Flying with SmartAP GCS

World Pane overview

The main pane of the application is called World Pane. Here you can see all general information about the vehicle, switch vehicles, change modes, plan mission and etc. Here is the brief overview of the information, user interface and control buttons:


Toolbar contains the info about the vehicle status:


Getting the video feed

SmartAP GCS allows to see the real-time video feed right in the application. Click on the Gear icon in the bottom-left corner and select the video source you would like to use. You can change resolution and apply image rotation if needed.


If you can't see your video source in the list of available devices, make sure to connect the video source to your computer before starting SmartAP GCS application.


You can also enable full-screen video mode by clicking on the small video window. Map and video widgets will be swaped.


Autonomous Flights

Waypoints flight

Autonomous mission flights are based on waypoints navigation. To create a new mission or choose from the already existing ones simply click PLANNING button and then click MISSIONS button.


  • To create a new mission type mission name and click CREATE
  • To choose the already existing mission click on it

We want to demonstrate creating new mission so we click CREATE now.


Now you can see mission settings menu and Home point icon placed in the center of the map automatically. You can drag home point wherever you want.


Home point will be overwritten by the initial vehicle location upon the system armed.

To insert new waypoint you just need to double-click on the map.


Mission menu will be automatically switched to Waypoint tab. Individual waypoint settings can be adjusted there.

  • Altitude: Altitude in meters above takeoff point (home altitude)
  • Delay: Amount of seconds to hover after reaching the waypoint
  • Speed: Speed of flying to the next waypoint
  • Heading: Heading angle in degrees to hold when flying to the next waypoint

When no waypoints selected - those settings are related to default values for new waypoints.

New waypoints can be added by double-clicking on the map:


Of course, waypoints can be:

  • Adjusted, by dragging them
  • Deleted, by double-clicking on them
  • Inserted in-between by double-clickin on path

Waypoint parameters can be adjusted anytime after selecting the desired waypoint to be changed.

The system supports the following waypoint types (Commands) which can be changed by clicking on Command cell for a specific waypoint:

  • Waypoint: regular point to fly through in air
  • Take off: start autonomous take off
  • Landing: perform landing over the point


The system allows creating various mission scenarios – including autonomous take off and / or landing point types or having only waypoints type in the list:

  • In the first case the vehicle should be airborne before activating autonomous mode. After AUTO mode was activated the vehicle will start flying to the first waypoint. If the system is not airborne then the vehicle will not allow switching to the autonomous flight mode.
  • In the second case the vehicle should be on the ground before activating autonomous mode. After AUTO mode was activated the vehicle will start autonomous take off and then continue flying to the next waypoint. If the vehicle is airborne before starting AUTO it will skip the Take off waypoint.

After the mission was created it can be saved and / or uploaded to the vehicle.

If you click UPLOAD then you can notice the status of sending the mission in the right-bottom corner of the application:


Finally, you will see Waypoints Received message.

Before the flight you need to ARM the system. The system can be armed using the RC transmitter stick or by clicking the ARM / DISARM button in the GCS.


`ARM` command should be confirmed to make sure it wasn't clicked accidentally.


Home position (including altitude) is set on every ARM event. Make sure to ARM the system after it got the stable GNSS satellites signal. Saving the valid home position and altitude is important for calculating the waypoints altitude.

After you armed the system you can notice the Home icon might moved on the map. This position will be used for RTH (Return to Home) mode and its altitude will be used as an altitude reference for the waypoints. If you want to change the home position manually you can simply drag & drop it.


If you don’t have Take off type of the waypoint in your list – you’ll need to take off manually or press TAKE OFF button on the right. After the vehicle is airborne you can press FLY button or switch to AUTO mode using your RC transmitter. The vehicle will start flying to the first waypoint.


Flight progress can be seen in real-time with the indication of the vehicle path. After the last waypoint reached the vehicle will enter hovering mode and maintain the altitude and position of the last point or perform landing if it was planned to do so.

Guided flight

Guided flight mode which is also know as "Fly here" mode allows setting and moving the desired position of the vehicle interactively in real-time. This mode is available only if the vehicle is already flying in the air. To activate the guided flight mode simply click PLANNING button and then GUIDED button.


Once you clicked on the map the vehicle will start flying to that point and you will see the cross on the map indicating the target position of the vehicle. Image

The altitude and speed for the guided point can be set in the Flyhere settings menu on the top-right: Image

If you want to change the position of the vehicle you can simply drag&drop the cross on the map or right-click on the map and click Fly Here. Repositioning can be done anytime.

Once the vehicle achieved the target position it starts hoveing at the point awaiting for the other point or flight mode change.