QUANTUM-SYSTEMS FAQ

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TRINITY

Aircraft
Specifications
Dimensions and Masses
Maximum take-off mass: 5 kg
Wing span: 2.1 m
Fuselage length: ... m
Maximum payload capacity: ... kg
Total weight with equipment and packaging: ... kg
Performance
Maximum flight time (default): 60 min
Maximum flight time (unlocked): 90 min
Design cruise speed: 17 m/s
Maximum cruise speed: 18 m/s (with Lidar)
Which GNSS receiver do Trinity and iBase use and which satellite types do they support?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/25/2022

The Trinity and the iBase use the Ublox ZED-F9P. It supports GPS, GLONASS, Galileo and Beidou satellite systems and is RTK and PPK capable although the hardware of Trinity and iBase only support PPK. For more information, you can find the data sheet below.

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Operation
General
At what battery SOC does the Trinity F90+ return home?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/25/2022

The Trinity F90+ permanenty compares the remainig battery capacity with the the reamaining flight time. An automatic coming home due to battery (Battery Critical) is initiated if the remainig capacity is required for a safe coming home, retransition and landing.

Wrong Direction is shown in QBase and the take-off is aborted

Difficulty:  ➊ ➁ ➂       Type:  Error       Last change: 7/25/2022

Wrong Direction is shown if the Trinity F90+ is not able to turn into the transition cone as previously defined in Qbase due to crosswind. The transition cone shows the allowed transition direction.
In order to make sure to prevent a start abort due to Wrong Direction please plan the transition direction facing headwind (if possible) and open the transition cone as wide as safely possible.
Make sure the transition direction is free of obstacles.

Actuator Malfunction is shown in QBase during Arming

Difficulty:  ➀ ➋ ➂       Type:  Damage       Last change: 7/25/2022

The most likely reason is a incorrectly aligned tilt mechanism. One of the three motors is not going to the correct position due to a skipped tooth on the servo belt.
1. Please identify the motor(s) that is not tilting up to the correct position. An incorrectly aligned motor is only tilting up to ∼ 30° instead of ∼45° or will never reach horizontal position.
2. If the tools are available please follow the attached instructions for recalibrating the corresponding tilt servo.
3. If the tools are not available please follow the attached instructions in order to realign the motors. Depending on your serial numbers different instructions apply.

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Trinity deviates much from the planned flight path

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

A deviation from the planned flight path can be caused by multiple problems:
1. Something is wrong with the GNSS signal - if there is a problem with the GNSS receiver or the number of satellites / signal quality received by the receiver, the Trinity is not able to calculate its position and attitude correctly. If you notice random deviations from the flight path, you should initiate a coming home and even take over manual control if the Trinity does not fly home to the correct location. Trinity firmware versions 2.3.0.49 and earlier do not feature a GNSS denied mode. Missing or wrong GNSS information will also influence the IMU over time, which can lead to a crash if the flight is continued for too long. If you are using the Altum payload, please see Can I use a USB stick to record images with the Micasense Altum.
2. Wind conditions differ from the conditions during planning - If the wind direction or magnitude changes, the autopilot has to adjust the flight path accordingly. You can also simulate different wind conditions in QBase to see the effects on flight. If there is high crosswind, the Trinity will fly the turns as teardrop shape in order to align correctly with the next flight leg before the leg is entered. If there is high tail wind, the Trinity will not be able to climb as fast as simulated, which might result in reduced altitude over ground.
3. The altitude model is not correct - If the altitude model differs from the real altitudes, great offsets in flight altitude to the planned flight may arise. If you notice the Trinity flying much lower than planned, please initiate coming home or even immediate retransition if the situation is critical.

Trinity F90+ does not turn on

Difficulty:  ➊ ➁ ➂       Type:  Error       Last change: 7/26/2022

The issue can have different reasons. Please try the possibilities in the following order.
1. Please try to reflash the latest Trinity F90+ firmware via the USB. This is even possible if the Trinity F90+ is not detected in QBase via USB.
2. If the first option is not successful please reflash the current ESC firmware.

Weather
Battery
Safety Instructions
Charging
Can I charge the Trinity battery in a car?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 1/24/2022

Yes, the battery charger of the Trinity has a 12 V DC input. It is delivered including 12 V power clamps which can be connected to a car battery. The allowable DC input is 11-18 V, the allowable AC input is 100-240 V. Since the Trinity batteries have a high capacity, please make sure you don't drain your car battery empty during charge.

BID incompatible is shown in the Charger

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

Please try to reset the BID chip of the battery. You will need the tool and firmware of the charger. Both can be find in the instruction below.

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Disposal
Repair
The rotating propeller hit the ground or an object. Should I replace the propeller?

Difficulty:  ➊ ➁ ➂       Type:  Damage       Last change: 1/17/2022

Yes, you should. Even there is no visible damage, the propeller can be damaged. Because of the rotating force while flying, the propeller can break which would lead to a crash of the drone. To replace the propeller please follow our repair manual which you can find below.

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Video

My Trinity crashed and is damaged. What can I do?

Difficulty:  ➊ ➁ ➂       Type:  Damage       Last change: 7/25/2022

If your Trinity had a crash, please take some images of the crashed unit on site (as you found it), then download the log files via QBase 🠖 Tools 🠖 SD card (FLY_XXXX.BIN and corresponding LOG_XXXX.BIN) and contact your local reseller. Please provide the log files and some images (and ideally the mission file .qbm) to your reseller. The reseller will get in contact with us and we will analyze the data carefully to determine the reason for the crash. Each crash will be analyzed and analysis will be documented in detail in an official Log analysis report by Quantum-Systems. The more information provided, the faster a case can be analyzed and the faster we can find a solution to get you back in the air again.

My Trinity crashed and was destroyed. How can I get a replacement?

Difficulty:  ➊ ➁ ➂       Type:  Damage       Last change: 7/25/2022

If your Trinity has still been under warranty and the crash was caused by a technical malfunction, your Trinity will probably be replaced. Please be aware that your local reseller is responsible for the replacement according to the local warranty regulations of your country. If the Trinity is not covered under warranty, the main body and rear part can be purchased as Flykit at a reduced price. Wings, elevator and battery are always available as normal spare parts.

Packaging and Transport
QBase
General
I do have no SRTM 3D data when QBase is offline

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/25/2022

The 3D viewer is a pro feature of QBase and disabled in the lite version. Therefore please create an account in the main menue under Settings 🠖 Account. Then connect a Trinity via magnetic USB while logged in QBase. This enables the pro features for your account. The pro status will be permanent. It is not linked to a UAV serial number, so any Trinity can be used to activate the pro version and multiple accounts can be activated with the same Trinity. There are no costs linked to an account creation or activation. The account feature is necessary for us to make sure only Trinity customers can use the licensed pro features of QBase.

Mission
Settings
Waypoints
Saved Missions
Files
PPK Files
Flylogs
Where can I find Flylogs and Logfiles?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 1/17/2022

To access logfiles and flylogs you have to:
1. Connect your Trinity to your computer via USB
2. Open QBase
3. Click on Tools 🠖 SD Card. Your computer will open an explorer window with the Trinity's internal SD card. Logfiles and flylogs will be listed named LOG_XXXX.BIN and FLY_XXXX.BIN with XXXX representing a number. Logfile and flylog of the same flight will have the same number. Numbers are counted up consecutive, meaning the highest number refers to the latest flight.

Downloading the Flylogs in QBase takes a very long time

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 1/21/2022

If the Flylogs are downloaded via the option Tools 🠖 Flylog debrief in QBase, the download speed is very slow. For a much higher speed, use the option at Tools 🠖 SD card instead. However, the SD card tool will not display any information of the log files apart from their name. Log files are named with consecutive numbers, so the highest number will be the latest log.
The Flylog debrief option is only available in QBase 3D version 2.3.25 and earlier. Newer versions will only feature the SD card tool.

Propeller
CSV
KML
Payload
QBase does not detect the camera

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

The Trinity main body does not communicate with the camera directly, only with the Payload Management Board (PMB). If the PMB is not detected, the camera will also be not detected. To check if the PMB is detected, please click on the grey camera symbol in the QBase header. A menu will expand. Click on PMB technical data to display the PMB data. If every value just reads zero, the PMB is not detected. Continue with 1. If some data is displayed, proceed with 2.
1. PMB not detected
Check if the Trinity is detected at all. If the connection between the Trinity and QBase is valid, make sure to attach the battery to the Trinity. If there is still not connection to the PMB, try the following:
- detach battery and USB cable again and then attach the USB cable first and attach the battery again after the Trinity is recognized by QBase
- detach the USB cable with battery still attached and connect the payload directly via USB
- detach the payload and attach it directly via USB
- try to reflash the firmware of the PMB via USB
- open the PMB cover of the payload compartment by unsrewing the three size 6 Torx screws. Look if anything looks burnt or damaged and check if all the wires sit tightly in their sockets on the board
2. Look into the not recognized question of the camera you are using.

Sony UMC
Specifications
Sensor type: CMOS RGB
Sensor size: APS-C
Sensor resolution: ...
Focal length: ... mm
Max. aperture: ...
Field of view: ...
Image type: JPEG File Interchange Format (.jpg)
Image size: ... MB
General
Settings
Operation
Sony RX1 RII
Specifications
Sensor type: CMOS RGB
Sensor size: Full frame
Sensor resolution: ...
Focal length: 35 mm
Max. aperture: ...
Field of view: ...
Image type: JPEG File Interchange Format (.jpg)
Image size: ... MB
General
Settings
Operation
RX1 not recognized

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

In case the Sony RX1 is not detected (grey ) in Qbase here are the common causes of failure:
1. The camera should be always remain switched on
2. Make sure the Manual Mode M is selected with the control wheel on top of the Camera
3. The required root folders were formatted from the SD card:
- Insert the SD card into the camera
- Directly power the camera via the Sony battery and turn on the camera
- Please confirm the start-up dialogue on the camera to reconfigure the root folders on the SD card
- Remove the battery without turning the camera off on the on-off switch
- Reinsert the battery dummy
(It should also be possible to send the customer in-field the folder structur, in case they do not have a RX1 battery with them)
4. Downgrade PMB firmware to the special version PMB_TRINITY_20210525_114926_02.02.02.24.qs
This version has to be provided to the customer by QS. The file must then be placed manually under Documents 🠖 QBase 🠖 Updates. Afterwards select and install the firmware in Qbase under Updates 🠖 Firmwares.

Rededge
Specifications
Sensor type: Multi spectral
Sensor size: ...
Sensor resolution: ...
Focal length: ... mm
Max. aperture: ...
Field of view: ...
Image type: Tagged Image File Format (.tiff)
Image size: ... MB
General
Settings
Operation
QUBE 240
Specifications
Sensor type: ...
Sensor size: ...
Sensor resolution: ...
Focal length: ... mm
Max. aperture: ...
Field of view: ...
Image size: ...
General
Can I use the Qube 240 Lidar or the DLSII sensor in an older Trinity?

Difficulty:  ➀ ➋ ➂       Type:  Information       Last change: 7/25/2022

Due to its high mass, the Qube 240 can only be carried by the Trinity F90+, not by the Trinity F9 and V1. Older F90+ can be upgraded to mount the Qube GNSS antenna or the DLSII sensor required for Micasense cameras with the Lidar / DLSII refit kit available in our webshop.
The modification can be done by our resellers following our official instruction.

PDF
Video
PDF
Video

How to connect the GNSS antenna to the Qube?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/25/2022

Please lead the antenna cable through the hole on the Lidar payload compartment.
On the Qube240 itself, there is a socket for the coaxial plug. Make sure the little headless screw on the socket is loosened before plugging in the cable. The socket is quite tight, so there will be some resistance before the plug snaps in. Afterwards, secure the cable again with the headless screw.

Settings
STAT LED not turning solid on startup

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

There could be several issues leading to the STAT LED not turning solid orange, all with the background of a disturbed GNSS reception.
1. A loose GNSS cable. Please check both ends of your GNSS cable both to the Qube240 and the GNSS antenna.
2. A damaged GNSS cable. It could've been damaged during transportation. If you can, try another GNSS cable.
3. Not enough satellite reception. This can have multiple reasons. Start by clearing the sky view from the antenna (ie. stay away from the system when it starts). Avoid having large masks around your location (tall trees, buildings, etc). Lastly, check the sky map by connecting to your system using Ethernet. You can find the procedure to connect to the Applanix board in the Qube User Manual below. Then, navigate to the sky map and verify you have enough satellites. There is a minimal requirement of 4 satellites to get to a ready state.

PDF

Operation
The t04 file is not on the USB stick

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

In case the t04 is not on the USB stick it can most likely be retreived from the internal Applanix storage.
1. Please connect the Qube240 to the Applanix interface according to chapter 5.4 of the Qube240 manual
2. On the Applanix page:
🠖 In the menu on the left side, select Data Logging.
🠖 Click on /Internal and browse the daily folder to find the record with the name corresponding to your date of acquisition. Please note that time is in UTC reference.
🠖 Click on the file name to start downloading the file and save it in your project folder.

A corrupted T04 file was written to the USB stick

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

Please ensure that your USB stick is formatted to NTFS format.

Why are there Spikes in the point cloud?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/25/2022

With certain sun ray orientations, bouncing off planar surfaces such as tin roofs that you can have in the urban areas, incoming photons will reach the encoder generating errors. These point panaches tend to occur when the sun has specific orientations – low in the horizon usually.

Why are there holes in point cloud?

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

Please make sure the USB stick has enough space prior to the mission. The LOG LED will be green if the space available is > 30 GB. The fact that there is less and less space on the USB drive probably slows down the writing speed from the lidar to the memory. As a consequence, these error messages could come up. Possible gaps in flights are unfortunately not recoverable.

Post Processing
The .lvx file cannot be opened in CloudStation

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/26/2022

Cloudstation requires the .lvx file and the .ys file to be located in the same folder to open the .lvx file. Please make sure both files are in the same directory and try again.

General
The processing results differ in AgiSoft and Pix4D.

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

The CSV file containing the coordinates, angles and accuracies is different between AgiSoft and Pix4D. When creating the CSV during the post processing process in QBase the output needs to be selected (Pix4D or AgiSoft).
If this does not help, please compare the CSV's generated for Agisoft and Pix4D regarding geotags and accuracies. If they are identical, the problem is caused by some settings or the workflow of your photogrammetry software. If not, please contact your local reseller for help.
You can also try to use the geotagged images without an additional CSV to see if it improves the result.

CloudStation displays a server error message with the code C0x000105 when opening CloudStation.

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/25/2022

This can be caused by your firewall preventing you from reaching the license server. Open ports 5053, 5522 and 5479 in the firewall settings and try again.

What does the CloudStation classification affect?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/26/2022

What could affect classification results are:
A large number of noise points (low or high) might trick the algorithm.
If you have high noise points, you can adjust the min laser range to try to remove air points.
If you have a large number of low noise points, this is trickier to clean and you may need to jump to a third party software to clean this up and classify (Terrasolid Tscan would do the job)
wrong classification entries. The most critical entry is the ‘max object size’ – this should correspond to the inner diameter of the largest object that needs to be classified as non-ground.
Excessive mismatches between strips – this might generate the equivalent of ‘low points’ from one strip and again alter the classification.

Is the object inner size the maximum height of a building/object in an area, or maximum ground width?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/26/2022

Object inner size is the maximal diameter of the largest non-ground object. The considered nonground objects can be man-made (buildings, bridges...) or natural (tree canopy, outcrop).

Point cloud thickness in Cloudsration is set to 0.15m, but is this correct for the Qube240?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/26/2022

This is the default value for Qube240, expecting a good trajectory file and SA. By flying lower you may go down to 0.10 m. If your trajectory isn't optimal, you may increase this value. 0.15m should fit most cases.

Why are there gaps on the road?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/26/2022

Black top roads have low reflectivity, so this is something to be expected (especially wet ones). The solution is to fly lower, as the lack of reflection is directly linked to the range of the scan. To have more points on the road, you should try directly above the road, where the range is smaller.

Images
After loading the flylog for post-processing QBase shows an uneven number of images and triggers.

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 1/12/2022

This problem happens usually with the UMC Payload. The autopilot sends the calculated amount of trigger commands to the UMC Payload, but the payload was not able to perform all images. QBase has a tool on board to solve this issue. After loading the flylog with the mismatching issue, QBase shows in the lower right a button to Solve Mismatches. By pressing the button, a new window will appear. For an introduction to the tool, please have a look into the latest manual.

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SD Card
Reference Stations
What is the minimal Number of GCPs needed when using the PPK iBase Module?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/26/2022

GCPs are commonly used as absolute position reference for the generated model. If GCPs are used on different locations within the model, they can help to further improve the absolute accuracy.
If the iBase is set up on a precisely known position and enough satellites are visible, it is normally not necessary to correct the results with GCPs. Under such conditions, a absolute accuracy of 2-3 cm can be reached without GCP's in most cases. Nevertheless it is always recommendable to use additional GCP for further improvement or at least as checkpoints for the generated models accuracy.

Equipment
iBase
Settings
Operation
Is the iBase sufficient for accurate positioning?

Difficulty:  ➊ ➁ ➂       Type:  Information       Last change: 7/25/2022

In order to achieve a good absoloute accuracy it is important to import the accurate coordinates of the point the iBase is set up at. Therefore it is important to place the iBase on a measured point. 
To achieve good relative accuracy it is enough to place the iBase on the ground and to get the iBase position from the internal recording. 
Independent of the use of internal positioning or setting it up on a known point it is always good to have the iBase running at least a couple of minutes before and after the flight.
Of course the longer the iBase is running the more accurate the iBase internal position will get - if this is required.
Under good conditions (enough satellites visible, no obstacles close to the iBase) the PPK process can yield a relative accuracy of 1-2 cm. The absolute accuracy of the generated point cloud is also dependent on the accuracy of the measured position of the iBase, the GSD of the camera used for the flight and the used photogrammetry software.

No data is written to the iBase

Difficulty:  ➊ ➁ ➂       Type:  Malfunction       Last change: 7/26/2022

If the iBase is not recording please check the following options:
1. Is the LED turning green? If not please check the power supply. If yes please continue with step 2.
2. Does the LED start blinking indicating the logging is succesful? If not please check step 3; if yes please check step 4.
3. Is the antenna connected to the iBase properly? Is the antenna pin damaged?
4. Does the iBase SD card contain the config.txt file in the root directory? This is manadtory.

Charger
Settings
Operation