QUANTUM-SYSTEMS FAQ
TRINITY
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| 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 |
| 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) |
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. PDF
Difficulty: ➊ ➁ ➂ Type: Information Last change: 7/25/2022
The Remote ID is available since April 1st, 2022. It is a Wifi module broadcasting the Trinity's position and ID as information for yourself and airtraffic control authorities.
The Remote ID is integrated in the payload compartment. All payloads sold after April 1st, 2022 are already equipped with a remote ID, older payloads can be upgraded with the remote ID subsequently. If you want to upgrade one of your older payloads, please contact your local reseller for mor information and pricing.
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.
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.
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. PDF
PDF
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.
Difficulty: ➊ ➁ ➂ Type: Information Last change: 7/26/2022
Only one RC and ground modem can be bound to one Trinity F90+ at a time. Therefore a hand - off is not possible. One Trinity cannot simultaneously be connected to two modems.
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.
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.
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. PDF
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. PDF
Video
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.
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.
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.
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.
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.
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.
| 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 |
| 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 |
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.
| 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 |
| Sensor type: | ... |
|---|---|
| Sensor size: | ... |
| Sensor resolution: | ... |
| Focal length: | ... mm |
| Max. aperture: | ... |
| Field of view: | ... |
| Image size: | ... |
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
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.
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
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.
Difficulty: ➊ ➁ ➂ Type: Malfunction Last change: 7/25/2022
Please ensure that your USB stick is formatted to NTFS format.
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.
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.
Difficulty: ➊ ➁ ➂ Type: Information Last change: 1/24/2022
Three cases are possible:
1. RC connection is lost
In that case, the Trinity will continue normal operation as long as the connection to the QBase modem is still valid.
2. QBase modem connection lost
In that case, the Trinity will continue normal operation as long as the connection to the RC is still valid.
3. Connection to RC and QBase modem lost
In that case, the Trinity will continue normal operation for the prescribed Link Loss Tolerance time. If the connection is regained within that time, the pilot can either continue the mission or command an automated coming home. If the connection cannot be regained, the Trinity will return to the planned Link Loss waypoint and try to regain connection for a determined time. If the connection is regained, the pilot can choose to continue the mission or to command an automated coming home. If the connection is not regained within time, the Trinity will initiate an automated coming home.
Difficulty: ➊ ➁ ➂ Type: Information Last change: 7/25/2022
The difference between the transponder and the Remote ID is that the transponder sends out an ADS-B signal which is a signal dedicated for aviation monitoring, especially for commercial and manned aircraft. This ensures that the Trinity can be seen by the aviation authorities.
The Remote ID sends a 2.4 GHz WiFi based signal which is working via app. Individuals have the possibility to see the drones that are around which will be required by the EU legislation from beginning of 2023.
Please note that the ADS-B of the Trinity is neither licensed by the FAA nor the FCC and may therefore not be used in the US.
| Model: | Multiplex Cockpit SX 9 |
|---|---|
| Frequency: | 2400 - 2483.5 MHz |
| Output power: | 100 mW |
| Model: | Microhard n2420 |
|---|---|
| Frequency: | 2400 - 2483.5 MHz |
| Output power: | 100 mW |
| FCC ID: | NS911P31 |
Difficulty: ➊ ➁ ➂ Type: Malfunction Last change: 12/14/2021
In some cases, Windows assigns the QBase Modem to a COM port that does communicate with QBase. In this case the COM port must be changed. To do so open the Device manager 🠖 Ports (COM&LPT), right click on USB serial port and choose Properties. Switch to the Port Settings tab and click Advanced. A new window will open where you can choose a different COM port.
Difficulty: ➊ ➁ ➂ Type: Malfunction Last change: 7/26/2022
Please go through these options step by step. In case the connection is not established please continue with the next option.
Option 1: Please check whether the modem IDs match.
The modem settings for the ground and air modem can be changed using the dialog within QBase 🠖 Settings 🠖 Flight Data Link. Select the modem to change via the ground and air switch. The air modem can only be accessed if the aircraft is connected via USB and the battery is plugged in afterwards. Enter the target ID and click Configure to set it.
Option 2: Restore the factory settings for both modems by clicking Reset Modem to
Factory Settings under Settings 🠖 Flight Data Link
Option 3: Please reinstall the driver which can be found in: Programs 🠖 Quantum Systems 🠖 QBase 3D 🠖 Drivers 🠖 QBase
Option 4: In some cases, Windows assigns the QBase Modem to a COM port that does already communicate with QBase. In this case the COM port must be changed. To do so open the Device manager 🠖 Ports (COM&LPT), right click on USB serial port and choose Properties. Switch to the Port Settings tab and click Advanced. A new window will open where you can choose a different COM port.
Option 5: Please try to establish a connection by using another USB cable.
Option 6: Please again try to exchange the antennas and make a cross check with another antenna. Maybe it is the antennas causing the problem.
Option 7: I f possible please make a crosscheck with another unit to check whether the air modem or ground modem is causing the issue.
Option 8: Please provide us with the MODCONF and SYSLOG file that are stored on the autopilot board. You can access these files through QBase 🠖 Tools 🠖 SD card.
Difficulty: ➊ ➁ ➂ Type: Information Last change: 7/26/2022
1. Try to keep a clear line of sight between the Trinity and RC/QBase modem. This can improve the command and control range.
2. Trees, high buildings may cause obstructions. This is especially important for take off locations at the side of a treeline or forest.
3. Placing the QBase modem as high as possible can improve the command and control range, too.
4. Flying in a populated area with sources of interference at 2.4 GHz (Wifi routers or similar) may cause obstruction.
5. Placing the antenna on the top of a car, that has Wifi enabled may cause obstruction.
6. Weak link can trigger the Link Loss message. For large distance flights you can set a higher Link Loss tolerance time in the flight settings. It is recommended to set it as short as possible. You will have no control over the Trinity during the Link Loss. It is always recommendable to define a safe return path (option implemented with QBase 2.29) to guide the Trinity home without control, especially if the Link Loss Tolerance Time is chosen high. Also setting the Link Loss Waypoint on an appropriate position can greatly increase safety.
Difficulty: ➊ ➁ ➂ Type: Malfunction Last change: 1/18/2022
This can have multiple reasons:
1. A previous firmware update was unsuccessful. In that case, the Trinity will probably not power up at all. To fix this, connect it via USB and repeat the firmware update according to the instructions in the Trinity F90+ manual in chapter 7.5.3. It will be possible even if the Trinity is not detected.
2. The flight controller did not boot in USB mode. If the battery is attached to the main body before the USB connection is established, the autopilot will boot in normal mode instead than USB mode. That way, it will not be recognized via USB. Please disconnect the battery and USB and connect the USB cable again.
3. The USB connection is unstable. Check if the contact surfaces of the magnetic plugs are clean. Attach the magnetic plug first and the USB-A plug to the computer afterwards to prevent connection loss during plugging. Try another USB cable. Check if the micro-USB-B to magnetic-USB adapter is plugged into the main body correctly. Slightly press it down to ensure it fully sits in the micro-USB socket.
4. In some cases, Windows assigns the Trinity to a COM port already in use. In this case the COM port must be changed. To do so open the device manager 🠖 Ports (COM&LPT) and right click on USB Serial Port and choose Properties. Switch to the Port Settings tab and click Advanced. A new window will open where you can choose a different COM port.
5. Please reinstall the driver according to the Trinity F90+ manual chapter 7.1.3
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.
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.
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.
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.
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).
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.
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.
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. PDF
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.
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.
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.