display a black rectangle with an ID in the upper left
corner and automatically generate two measurement points for min. and
max. temperature within the created area
The automatically generated measurement points for min. and max.

temperature behave like single measurement points. They are consecutively
numbered and added to the points tab in the image measurement area. They
Note are not locked to the area. If they are moved, they will give out the temperature
of the new position!
Min., max. and average temperature of an area can be displayed in the image
measurements area section (4.).
• Scale to 100% - Scales the image to its original size.
• Zoom in - Enlarge the image.
• Zoom out - Reduce the image size.
• Export single image - Export the selected image as JPEG, including GPS position in
the EXIF data.
Color Range
The color bar lets you change the color range of the selected image to enhance contrast
and therefore the graphical representation.
• To manually change the color range:
o click and hold on the black bars
o then adjust the range by moving the bars
The histogram will adapt to the new color range simultaneously.

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• Display and scaling options – Displaying and scaling options, selectable via the
drop-down menu on the left of the color bar.
• Full Scale – By default selected scale of the color range, covers the overall possible
temperature range.
• Deep Scale - For finer adjustments, select Deep scale from the drop-down menu.
The color range will then be expanded to fit min. and max. temperature values
contained in the image to the width of the bar.
If a set color range is exceeding the min. and max. temperature values contained in
the image, an information will be displayed when selecting Deep scale:
By confirming with Yes, the Thermal Editor will automatically scale the color range
to fit min. and max. temperature within the color bar.
• Autoscale – Sets the color range to min. and max. temperatures contained in the
selected image.
• Enter Scale… – allows you to enter a min. and max. temperature to set the color
range to specified range of interest.
• Scale all – Applies the set color range of the selected image to all images of the
current project.

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9.2.1.3 Image List
List view of all pictures of the current project and tools for managing them. Select any
image to open it for editing.
Thermal Editor Image View: Thermal Editor Image List Report Title
• Edit report title and text – Add a custom report title and text to the selected image
• Enable/ Disable Image – Enable or disable the selected image. Disabled images will
not be exported
• Delete Image – Delete the selected image from the project
• Export Project – Export all pictures as JPEG or TIFF with an optional HTML Report

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9.2.1.4 Image Information
By default, this area shows a histogram of the selected image. Further information about
histograms and how to read them can be found here.
Thermal Editor Histogram Thermal Editor Exit Information
If you switch to the second tab Image Info on the upper right corner, additional
information of the image is listed. All meta data stored together with each image will be
displayed. The AscTec IR Raw Data Logger allows to not only store the RAW output of the
FLIR camera, but also relevant information from the flight system like pitch, roll and yaw
angle or the GPS position. The GPS position will also be included in the EXIF data when
images are exported to JPEG or TIFF.
9.2.1.5 Image Measurements

Placed measurement points and areas of the selected image are listed here. By default, the
point tab is selected. To see measurement areas, open the Area tab on the upper right
corner.
Thermal Editor Points Tab Thermal Editor Area Tab
Note All temperatures in degrees Celsius.

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Points
• Type – At the moment only Point markers are available
• ID – ID of the measurement point. Can be changed via manual input or by clicking
the up / down arrows next to the ID field
• Value – Returns the temperature value of each measurement point
• Orientation – Lets you change the orientation of the pin marking a measurement
point in the image view
Area
• Area – Number of the Area
• Minimal Value – Lowest temperature in the enclosed area
• Max Value – Highest temperature in the enclosed area
• Average – Average temperature in the enclosed area
9.2.2 Exporting A Project

You can export the images with the measurement points and create an HTML report. All
images will then be copied to a chosen location and an additional HTML file will be
created.
• Click on the Export the whole project ... symbol above the image list
• The Export images... dialogue will show up
• Browse to the location where you want to store the report
• Select the image format (JPEG or TIF) from the drop-down menu
• If you check Save only image data, no measurement points, areas or temperatures
will be included in the report

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• Choose whether you want to create an HTML report by checking or unchecking the
corresponding checkbox
• Choose whether you want to include a table with the values of the measurement
points
• Choose whether you want to use the image names instead of the manually entered
report titles
• Confirm with Save
• A status bar showing the export progress will be shown, after that you will get a
confirmation that the export is finished
9.2.2.1 HTML Report

The HTML file will always be named report.html and created in the same directory as the
related images.
The structure of the report is always the same:

• All images will be shown in alphabetical order (using the image names, not report
titles), with either the given report title or image name on top
• A table with measurement points and values, plus report text are added beneath
each picture
Set areas are shown in the images the same way as in the Thermal Editor, with
Note the corresponding pins you can read out the min. and max. temperatures from
the table.
The HTML file can be opened in any web browser (such as Firefox, Google Chrome, Edge,
Opera or Internet Explorer).

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10 FURTHER INFORMATION
• 10.1 Mapbox Integration
• 10.2 Frequently Asked Questions (FAQ) /// Trouble-Shooting
• 10.3 Submit Feedback
• 10.4 Error Report
• 10.5 Changelog
10.1 MAPBOX INTEGRATION

For the usage of aerial imagery, the AscTec Navigator has integrated a Mapbox service
interface. To use Mapbox as source for your flight plans, you will have to
• Create a Mapbox account
• Add the Mapbox service in the AscTec Navigator
The Starter / Developer plan is free of charge and allows up to 50,000 map
Note
views per months. Click here for more pricing options.
10.1.1 Create A Mapbox Account
• Visit http://www.mapbox.com
• Click on Get started for free
• Enter your details in the form
• Confirm with Sign up

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10.1.2 Set Up A Map In Mapbox
After you signed up, you will have to create a map the AscTec Navigator can access to
create a flight plan.
The Mapbox services were updated and new format was introduced. The new
Note
format is supported starting with AscTec Navigator v3.4.3.
• Log in to mapbox.com
• In the top right corner, click on your account profile image (or pictograph if no
image is set) and then Mapbox Studio
• In the Mapbox Studio overview, click on Create a style

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• An overlay opens up, enter a Style Name (in this case Satellite Streets) and select a
style template as preferred from the list. Confirm with a click on Create.

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10.1.3 Set Up The Mapbox Service In The AscTec Navigator
To implement a Mapbox project (map) in the AscTec Navigator you will need an API access
token and the Style URL (check the picture on the right).
10.1.3.1 Getting the Style URL:

• Within Mapbox Studio, click on Styles in the left menu bar, then on the desired
style from list below the default Mapbox styles (in this case Satellite Streets)
• In the style overview, you will find the Style URL on the right side. Copy it by
clicking on the clipboard icon

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• Paste the copied Style URL into the Add Mapbox Map Service dialog of the AscTec
Navigator program settings (see Add Mapbox service to AscTec Navigator for more
details)
• Continue with Getting the API Access Token below
10.1.3.2 Getting the API Access Token:

• Go back to home by clicking on Home in the left menu bar
• Click on My access tokens

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• All access tokens will be listed. By default, only one API access token is created
called Default Public Token. Copy it by clicking on the clipboard icon
• Paste the copied Style URL into the Add Mapbox Map Service dialog of the AscTec
Navigator program settings (see Add Mapbox service to AscTec Navigator for more
details)
10.1.3.3 Add Mapbox service to AscTec Navigator

Switch to the AscTec Navigator and follow the steps bellow to add the Mapbox service
with the selected map:

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• Go to Settings / Program Settings in the AscTec Navigator
• In the Maps section of the settings click on Add MapBox Service
• Enter or paste the Style URL and the API access token into the corresponding fields
PLEASE MAKE SURE NO BLACK SPACES ARE ADDED IN FRONT OR

WARNING AFTER THE ID AND ACCESS TOKEN. THE ASCTEC NAVIGATOR WILL NOT
BE ABLE TO ACCESS THE MAP, IF THERE ARE BLANK SPACES
• Confirm with Add

• Choose the newly added Map as Map Source from the drop-down menu
• Close the Program Settings dialogue
• You now can use the selected map as source for new maps
• If you now go to File / New Flightplan... / Create new map, the selected Mapbox map
will be shown.
10.2 FREQUENTLY ASKED QUESTIONS (FAQ) /// TROUBLE-SHOOTING

10.2.1 Frequently Asked Questions
Is the AscTec Navigator for free?
Yes and No. You can use all functionalities of the AscTec Navigator like flight planning,
evaluation, photo tagging, thermal editor etc. However, you will need the Survey Package
unlocked on your UA, to upload a flight plan to the AscTec Falcon 8 / Intel® Falcon™ 8+
drone and actually fly a mission.
Why are common web map services like Google Maps or Bing Maps not available?
The integration of Google Maps or Bing Maps in the AscTec Navigator is still not allowed
due to the terms of use of Google and Microsoft.
10.2.2 Trouble-Shooting
10.2.2.1 Contacting The Support Team
In case you encounter an issue you need help with, please contact the support team via the
website: https://supporttickets.intel.com. To help the support team, please provide as much
information as possible about the issue.
Relevant information can be
• Workstation (PC or Notebook) manufacturer and model
• Operating system and architecture (32- or 64bit)
• AscTec Navigator version
• Detailed description of the issue

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• Steps to reproduce the issue
• Screenshots and wordings of possible error messages
• In case of a crash of the AscTec Navigator, please send the error log
• Depending on the issue
o Log file of the UAV
o Flight plan and map as ATX
o Photo Tagger project as ATX
o Images of the camera taken during the flight
10.2.2.2 System Error, .Dll File Missing From Computer
Description
The AscTec Navigator can't be started, a System Error is shown, indicating that a DLL file is
missing. For example:
The program can't start because api-ms-win-crt-stdio-l1-1-0.dll is missing from your
computer. Try reinstalling the program to fix this problem.
This can be caused by different reasons, for example if important Windows updates are
missing on the workstation. Before contacting the support team, please follow the
instructions below.
Possible Solutions
• Please perform an update of Windows and select to install all important updates
o Check if AscTec Navigator opens. If yes, no more action is required.
• If not, please manually install the “Update for Universal C Runtime in Windows”:
https://support.microsoft.com/en-us/kb/2999226
• If not, please manually install the „Visual C++ Redistributable for Visual Studio
2015”: https://www.microsoft.com/en-us/download/details.aspx?id=53587
Download the 32-bit version called vc_redist.x86.exe.

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• If the issue is still not fixed, please contact support@asctec.de and include the
following information:
o PC/ Notebook model
o Operating system, 32- or 64bit?
o Navigator Version, clean installation or updated?
o A screenshot or the complete wording of the error message.
10.3 CHANGELOG
The latest AscTec Navigator changelog can be found here: AscTec Navigator Changelog

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11 WORKFLOWS AND TIPS

11.1 PHOTOGRAPHY BASICS AND OTHER TIPS
Many different areas of expertise come together when UAV Systems (UAS) are being used.
The table below contains many factors that are relevant during planning and execution of
a mission*. Having these in mind will help you to get the maximum quality out of each
flight.
*Although this table contains many factors, there are many more things to
consider, e.g. special requirements concerning the application or environmental
Note
conditions.
The table will be updated on a regular basis.
ENTITY FACTOR DESCRIPTION

Time needed for the camera to process and store an image.
Depends on:
• focus settings.
• image format and quality settings.
Process Time
• SD card speed of the camera.
During a flight, the process time simplified can be described as
the time between (AscTec Navigator flight, Quick Survey,
Panorama) or between the triggering (manual triggering).
Camera sets focus for each image automatically. Time needed to
focus is dependent.
• Complex motives can be focused faster.
Auto Focus • Low contrast, monotone motives are harder to focus.
Images will be triggered only after camera is focused or skipped
completely if manage to focus.
Payload Use manual focus for precise triggering.
Opening of the aperture.
• A smaller number means a wider opening and thus a
shallow depth
• A larger number means a very small opening and results in
a large depth
Aperture • The wider the opening, the more light can reach the
sensor and a shorter needed.
For photogrammetry purposes, the aperture has to be fixed to get
best results. aperture changes the path of the light through the
lens. These little changes the calculated lens correction model of
photogrammetry software.
Time the sensor of a camera is exposed to light.
Shutter Speed • A slow shutter speed increases the possibility of blurred
images caused and vibrations of the UA.
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• When flying, the shutter speed should be at least 1/640 s
to ensure a
Simplified, the ISO value represents the light sensitivity.
Technically speaking, sensitivity in digital cameras is achieved by
increasing the signal gain.
• The higher the ISO value, the higher the signal gain.
• Increasing the ISO value can allow faster shutter speeds,
ISO but increases
• Thus, the ISO value has to be set depending on the
needed/ desired image
The image noise from high ISO values is random. For
photogrammetry purposes fixed and kept at a minimum (if the
motive allows it).
To achieve properly exposed images that meet your quality
needs, the three chosen accordingly. Below are example images,
showing how each parameter image and how they interdepend:
Variable aperture Variable shutter speed
Aperture 5.0 9.0 16.0 Aperture 9.0 9.0 9.0

Payload Shutter Shutter
1/25 1/25 1/25 1/80 1/125 1/250
speed speed
(Cont.) ISO 1250 1250 1250 ISO 1250 1250 1250
Images from left to right more and more Images from left to right more and more
underexposed: underexposed:
Smaller aperture opening, less light Faster shutter speed, less light coming
coming through while the shutter is open. through during the time the shutter is
Interdependence
Depth of field increases with higher open.
of Aperture, aperture number from left to right.
Shutter Speed
and ISO ISO noise comparison Same exposure, varying
Aperture 8.0 16.0 36.0 Aperture

Shutter 1/320 1/500 Shutter
1/160
speed speed
ISO 1250 12800 160000 ISO
Exposure in almost similar in all images. Similar exposure in all images, different
Image noise increases drastically from left parameter settings.
to right due to higher ISO. Depth of field increases with number from
left to right.
ISO noise comparison Same exposure, varying

Shutter speed slows down smaller
aperture opening.

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ISO set to compensate remaining
underexposure.
All images taken with a Sony Alpha 7s II with a Sony FE SEL 24240 (F3.5-6.3,
24-240) lens.
File format and quality settings. Depending on the camera,
several settings are
• RAW
• RAW+JPEG
• JPEG (for JPEG more quality levels of compression are
available, e.g.
Each format and quality setting has different characteristics.
• A RAW image contains the (almost) unprocessed data
from the sensor. The file size of a RAW image will always
be the same.
Image Format/
• To get a JPEG image, the camera compresses the raw
Quality Settings
information from the compression some information is
lost.
Payload
• The file size of a JPEG image and the compression speed
(Cont.)
can vary, depending quality settings and motive:
o High quality and complex motives result in greater
file size >> more compress and write.
o Low quality and monotone/ flat motives result in
smaller file sizes to compress and write.
Consequently, the process time for one image depends on the
image format
SD cards are categorized in speed classes, indicating minimum
performance.
• The faster the card, the faster the camera can write a
SD card
processed image
• Slow cards can be a bottle neck when taking many
pictures in short intervals.
Each Antenna has specific transmitting and receiving
characteristics. Correct antenna alignment is crucial to achieve
the best reception quality.
AscTec Falcon 8 Apart from the patch antenna of the video

receiver on the MGS, all antennas on the AscTec Falcon 8 UAS are
Data Antenna dipole antennas.
UAS
Alignment • The transmitting/ receiving characteristics are best
described as a doughnut of the antenna.
• Meaning best quality perpendicular to the antenna, worst
quality in direction
• Consequently, the antennas of the UAV and the MGS have
to be orientated characteristics allow the best
connectivity.

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Intel® Falcon™ 8+ drone The patch antennas of the Intel Cockpit

Controller (CTR) must always point with the flat side towards the
Intel® Falcon™ 8+ drone for best transmission and reception
quality.
More details regarding ideal antenna orientation, please refer to
the AscTec Falcon 8 or Intel® Falcon™ 8+ drone user manual.
The patch antenna has different receiving characteristics, best
Video Antenna described as in an 35° angle perpendicular to the antennas
Alignment surface. To get the best quality, be aimed with the flat surface
towards the UA.
We recommend formatting the User SD card of the AscTec Falcon
SD card/ USB 8 / Intel® Falcon™ 8+ drone on minimizing the risk of corrupt file
Stick systems. E.g. format the storage media after/ to start new projects
with an empty SD card (same with the SD card of the payload).
Always be aware of the characteristics and the influencing factors
of each flight mode for example can affect
UAS • flight speeds
(Cont.) • position-holding
Flight Mode
• possible wind loads
• GNSS effects like shadowing and multi path effects
Choose the correct flight mode depending on where you are
operating the system.
As the flight mode, the Emergency Mode / Link Loss Procedure
has to be set according to the planned conditions. Each mode has
its advantages and factors that have to be taken setting the mode.
Emergency Mode
For example, when using ComeHome High, the extra power
ascend could deplete the battery and lead to a critical situation at
the end of
The position of the pilot is crucial for two reasons: Safety and
signal quality (data preview). The pilot always has to position
himself in way that allows him to assess ensure the safety of the
Pilot Position
Misc. flight. Additionally, a good position can ensure better throughout
a flight. More information can be found here, under Regular
Matrix

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11.2 WORKFLOW BASICS

The following tips simplify the post processing of log files and the corresponding images.
11.2.1 Planning
• Plan your mission carefully with most up to date maps or orthophotos with the
AscTec Navigator
• Before you go out in the field
o Format the User SD card of the AscTec Falcon 8 / Intel® Falcon™ 8+ drone:
This way, only the logs of the upcoming mission will be on the USB stick and
SD card, and they'll have the same ID. Log management after the mission is
simplified.
o Format the SD cards of all cameras: Makes it easier to assign the pictures to
the logs in the aftermath
11.2.2 In The Field

• Perform a test flight taking one or more pictures to test the camera settings
o Turn off the UAV afterwards to have a separate log for the test flight
o Take one easy distinguishable picture before (or after) every automated
survey flight so that pictures of one continuous flight can then be easily
distinct from the next
• Do not take additional pictures - apart from the one before (or after) an automated
survey flight
o Photo tagging will work more reliable later on in the AscTec Navigator
• Land and switch off the camera and AscTec Falcon 8 / Intel® Falcon™ 8+ drone in
between each automated survey flight
o A new log will be created every time the UAV is switched on. Every log will
then match the exact flight plan in terms of waypoints and triggered
pictures
• Use the first chance in between flights to check the recorded images
o Reduce the risk of unsharp/ blurred or underexposed images
o Enables you to correct the camera settings and repeat the flight right away
o Do not leave the site without checking the images first!
11.2.3 Post Processing

• Copy the images onto your notebook/ pc and presort them into separate folders
for each flight log - use the single, easily distinguishable picture taken before (or
after) a flight as reference

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o Photo tagging will work more reliable later on in the AscTec Navigator
• Import the desired logs from the AscTec Falcon 8’s / Intel® Falcon™ 8+ drone’s User
SD card, using the Flightbook of the AscTec Navigator
• Use the Photo Tagger to connect the logs with the corresponding images from the
presorted folders
• Exporting from the Photo Tagger: You can uncheck Copy Images to 'XYZ' project
location when you export a Photo Tagger project into the same folder as the
presorted images. Please mind:
▪ If the pictures are not copied, the GPS information will not be written
into the EXIF header of the images
▪ If exporting an Agisoft PhotoScan project, the project will then
contain absolute paths to the images. If you want relative paths to
easily open up the project on different computers, leave Copy
Images checked

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AscTec Professional

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

1.1 INTRODUCTION TO THE ASCTEC NAVIGATOR

1.2 LICENSE INFORMATION

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

5. Open Source Statement

6. Third Party Software

© 2017 Intel Corporation. All rights reserved

10. Limitation Of Liability

© 2017 Intel Corporation. All rights reserved

11. Termination And Survival

12. Governing Law And Jurisdiction

13. Export Regulations/Export Control

14. Government Restricted Rights

© 2017 Intel Corporation. All rights reserved

16. Entire Agreement; Severability

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

2.1 SYSTEM REQUIREMENTS

Windows XP, up to version 3.2.3

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

2.3 INITIAL SETUP

Note All settings can be changed in the program settings.

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

2.4 REMOVING ASCTEC NAVIGATOR

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

3.1 MAIN WINDOW

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

Open a window, where you can setup

You can display your Intel® Falcon™

FLIR Convert ARA and ARV files to native

View and manage all created data like

© 2017 Intel Corporation. All rights reserved

Shows the introduction wizard with

Open your standard web browser for

Check for Download the newest version of

Open your standard e-mail program

About Open a window with imprint and

© 2017 Intel Corporation. All rights reserved

3.3 PROGRAM SETTINGS

3.3.1.1 Map Source

3.3.1.2 Map Index

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

• Click the Add (1.) button.

3.3.3.2 Explanatory Notes

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

© 2017 Intel Corporation. All rights reserved

3.3.4 Thermal Editor

© 2017 Intel Corporation. All rights reserved

4.1 WAYPOINT TYPES