The GCU program has a built-in HTTP server (listening on port 9080).
Server capabilities include:
- Provide datalink stream to other GCU components
- Control any particular Mandala variable
- Execute QtScript commands
- Return any or all Mandala variable values
- Google Earth real-time flight visualization and analyzing of telemetry data.
To see the server welcome message - start the GCU and open this link in browser:
Multiple GCU operation
The GCU software upon startup will look for available servers and try to connect with the following order:
- Localhost server
- Last successfully connected server
- Next available server
Although, the GCU will try to bind its own default server on local machine.
When GCU finds another server in local network, it appears under menu
File/Servers and can be used for datalink connection.
Datalink server (part of GCU Software) has the capability to establish connection through internet with another GCU.
Two or more GCU interfaces could be connected to one or more datalink modems. the connection requires static ip, thus VPN connection is recommended.
To request for online support for tuning or troubleshooting, contact us to receive.login and password to acces our network.
The connection through our network can be established via menu
The server will accept any request beginning with
/mandala. The request parameters are following
? char, and are optional. Several request parameters can be combined in one request and separated by the
The following parameters are accepted:
<variable name>- will return it's value, f.ex. '?ctr_brake'
<variable name>=<value>- will set the new value and send it to UAV
descr- variables will be returned with their descriptions
scr=<QtScript text>- will execute a QtScript
For example, assuming you run GCU on the local machine, the following requests are valid:
- http://127.0.0.1:9080/mandala - will return xml list of all variables and their current values.
- http://127.0.0.1:9080/mandala?descr - same as above, but will include descriptions
- http://127.0.0.1:9080/mandala?descr&cmd_altitude&roll - will return only two values specified, with descriptions
- http://127.0.0.1:9080/mandala?cmd_altitude=1000&roll - will set commanded altitude to 1km and return current values
- http://127.0.0.1:9080/mandala?mode=mode_TAKEOFF - this will change current mode to TAKEOFF procedure
- http://127.0.0.1:9080/mandala?scr=mode=mode_EMG - will execute a QtScript to change current mode to manual control
- http://127.0.0.1:9080/mandala?scr=ctr_brake=trigger(ctr_brake,0,1) - toggle parking brakes
- any other requests, based on the principles, described above.
Google Earth Visualization
Add the following link to Google Earth:
http://<IP address of GCU machine>:9080/kml
.. i.e. if you run both the GCU and GoogleEarth on the same machine, use: