Pusula Ground Control Interface (GCS) is a custom-built software that enables real-time communication with our unmanned surface vehicle (USV). Through telemetry, it allows us to both send commands and receive live data from the Pixhawk Cube Orange Plus flight controller. The interface displays real-time system information and vehicle status, including location, orientation, and sensor data. With integrated mapping functionality, users can monitor the vehicle’s live position and visualize assigned waypoints on the map, ensuring better mission awareness and control.
- Real-time Telemetry - Monitor vehicle status, GPS, battery, and sensor data
- Mission Planning - Create and manage waypoint-based missions
- Command Interface - Direct control and command input
- Map Integration - Real-time vehicle tracking on interactive maps
- Data Logging - Record and analyze mission data
- Multi-vehicle Support - Control multiple USVs from a single interface
Figure 1: Pusula GCS Dashboard Interface
Figure 2: Waypoint Management Interface
Figure 3: Mission Planning with Multiple Waypoints
- 🎛️ Real-time USV monitoring - ARM status, flight mode, GPS, battery, failsafes
- 🗺️ Interactive map with vehicle position and waypoint management
- 🎯 Button-based control interface - Direct command execution via intuitive buttons
- 🎨 Color detection display - Shows "Renk Bekleniyor" for İHA color detection
- 📊 System status panels with telemetry data
- 🚀 Mission control - Start/stop algorithms, mode switching
- ✅ Button-to-command mapping - Dashboard buttons mapped to YKI macros via yki_server.py
- 🔄 Status polling - Regular telemetry updates from YKI backend
- 📡 Serial communication - Direct interface with Pixhawk via YKI
- 🛡️ Error handling - Graceful handling of connection issues
- 🎯 Streamlined UX - Terminal interface removed per Teknofest Aselsan jury feedback
The dashboard provides intuitive button-based controls that communicate with the backend yki_server.py to execute commands. This streamlined interface was implemented following Teknofest Aselsan jury feedback for improved user experience.
Available Controls:
- ARM/DISARM buttons - Vehicle arming controls with safety confirmation
- Mode selection - Manual/Guided mode switching via dropdown
- Mission controls - Algorithm start/stop buttons
- Navigation controls - Waypoint-based navigation through map interface
Backend Commands (executed via yki_server.py):
Basic Commands:
STATUS- Get telemetry dataARM/ARM MANUAL- Arm the vehicle safelyDISARM- Disarm the vehicleMODE MANUAL- Switch to manual modeMODE GUIDED- Switch to guided mode
Algorithm Commands:
ALGO BASLA- Start algorithm/missionALGO DUR- Stop algorithm/missionALGO HAREKETLEN- Algorithm movement command
Navigation Commands:
GOTO lat lon alt- Navigate to coordinatesRC TEST- Test RC channelsMOTOR_TEST- Test motors
- Click on map to add waypoints
- Use "Gönder" button to upload waypoints to YKI
- Waypoints are converted to
GOTOcommands automatically
The "Renk Bekleniyor" section is preserved for future İHA color detection integration. When implemented, it will display:
- Detected color (Kırmızı/Yeşil/Siyah)
- Color code
- Real-time updates
This integration supports the İnsansız Deniz Aracı (USV) competition requirements:
- ✅ YKI (Ground Control Station) - Web-based dashboard with button controls
- ✅ Control Interface - Intuitive button-based command execution
- ✅ Telemetry Display - Real-time status monitoring
- ✅ Mission Control - Algorithm start/stop functionality
- ✅ Navigation - Waypoint management and GPS display
- ✅ Safety Features - ARM/DISARM controls and failsafe monitoring
- ✅ Color Detection Ready - UI prepared for İHA integration
- ✅ Jury Compliance - Interface optimized per Teknofest Aselsan feedback
This project integrates with the existing YKI system and maintains compatibility with the original architecture while providing a modern web interface for USV control and monitoring.