The post RESEPI Application Suite User Guide appeared first on RESEPI.
]]>RESEPI Application Suite User Guide
1. Introduction & Overview
The RESEPI Application Suite is a comprehensive toolkit designed for professionals working with LiDAR data acquisition, system testing, and post-processing. The suite centralizes various utilities into a single interface, allowing users to plan missions, diagnose hardware data, simulate communication protocols, and process imagery efficiently.
The suite is divided into several key modules accessible via the main dropdown menu at the top of the application window:
Mission Planner: A calculator for determining optimal flight parameters based on desired LiDAR output metrics.
LiDAR Scan Diagnostics: A tool for analyzing raw .scan files to check for data integrity and hardware performance.
MavLink Simulator: A utility for simulating MavLink data streams to test Ground Control Station (GCS) communication without actual hardware.
Image Processing: A collection of tools for manipulating imagery, specifically focusing on geotagging (GPS EXIF writing).
System Diagnostics (RESEPI LITE & RESEPI GEN-II): Modules for analyzing system logs to generate reports and identify potential issues.
2. Mission Planner Module
Purpose: The Mission Planner helps operators calculate the necessary flight parameters (altitude, speed, line spacing) to achieve specific LiDAR data quality goals (point density, overlap). It supports bidirectional solving for various LiDAR models.
How to Use
Select Module: Ensure Mission Planner is selected in the main module dropdown.
Choose LiDAR Model: under the “Input Parameters” section, select your specific LiDAR sensor from the LiDAR Model dropdown menu (e.g., XT-32).
Select Solve Target: Determine what variable you want the system to calculate by choosing one of the Solve For radio buttons:
Density: Calculate required altitude/speed to meet a target point density.
Altitude: Determine necessary altitude based on speed and density constraints.
Speed: Calculate maximum flight speed to maintain density at a given altitude.
Input Parameters: Enter the known constraints into the remaining fields:
Altitude (m): Flight height above terrain.
Flight Speed (m/s): Velocity of the aircraft.
Overlap (%): Desired sidelap between flight lines.
Note: The available inputs change based on your “Solve For” selection.
Review Results: As you adjust inputs, the Results panel on the right will update instantaneously.
Pay attention to:
Swath Width: The ground coverage of a single scan line.
Point Density: The estimated points per square meter.
Flight Line Spacing: The required distance between parallel flight lines to achieve the specified overlap.
Save Presets (Optional): If you frequently use specific setups, click the Save Preset button at the bottom right to store the current configuration for future use.
3. LiDAR Scan Diagnostics Module
Purpose: This module is used post-mission to analyze XT32, and XT32-M2X LiDAR .scan files. It checks for null points, packet timing issues, and other quality metrics, generating interactive HTML reports.
How to Use:
Select Module: Choose LiDAR Scan Diagnostics from the main dropdown.
Load Data: In the “Select .scan File” section, click the Browse button. Navigate to and select the .scan file you wish to analyze.
Start Processing: Once the file path is loaded into the text field, click the Process button.
Monitor Progress: The Processing Log panel at the bottom will display the status of the analysis. Once complete, the log will indicate where the interactive HTML report has been saved.
Clear Log: Use the Clear button at the top right of the log panel to reset the view for subsequent operations.
4. MavLink Simulator Module
Purpose: Designed for developers and integrators, this module simulates MavLink data streams (mimicking systems like RESEPI GEN-II). It is used to validate and troubleshoot GCS connections and application responses in a controlled environment.
How to Use:
Select Module: Choose MavLink Simulator from the main dropdown.
Connection Settings:
Enter the target IP Address and Port for the MavLink connection.
Click Save to apply these settings.
Configure Data Streams:
Under “Data Stream Requests,” define the streams you want to simulate by entering a Name, the specific Message ID, and the desired Interval (s).
Click Add to include it in the active list below.
Tip: Use the eye icon to hide/show streams, the pencil to edit, and the trash can to delete them.
Send Commands (Optional):
Use the “Send MavLink CMD/MSG” section to manually send specific commands.
Enter the Command Name and any necessary parameters (P1-P7).
Click Send.
Start Simulation: Click the red Start MavLink button at the bottom left to begin streaming data.
Monitor Status: The MavLink Log panel on the right will show connection status and activity. You can also click Show Message Status for detailed stream metrics.
5. Image Processing Module (GPS EXIF Writer)
Purpose: The Image Processing module contains various tools. The tool shown, GPS EXIF Writer, is used to embed precise GPS coordinates (latitude, longitude, altitude) into image EXIF metadata by matching image timestamps with a PPK trajectory file.
How to Use:
Select Module: Choose Image Processing from the main dropdown.
Select Tool: Ensure GPS EXIF Writer is selected in the left-hand sidebar menu.
Load Trajectory: Click the Select Trajectory File button and locate your post-processed kinematic (PPK) trajectory file (often a .txt or .pos file).
Load Images: Click the Select Image Folder button and choose the directory containing the images you wish to geotag.
Run Process: Once both inputs are loaded successfully, the Write GPS to EXIF button will become active. Click it to start the geotagging process.
Review Log: The Log panel on the right will display progress and confirm when the images have been successfully updated with GPS data.
6. System Diagnostics Modules (RESEPI LITE & RESEPI GEN-II)
Purpose: These modules analyze system log files (supported formats: LOG, TXT) to generate diagnostic reports containing plots. They are essential for troubleshooting system crashes or performance issues. Note: The workflow is identical for both the “LITE” and “GEN-II” versions shown in the images.
How to Use:
Select Module: Choose either System Diagnostics LITE or System Diagnostics GEN-II from the main dropdown depending on your hardware generation.
Select Log File: Click the large red Select Log File button at the top to browse for the log file you wish to analyze.
Use Recent Files: Alternatively, if you have analyzed files recently, they will appear in the “Recent Files” list. Click on a file path to load it quickly.
Flag Messages (Optional): If you are looking for specific events, enter keywords into the “Enter a message to track…” field and click Add. The analysis will highlight these events.
Run Analysis: Once a log is selected, the Run Analysis button at the bottom of the main panel will become active. Click it to begin.
View Output: The results of the analysis will be generated, and process information will appear in the Output Log panel at the bottom.
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]]>The post MAVLINK Support for RESEPI GEN-II and EchoONE appeared first on RESEPI.
]]>MAVLink Integration
RESEPI GEN-II supports MAVLink communication, allowing seamless integration with compatible autopilots such as ArduPilot and PX4. MAVLink messages can be exchanged over a serial or network connection, enabling the payload to send system status and configuration updates.
Available Functions:
- Status Output: RESEPI can transmit system health, GNSS status, and logging state messages back to the autopilot for real-time monitoring.
- Trigger Control: Missions can be synchronized using MAVLink command messages, allowing the autopilot to trigger recording and shutdown events.
Connection:
- Ethernet-based MAVLink is also supported when using network-enabled configurations through the default port 14550.
Current commands and messages include:
- ATITUDE (Msg ID 30)
- CAMERA_CAPTURE_STATUS (Msg ID 262)
- CAMERA_INFORMATION (Msg ID 259)
- CAMERA_CAP_FLAGS_HAS_CAMERA_DEFINITION
- GLOBAL_POSITION_INT (Msg ID 33)
- GPS_RAW_INT (Msg ID 24)
- STATUSEXT (Msg ID 253)
- SYSTEM_TIME (Msg ID 2)
- MAV_CMD_VIDEO_START_CAPTURE (2500)
- MAV_CMD_VIDEO_STOP_CAPTURE (2501)
- MAV_CMD_COMPONENT_ARM_DISARM (400)
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]]>The post Understanding the EchoONE Payload Powered by RESEPI appeared first on RESEPI.
]]>EchoONE Powered by RESEPI System Overview
The EchoONE, powered by RESEPI, represents the next generation in cutting-edge technology for mapping and surveying. It delivers some of the highest performance in it’s class, meeting the needs of professionals across multiple industries. Many features of the RESEPI GEN-II devices carry to this powerful payload, so documentation has heavy overlap. The differentiating features include single antenna (compared to dual antenna on RESEPI GEN-II), no SLAM capabilities, and no auto start switch. All other features, workflows, and processes are almost identical to that of RESEPI GEN-II.
System Components
- GNSS + INS Integration
- Each unit includes a tightly coupled GNSS and IMU system for accurate position and orientation calculations. This data is used for georeferencing LiDAR and imagery in post-processing.
- Onboard Computer
- A rugged embedded computer handles real-time data capture, power management, and system control. It supports concurrent LiDAR and camera logging without the need for an external device.
- LiDAR Sensor
- Teledyne EchoONE: Optimized for dense data capture and vegetation. NDAA and RoHS Compliant.
- RGB Camera
- Teledyne FLIR: Low resolution for cloud colorization.
- Sony ILX-LR1 61MP Camera: Optional and external for photogrammetry and cloud colorization
- SnapFit
Connectors for Rapid Deployment- The new SnapFit connectors offer seamless power and data exchange, allowing for quick changes between platforms such as Gremsy, Skyport, Airpeak, FreeFly, Inspired Flight and more. This modular design makes the EchoONE ideal for rapid deployment across various applications.
- The new SnapFit
- Expanded Storage
- Comes equipped with a 512 GB internal SSD for increased storage capacity, facilitating smooth data acquisition and handling.
- GNSS Antennas
- All systems require a primary (PRI) GNSS antenna for positioning
- Additional Peripherals
- Extended signal outputs allow the integration of multiple external cameras like Sony ILX-LR1 61MP Camera or real time streaming via ethernet.
Power and Storage
EchoONE allows for easier control using a single multifunctional button coupled with a switch and 3 LEDs to indicate system status, as shown below.
- Power Input
- EchoONE operates from a 9–50V DC source and also supports Ethernet and DJI Skyport interface options.
- Power button:
- Start and stop the system with a single press of the power button.
- Single button press after starting up to start/stop data collection, without accessing the GUI.
- Long Press to power down the unit.
- LED Indicators:
- Power LED: Confirms that the system is powered on. Green when the unit is switched on.
- Status Check LED: Displays system operation status to monitor any faults.
- Green – System is working as intended. No errors detected.
- Red – Hardware error detected. Contact InertialLabs Support.
- Orange – Configuration error detected. Contact Inertial Labs Support.
- GNSS LED: Provides real-time GNSS status for quick validation of signal availability and reception.
- Green – A valid GNSS fix was achieved.
- Red – No valid GNSS fix was achieved. Please ensure proper connections are made with the GNSS antenna.
- Orange – A valid GNSS fix with RTK differential corrections are being received.
- Data Management
- EchoONE introduces an internal SSD and allows to record larger missions than ever before and allows to access that data in multiple methods.
- Large Internal SSD: A 512 GB SSD that enables longer continuous data capture without interruptions.
- USB-A 3.0 Port: Facilitates faster direct data transfer from the SSD to a computer, utilizing an external USB stick. For example, SAMSUNG FIT Plus 3.1 USB Flash Drive.
- EchoONE introduces an internal SSD and allows to record larger missions than ever before and allows to access that data in multiple methods.
Connecting to the LiDAR Payload
- Via Wi-Fi :
- Power On the Payload:
- Begin by powering on the payload. Press the power button to power up the unit.
- Connect to the Payload’s Wi-Fi:
- On your host computer (tablet, smartphone, or PC), open the Wi-Fi settings.
- Look for the unit’s wireless network, identifiable by its unique SSID on the device’s label, which will appear as “RESEPI – ######”.
- Connect to this network using the password “LidarAndINS”. If this password does not work, contact your local vendor or customer support for assistance.
- Access the Web-GUI:
- The system is configured and controlled through a web-based interface accessible over Wi-Fi. Users can monitor GNSS/INS status, manage system settings, format storage, and control data logging without installing additional software.
- Open your preferred web browser.
- Enter the IP address (unquoted) “192.168.12.1” in the address bar.
- The LiDAR payload’s web-GUI will appear, as shown in below
- The system is configured and controlled through a web-based interface accessible over Wi-Fi. Users can monitor GNSS/INS status, manage system settings, format storage, and control data logging without installing additional software.
- Power On the Payload:
- Via Ethernet :
- Power On the Payload:
- Begin by connecting the ethernet cable to the payload. Do not connect both the barrel power and the ethernet on the computer side to the device. Only one of the ports should be used at once.
- Click the power button.
- Access the Web-GUI:
- Open your preferred web browser.
- Enter the IP address (unquoted) “192.168.13.1” in the address bar. This is different from the IP address of Wi-Fi based GUI.
- The LiDAR payload’s web-GUI will appear.
- Power On the Payload:
Downloading Data from the EchoONE
After completing a mission, downloading the dataset becomes a critical step.
Since all of these methods would involve powering the EchoONE, the user would need to power up EchoONE using one of the two supported methods. Another method is connecting the optional accessory cable (available from Inertial Labs, PN: PRD800640-001) to the rear panel of EchoONE on XS1:380-015-113L001. This optional cable can be seen below. For more information or if desired for purchasing, please email [email protected].
Via Wi-Fi:
- Connect to the device GUI.
- Navigate to the Storage tab and select the mission you wish to export, as shown below.
- Press the Export (Share) button to initiate the download directly to the computer over Wifi.
Using an External USB Drive:
- Connect to the device GUI.
- Navigate to the Storage tab and select the mission you wish to export, as shown below.
- Insert the external USB drive into the system.
- Press the Download (USB) button to transfer the data directly to the USB.
- A status percent indicator will show up next to the mission to show completion %.
Data Processing Workflow
Data is post-processed using PCMasterPro, which performs:
- Trajectory calculation using tightly coupled GNSS/IMU data
- LiDAR point cloud georeferencing
- Batch processing, strip alignment, and more
- RGB image alignment and boresighting
- Coordinate transformations and export to various standard formats
Data can also be processed with Teledyne LMS Pro, but this workflow is not supported by Inertial Labs. Datasets can be further handled in third-party software such as TerraSolid, LiDAR360, Pix4D, and CloudCompare.
Extended Connectors for System Integration
The EchoONE features three extended connectors with detailed pinouts described below, enabling seamless integration with external systems and sensors. This capability allows users to feed aiding data directly into the INS, further enhancing positional accuracy to meet specific project needs. The bottom D-SUB on EchoONE is configured for Sony ILX-LR1 61MP Camera. The descriptions below are for the top 2 connections for the rear panel.
Please ask the sales team if you need the ethernet compatible cable.
Pinout of the connectors
| XS1:380-015-113L001 | |
| ETH2_B- | 1 |
| ETH2_B+ | 2 |
| ETH2_A- | 3 |
| ETH2_A+ | 4 |
| ETH2_D- | 5 |
| ETH2_D+ | 6 |
| ETH2_C- | 7 |
| ETH2_C+ | 8 |
| VSUP_REAR | 9 |
| VSUP_REAR | 10 |
| VSUP_REAR | 11 |
| VSUP_REAR | 12 |
| GROUND | 13 |
| GROUND | 14 |
| GROUND | 15 |
| XS2:380-025-113L001 | |
| COM4 (RS232_TX) | 1 |
| COM4 (RS232_RX) | 2 |
| COM1 (RS232_RX) | 3 |
| COM1 (RS232_TX) | 4 |
| 5V | 5 |
| GROUND | 6 |
| ENCODER (PHB) | 7 |
| ENCODER (PHA) | 8 |
| ENCODER (GROUND) | 9 |
| ENCODER (5V0) | 10 |
| UART0_TX | 11 |
| UART0_RX | 12 |
| 3V3 | 13 |
| ETH3_D- | 14 |
| ETH3_D+ | 15 |
| ETH3_C- | 16 |
| ETH3_C+ | 17 |
| ETH3_B- | 18 |
| ETH3_B+ | 19 |
| ETH3_A1 | 20 |
| ETH3_A+ | 21 |
| 1PPS (GPIO0_IO0B) | 22 |
| EV2 (GPIO2_IO04) | 23 |
| COM3 (RS232_RX) | 24 |
| COM3 (RS232_TX) | 25 |
To synchronize external sensors, the user can utilize COM1 on the rear panel of the device. By default, the following data is available:
COM1 Parameters:
- Data Rate: 20Hz
- Baud Rate: 921600
Data Types, in order:
0x02, // GPS INS Time, unsigned int, 8
0x03, // GPS IMU Time, unsigned int, 8
0x21, // Gyro data HR, int, 12
0x23, // Accelerometer data HR, int, 12
0x53, // Unit status word, word, 2
0x08, // Orientation angles HR (unsigned int, int, int), 12
0x11, // Position HR (int-8, int-8, int-4), 20
0x1B, // Velocity in ECEF coordinates, int, 12
0x36, // GNSS info short, byte, 2
0x3B, // Number of satellites used in solution, byte, 1
0x41, // New GPS, byte, 1
0x3C, // GPS week, word, 2
0x54, // INS solution status, byte, 1
0x04, // UTC, byte, 9
0x26, // Sensors bias, (sb, sb, sb, sb, sb, sb, byte), 7
0x57, // KF position covariance HR, word, 6
0x56, // KF heading covariance, byte, 1
0x58, // KF velocity covariance, byte, 3
0x5C, // KF pitch, roll covariance, word, 4
0x39 // GNSS Position or Velocity type, byte, 1
MAVLink Integration
Due to the EchoONE being powered by RESEPI, EchoONE supports MAVLink communication, allowing seamless integration with compatible autopilots such as ArduPilot and PX4. MAVLink messages can be exchanged over a serial or network connection, enabling the payload to send system status and configuration updates.
Available Functions:
- Status Output: EchoONE can transmit system health, GNSS status, and logging state messages back to the autopilot for real-time monitoring.
- Trigger Control: Missions can be synchronized using MAVLink command messages, allowing the autopilot to trigger recording and shutdown events.
Connection:
- Ethernet-based MAVLink is also supported when using network-enabled configurations through the default port 14550.
Current commands and messages include:
- ATITUDE (Msg ID 30)
- CAMERA_CAPTURE_STATUS (Msg ID 262)
- CAMERA_INFORMATION (Msg ID 259)
- CAMERA_CAP_FLAGS_HAS_CAMERA_DEFINITION
- GLOBAL_POSITION_INT (Msg ID 33)
- GPS_RAW_INT (Msg ID 24)
- STATUSEXT (Msg ID 253)
- SYSTEM_TIME (Msg ID 2)
- MAV_CMD_VIDEO_START_CAPTURE (2500)
- MAV_CMD_VIDEO_STOP_CAPTURE (2501)
- MAV_CMD_COMPONENT_ARM_DISARM (400)
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]]>The post SurveyPro Tools appeared first on RESEPI.
]]>SurveyPro Tools Guide and Breakdown
This dialogue is only available to users with a SurveyPro license, activated in the PCMasterProGL Licensing menu. The license provides access to features like ground/non-ground classification, accuracy assessments, debiasing, DEM generation, and contour creation.
Window Field Entries
Field entries can be configured to how the user would like. Each tab of the dialogue shows a different step of the SurveyPro pipeline. If only wishing to run a certain step, the user can decide to only check this box and skip other features. After configuring the window to the users processing liking, the Run button may be pressed to processed the selected cloud file.
The user can navigate the dialogue by either selecting individual tabs or using the “Previous” or “Next” buttons.
All field entries are in the units of the units related to the cloud file input (ft or m). Ensure all fields are properly entered to account for these changes. GCP’s and cloud files but be in the same vertical and horizontal coordinate frame to ensure a proper assessment. Below shows the configuration menu pop-up when the user selects “SurveyPro Tools” within PCMasterPro.
- Load LAS File – opens File Explorer to allow the user to select the .las file that’s being used for processing. This is necessary for running any of the SurveyPro features besides the contour creation which requires a DEM input.
- Load DEM File – opens File Explorer to allow the user to select the DEM file that’s being used for processing. This is necessary for running contour creation. Users can first run the normal pipeline to create this DEM before creating contours.
- Pipeline Preset – Shows a dropdown of the custom preset along with any saved profiles from past runs. These presets can either be set to populate the entire pipeline.
- Previous – Navigates to the previous tab
- Next – Navigates to the next tab
- Save as Preset – Prompts the user to save the currently filled settings as either SMRF only (only ground classification settings) or Pipeline (full workflow). Prompt is followed by a name input. If the user desires to delete a saved preset, find the file named “surveyToolsPresets” within the install directory, open in notepad, and delete the line containing the cooresponding preset name. This file must be saved and PCMasterPro must be restarted for changes to take effect.
- Run – Runs all selected processes and shows current progress in the status window of PCMasterPro
- Cancel – closes the window without running
- Ground Classifications Options – checkbox to enable/disable SMRF ground classification. When enabled, points are classified as ground (Classification = 2) or non-ground (Classification = 1) using the Simple Morphological Filter algorithm, which iteratively applies morphological opening operations on an elevation grid to detect bare earth.
- Presets – contains 3 preset profiles for different cloud sceneries or custom option for user defined settings saved as presets.
- Cell Size – defines the cell size (in meters) of the elevation grid used for morphological operations. Smaller values preserve more terrain detail but require higher-resolution input data and significantly increase computation time. This is a fundamental parameter that controls the spatial resolution at which the algorithm analyzes terrain. Typical range: 0.5–5.0 meters depending on data density and terrain detail required.
- Max Window Size – the maximum search radius (in meters) for morphological opening operations. The algorithm grows the window size linearly through successive iterations until reaching this maximum. This parameter must be larger than the largest non-ground feature you want to remove (e.g., building footprint or tall vegetation canopy). If set too small, flat-roofed buildings may be misclassified as ground because the window doesn’t expand enough to “see over” them. Typical range: 12–30 meters.
- Slope – dimensionless scaling factor (rise/run ratio) that controls maximum terrain steepness the algorithm permits during morphological comparisons. A slope of 0.2 means the algorithm permits approximately 1 meter of elevation rise over 5 meters of horizontal distance. In rugged terrain with steep slopes, use higher values (0.3–0.5); on flat terrain, use lower values (0.1–0.2) to aggressively remove vegetation and structures. Typical range: 0.1–0.5.
- Elevation Threshold – maximum vertical distance (in meters) a point can be above the morphologically-smoothed ground surface to still be classified as ground. This is the primary parameter controlling classification sensitivity. Smaller values create stricter classification—the algorithm requires points to closely match the smoothed surface. Larger values are more permissive, accepting points from low vegetation or terrain undulations. This parameter directly controls how many points are classified as ground. Typical range: 0.3–1.0 meters.
- Elevation Scalar – scale factor for the elevation.
- Accuracy Assessment – checkbox for accuracy assessment.
- Load GCPs – this button opens File Explorer for the selection of GCP coordinates.
- Registration/Debiasing – checkbox for registration and debiasing in relation to local values or GCPs.
- DEM/DSM/DTM Generation – checkbox for generation of elevation, surface and terrain models
- Resolution Size – defines the size of each pixel in the generated DEM, DSM, or DTM. A smaller resolution creates a more detailed model, while a larger one results in a more generalized representation of the terrain.
- DEM Type – choose between a DSM or DTM
- Fill DEM Holes – attempts to fill in areas where no points are collected with estimated point spreads. This helps with random blank spaces caused by using ground classified points for DEM creation.
- Contours – checkbox for enabling/disabling the contour generation feature. There must be a DEM input within the Input File tab in order for this toolset to be taken advantage of.
- Contour Interval: Defines the constant vertical distance between consecutive contour lines generated from the source raster.
- Base Elevation: Sets the vertical offset relative to zero from which the contour intervals are calculated.
- Output Format: Determines the geospatial vector driver used to write the output file, such as ESRI Shapefile or GeoJSON.
- Fixed Levels: The start of the advanced settings. Designates a specific list of elevation values to extract as contours, independent of the standard interval generation.
- Index Interval: Sets the periodic interval at which “major” contours are categorized, often used to differentiate line weights in cartography.
- Min Elevation: Establishes the lower elevation threshold, excluding any source data below this value from the contour generation process.
- Max Elevation: Establishes the upper elevation threshold, excluding any source data above this value from the contour generation process.
- Layer Name: Specifies the internal name assigned to the vector layer within the output dataset.
- Elevation Field: Defines the name of the attribute column where the calculated elevation value for each contour geometry is stored.
- ID Field: Defines the name of the attribute column used to store a unique numerical identifier for each contour feature.
- NoData Value: Identifies the specific pixel value representing missing or void data in the source raster so it can be ignored during processing.
- Precision: Controls the number of decimal places used when writing the elevation values to the output attribute table
Example Outputs
As previously explained, this feature set allows for access to ground/non-ground classification, accuracy assessments, debiasing, DEM generation, and contours. Below are examples of these outputs that are currently supported.
To observe the entire process in practice, we suggest viewing the video recording below.
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]]>The post PCMasterPro Software Updates appeared first on RESEPI.
]]>How to Upgrade/Downgrade PCMasterPro Software
Periodically, the Inertial Labs support team will send out new software updates. These updates are key when encountering an issue, so please try to use the most up-to-date version. Use this workflow when upgrading to a newer version or downgrading to a previous version of PCMasterPro.
Step 1: Return Licenses (Recommended)
- Open PCMasterPro and go to:
- Settings > Local License Manager
- Settings > PCMasterProGL Licensing
- Click Return/Remove on all active licenses. This ensures licenses are not lost during the update.
- These licenses can easily be re-activated after updates.
Step 2: Uninstall the Current Software
- Fully close all PCMasterPro programs.
- Uninstall by either:
- Using standard Windows uninstall process: Control Panel > Programs > Uninstall a Program, or
- Running the uninstall.exe file from within the software installation folder.
Step 3: Download the New or Previous Version
- Visit lidarpayload.com
- Navigate to:
- Resources > Software and Firmware
- Select and download the desired PCMasterPro Installer (latest or older version).
Step 4: Install the Software
- Open the downloaded installer.
- Follow the on-screen prompts to complete the installation.
Step 5: Confirm and Activate Your Licenses
- Reopen PCMasterPro.
- Update can be confirmed by going to Settings > About
- Navigate again to:
- Settings > Local License Manager
- Settings > PCMasterProGL Licensing
- Activate your licenses for continued access to your tools.
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]]>The post Pre-Recording Checklist appeared first on RESEPI.
]]>Pre-Recording Checklist for MMS Scans
☐ Mounting the Payload
- Mount the RESEPI or EchoONE unit securely using the vehicle mount adapter.
- Ensure it is fully seated in the mount and locked into place to prevent vibration or slippage during travel.
- Mount orientation should be known and stable.
- Avoid loose brackets or makeshift adapters.
☐ Connect GNSS Antennas
- Connect all GNSS antennas to their correct ports.
- If using a dual antenna setup, confirm correct configuration of primary and secondary.
- Verify each antenna has a clear sky view.
☐ Base Station Setup (if applicable)
- Place the base station in an open area with clear sky view.
- It should record all available GNSS constellations (GPS, GLONASS, Galileo, BeiDou, QZSS, Navic).
- Confirm that it records in a PCMasterPro-compatible format.
- If using a public base station, ensure it is within 40 km of the flight area (preferably closer).
- Important: Ensure correct PPK or RTK configurations.
- Methods are comparable to PPK Step-by-Step and RTK Step-by-Step.
☐ Power Connection
- Connect RESEPI or EchoONE to power via one of the following:
- XT60
- Skyport/Other
- Binder Connector
- Ethernet (GEN-II only)
- Ensure power supply is 9–36VDC (up to 45V max) with 24–28W available.
☐ Web Interface Access
- Connect to the RESEPI’s or EchoONE’s Wi-Fi.
- SSID is printed on the unit label.
- Password: LidarAndINS
- Access the Web GUI at 192.168.12.1 using a laptop or mobile device.
☐ Data Management
- Offload all data and flights from the USB drive and/or SSD to ensure adequate space.
☐ USB / SSD Storage Check
- Use only the provided RESEPI-certified USB drive.
- Confirm that the USB is securely inserted into a supported port.
- Avoid using ports reserved for other onboard components (e.g., camera).
☐ Firmware Check
- Ensure the RESEPI or EchoONE is running the latest firmware version.
- You can find the firmware version in the top right corner of the GUI.
☐ Enable Secondary Antenna Logging (if applicable)
- Enable recording from the secondary GNSS antenna.
- Navigate to: Settings > INS Service
- Toggle “Record Secondary Antenna data” → On
- Click Save.
- Go to the Status page to confirm the secondary antenna is detected and observing satellites.
☐ Vehicle to IMU Rotation
- Go to Settings > Geometry > Vehicle to IMU Rotation.
- Ensure the rotation offsets reflect the RESEPI’s or EchoONE’s mounted orientation on the vehicle.
- Incorrect values can likely cause post-processing alignment errors.
- Click Save after confirming or adjusting the values.
☐ Antenna Lever Arm Offsets (REQUIRED)
- Go to Settings > Geometry > IMU to Antenna Offset.
- Enter the accurate lever arm values (X, Y, Z) in meters.
☐ GNSS Time Fix (REQUIRED)
- Connect the GNSS antenna to RESEPI or EchoONE securely.
- Power the unit outdoors in a GNSS-visible area before flight.
- In the GUI, confirm the INS status shows:
- Current date and time
- Message: “Ready to log”
- Do not begin data capture without this message.
☐ Camera Trigger Configuration (Optional)
- Set the trigger interval for the onboard camera, if used.
- Adjust the trigger period based on planned speed:
- Example: 5 m/s → 5 seconds
- Faster speeds → shorter intervals (e.g., 10 m/s → 2.5 seconds)
- Avoid high trigger rates at slow speeds to prevent blurry or redundant images.
- Confirm trigger settings are applied via the GUI.
☐ Final System Check
- Ensure all cables are secure (power, antenna, USB, trigger, etc.).
- Ensure RESEPI or EchoONE payload is secure on the respective mobile mount.
- Confirm that the LiDAR sensor is unobstructed by props or mounting hardware.
- Recheck USB/SSD/RTK modem status in the GUI.
You’re now ready to begin MMS scanning with RESEPI or EchoONE.
Prefer a printable version? Click the link below to download the checklist as a PDF. Great for offline use or keeping a hard copy in the field.
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]]>The post Mission Step-by-Step appeared first on RESEPI.
]]>SLAM Mission Step-by-Step
This guide walks you through the full process of performing SLAM (Simultaneous Localization and Mapping) scans using a RESEPI payload, including LITE, Ultra LITE, and GEN-II models with 360 degree laser support. It covers setup, initialization, scanning procedure, and data retrieval for both GNSS denied and georeferenced missions.
1. Powering the RESEPI Unit
- Power Connections:
- Use one of the supported input connectors:
- XT60
- Skyport/Other
- Binder connector
- Ethernet (GEN-II only)
- Power specs:
- 9–36 VDC (up to 45 V supported)
- 24–28 W consumption
- Use one of the supported input connectors:
- Insert USB Drive:
- Plug the provided USB into the RESEPI device.
- Not required during recording for GEN-II models.
- Plug the provided USB into the RESEPI device.
- Turn On the Unit:
- Press the power button to boot the device.
2. Connecting to the RESEPI Web Interface
- Connect via Wi-Fi:
- Connect a phone, tablet, or computer to the RESEPI’s Wi-Fi.
- SSID: Listed on the device label
- Password: LidarAndINS
- Connect a phone, tablet, or computer to the RESEPI’s Wi-Fi.
- Access Web Interface:
- Open a browser and go to: 192.168.12.1
- Update Settings:
- Navigate to the Status window to configure the SLAM Settings menu
- This is optional, but recommended for faster post processing workflow
- If not using Outdoor (georeferenced) or Indoor (non-georeferenced) settings, the user can use custom settings in PCMasterPro SLAM window
- Click Save
- Navigate to:
- Settings > Geometry > Vehicle to IMU Rotation
- Set values: Yaw: 0, Pitch: 90, Roll: 0 – for standard configuration
- Click Save
- Settings > Geometry > Vehicle to IMU Rotation
- For GNSS denied scans:
- Go to Status Tab > Record Without GNSS
- Enable “Record Without GNSS”
- Click Save
- For georeferenced scans:
- Go to Status Tab > Record Without GNSS
- Disable “Record Without GNSS”
- Click Save
- Navigate to the Status window to configure the SLAM Settings menu
3. GNSS and Time Fix Requirements
SLAM missions may or may not require GNSS depending on your hardware and whether the data needs to be georeferenced.
RESEPI LITE & Ultra LITE (GNSS Denied Use)
- No GNSS setup is required.
- You may skip the time fix steps and proceed directly to data collection.
RESEPI GEN-II
- Connect the GNSS antenna before starting.
- Begin the procedure outdoors with clear satellite visibility.
- Wait for a valid time fix before scanning:
- In the Web UI, verify the INS status window.
- A successful fix is indicated by:
- The correct current date/time
- Status: “Ready to log”
Once this message appears, scanning (including indoors) can begin.
Georeferenced SLAM (All Models)
- GNSS time fix is required.
- Start and preferably end the mission outdoors in GNSS-friendly conditions (clear sky, minimal obstructions).
- Confirm “Ready to log” status in the Web UI before proceeding, as shown below.
4. Starting a SLAM Scan
- Begin Recording:
- In the Status window, press “Start”
- Alternatively, tap the power button to begin data logging.
- IMU Initialization:
- Keep the RESEPI completely still for 10 seconds to allow IMU alignment.
- Avoid motion during this period.
5. Scanning Procedure
- Motion Guidelines:
- Walk smoothly and avoid jerky movements or prolonged immobility.
- Avoid rotating or swinging the unit wildly.
- System supports speeds up to 30 mph, but slower is ideal.
- Loop Closures:
- Plan your route to return to the starting area, creating a loop closure, as demonstrated below.
- Closing the loop between start and end is most critical for high-accuracy results.
- You may loop around other significant areas, but avoid excessive looping, which may interfere with SLAM relocalization.
- Plan your route to return to the starting area, creating a loop closure, as demonstrated below.
- Elevation Changes:
- Briefly adjust the unit’s angle to follow the terrain, then resume level scanning, as shown below.
6. Ending the SLAM Scan
- Final Static Alignment:
- Hold the unit still for ~5 seconds to help finalize IMU alignment.
- Stop Recording:
- Use the Web UI “Stop” button.
- Or press the Power Button again.
7. Shutting Down the Device
- Standard Shutdown:
- Press “Shutdown” in the Web UI
- Or hold the Power Button for 4 seconds
- Emergency Shutdown:
- Hold the Power Button for 10 seconds
- Note: This may interrupt logging — only use if necessary.
8. Retrieving and Processing SLAM Data
- For GEN-II devices only, navigate to Storage and transfer the dataset from internal to USB storage
- Remove the USB drive
- GEN-II: Ensure transfer to USB is fully completed before removal
- Transfer files to your computer.
- Use PCMasterPro software to post-process and generate point clouds.
Best Practices & Notes
Data Quality Tips
- SLAM performance depends on what the LiDAR “sees.”
- Avoid power button use for starting/stopping recordings to reduce unnecessary motion
- Avoid scanning featureless or reflective areas — structure and texture are helpful.
- In visually complex environments (e.g., pipes, beams, tight spaces):
- Move slowly and steadily.
- Allow the sensor time to collect overlapping keyframes.
XT-32, XT32-M2X LiDAR Users
- In dense metallic or structured areas (e.g., stadiums, framing, HVAC systems, temporary structures):
- Go to LiDAR Service Tab for LITE/Ultra LITE or GEN-II in Web UI and enable Interstitial Points Filtering
- This removes stray points and improves SLAM precision.
- Go to LiDAR Service Tab for LITE/Ultra LITE or GEN-II in Web UI and enable Interstitial Points Filtering
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]]>Pre-Recording Checklist for SLAM Scans
☐ Data Management
- Offload all data and flights from the USB drive, erase all data, and format the USB drive to FAT32 using the GUI.
☐ Firmware Check
- Ensure that the RESEPI or EchoONE is running the latest firmware version. The firmware version can be found in the top right corner of the GUI.
☐ Map Out a Loop-Closure Route
- Identify a path that allows the scan to start and end in the same location, forming a full loop.
- Plan a logical route through the environment for even coverage.
☐ Limit Excessive Looping
- Loop closures should occur at key points but not excessively.
- Avoid looping around every small object or scene feature.
☐ Identify Areas of Concern
- Note regions with inclines, narrow hallways, or large open spaces that may affect SLAM performance.
- Plan brief angle adjustments only if needed for terrain changes.
☐ Ensure LiDAR Visibility
- Confirm that throughout the path, the LiDAR will have clear line-of-sight to structural features.
☐ Secure the RESEPI or EchoONE Unit
- Mount RESEPI or EchoONE firmly to the handheld SLAM kit using the designated bracket.
- Ensure cables are not strained and that LiDAR has clear, unobstructed view of the environment.
☐ Choose Mounting Configuration
- Standard Configuration (LiDAR flat/horizontal): Recommended for most indoor or level scans, shown below (left).
- Angled Configuration (LiDAR tilted): Use only when mapping long-term inclines or declines, shown below (right).
☐ Power Connection
- Connect RESEPI or EchoONE to power via one of the following:
- XT60
- Skyport/Other
- Binder Connector
- Ethernet (GEN-II only)
- Ensure power supply is 9–36VDC (up to 45V max) with 24–28W available.
☐ Insert USB Drive
- Use the provided USB drive formatted as FAT32.
- Confirm that the drive is securely inserted into the USB port for data logging.
☐ Attach GNSS Antenna (if applicable)
- Only applicable to those doing georeferenced SLAM scans.
☐ Power On the Device
- Press the Power Button to turn on RESEPIor EchoONE .
- Wait until the system has fully initialized (watch status LEDs or GUI load).
☐ Connect to RESEPI or EchoONE’s Wi-Fi
- SSID is printed on the unit label.
- Password: LidarAndINS
- Connect using a laptop, phone, or tablet.
☐ Open Web Interface
- Open a browser and go to: 192.168.12.1
☐ Configure SLAM Settings
- Within Status tab configure the SLAM Settings to Indoor or Outdoor
- Not a requirement, as this can be adjusted in post processing
☐ Set IMU Orientation Based on Configuration
- Go to: Settings > Geometry > Vehicle to IMU Rotation
- Click Save
☐ Set “Record Without GNSS”
- For GNSS denied SLAM, enable “Record Without GNSS”
- For georeferenced SLAM, disable “Record Without GNSS”
☐ Enable Interstitial Points Filtering (Optional)
- For scanning in metallic/structured areas (e.g. stadiums, HVAC, temporary structures), go to Settings > LiDAR Service
- Enable “Interstitial Points Filtering” to reduce stray points.
☐ Start in a GNSS-Friendly Area (if applicable)
- If doing georeferenced SLAM, begin the mission outdoors with open sky and minimal obstructions near the GNSS antenna.
☐ Wait for Time Fix (if applicable)
- For GEN-II devices or georeferenced scans, in the Web GUI, check the INS Status window.
- Confirm that:
- Date/time are correct
- Status message reads: “Ready to log”
☐ Confirm Drive has Sufficient Space
- Offload any previous data and format if needed.
- RESEPI or EchoONE will write new scan data to the drive once logging starts.
- Avoid using a drive that is nearly full.
☐ Ensure All Cables are Secure
- Power, antenna, and data cables should be fully seated and strain-relieved.
☐ Stabilize the Unit for IMU Initialization
- Be prepared to hold RESEPI or EchoONE still for ~10 seconds immediately before pressing “Start”.
Prefer a printable version? Click the link below to download the checklist as a PDF. Great for offline use or keeping a hard copy in the field.
The post Pre-Recording Checklist appeared first on RESEPI.
]]>The post Freefly ASTRO – How to mount a GNSS Antenna appeared first on RESEPI.
]]>Tutorials and Supporting Documents
GNSS Antenna Mounting on Freefly Astro
To achieve high-precision positioning for aerial photogrammetry and LiDAR scanning using the Freefly Astro drone, proper GNSS antenna installation is essential. Below are requirements for antenna mounting..
Mounting Steps
Prepare the mounting base: To mount the Maxtena M9HCT-A-SMA, the user will need the special mount (available from Inertial Labs, PN: MSA000315-001) as shown in the Figure 1. For more information or to inquire about purchasing, please contact [email protected].
- Disconnect strap as shown in image below (Figure 2):
Following the instructions in Figure 1, attach the antenna to the adapter plate.
The Adapter plate is screwed into special holes on the drone body as shown in Figure 3.
Figure 4 shows what the antenna looks like when mounted on a drone.
Route the antenna cable to the RESEPI.
Secure all connections.
Measure and record the antenna offset (lever arm) relative to the drone’s IMU and center of mass — this offset is required for RTK post-processing accuracy.
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]]>Streaming a Point Cloud from RESEPI
PCMasterPro (version 1.13 and above) enables RESEPI GEN-II or EchoONE users to stream LiDAR point clouds in real time for immediate visualization and verification during field operations.
To begin streaming the point cloud:
Power on the RESEPI GEN-II or EchoONE unit
Ensure the system is properly powered up before proceeding.Establish a connection
Connect your host device to the RESEPI GEN-II or EchoONE unit using one of the following methods:Wi-Fi: Connect to the RESEPI’s or EchoONE’s broadcasted wireless network.
Ethernet: Connect an Ethernet cable directly between the unit and your host device (You can procure a compatible ethernet cable from [email protected]) .
Launch the PCMasterPro application
Open the PCMasterPro software on your device.Navigate to the Data Streaming section
In the application, go to the Data Streaming tab, then click on Settings to configure the streaming connection.Enter the appropriate IP address
Depending on your connection method, enter the correct IP address:Wi-Fi:
192.168.12.1Ethernet:
192.168.13.1
Start the stream
After verifying the IP address and connection settings, click on the Start Stream button.
You should now see the point cloud begin to stream live on your screen, updating in real time as data is captured by the LiDAR.- Save the streamed point
To save a streaming session, click on Start Recording after streaming has started. After the streaming is completed, you can save the displayed point cloud on your screen in .las format by click Save the streamed point button. You will prompted to choose the location to save the saved point cloud.
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