Mission Planning Process

The mission planning process entails a series of steps to effectively prepare for a mission. By following this guide, users can navigate through each action, from initiating the mission planner and establishing device connections to configuring survey parameters and saving the mission.

Subsonus Prerequisites

If using Hydrus with Subsonus, it is important to review the prerequisites provided to establish the necessary context. Understanding the prerequisites beforehand ensures a comprehensive understanding of the mission planning process and allows for smoother execution of the steps outlined in the accompanying table. These assumptions outline the initial conditions for planning a mission on a boat using Hydrus with Subsonus and GNSS Compass (as provided in Hydrus Subsonus Surface Kit) and setup as per Subsonus Surface Installation Checklist.

Prerequisite	Notes
Subsonus is installed on the boat and is submerged in the water	The Subsonus device, which is part of the mission planning process, is installed as per Subsonus Surface Installation Checklist
GNSS Compass is installed on the boat	Optional: GNSS Compass is installed on the boat as per Advanced Navigation GNSS Compass
Subsonus and GNSS Compass are connected to a Wi-Fi router or network	There is a DHCP enabled router or network available on the boat including a Wi-Fi access point.
The Hydrus, GNSS Compass, and the Subsonus are connected to the same network	All the devices involved in the mission planning process, including Hydrus, GNSS Compass, and Subsonus, are connected to the same network.
The offsets have been entered from the Surface Subsonus to the GNSS Compass	Offset Measurement values between the Surface Subsonus and the GNSS Compass have been entered into the system for accurate positioning.

Mission Planning Procedure

Step	Actions	Notes
Create New Mission
1.	Optionally update the Advanced Mission Settings.
2.	Navigate to the Main Page and click Plan Mission	See Mission Management
3.	Click the Create New button on the Mission planner - Welcome dialog
Set Global Mission Parameters
4.	Click Mission at the top of the left hand panel
5.	Select the desired Mission Mode	See Mission Modes
6.	Set Pause Vertical	See Global Mission Parameters
7.	Set the desired parameters for Travel between mission tasks
8.	Set the global Default Capture Parameters and Media Overlay Parameters for the mission
For Subsonus Assisted Mission Mode - Connect Hydrus to Subsonus
9.	Click the Open Device Configuration dialog button	Located next to the Menu drop-down
10.	Type in the IP address and port number of Subsonus inside the IPv4 Address space in the format (IP Address):(Port), and click connect.	To locate the IP address of Subsonus, access the Subsonus web UI and Navigate to Configuration > Ethernet. The port number is [16718]
11.	Click in the view space of the map, double tap the space bar to zoom in on the map and confirm the Subsonus is present as indicated by seeing the 3D model of Subsonus.
Add Mapping Layers (Optional)
12.	Add one or several mapping layers to your mission to help plan the mission.	See Mapping Enhancements for further reference
Add a Mission Task
13.	Click the Add New Task button in the Mission Planner
14.	Select a mission task type Lawnmower / Transect Survey / Station Keeping
15.	Click on the map to create a new region, point or path where the survey is to be conducted	Ensure the map zoom level is set so the location of the survey can be identified
16.	Orientate, move or resize the survey polygon	See Mission Map Pane for further reference
17.	Select mission task you created from the left hand panel. Give the mission task a name and set the required parameters specific to the mission task.	See Mission Task Parameters and Mission Task Profile Examples for further reference
18.	Set the Capture Parameters for the mission task. These settings are specific to the mission task and will override the global mission level capture parameters.	See Capture Parameters for further reference
Set Recovery Location
19.	Click on Recovery Location from the left hand panel	See Recovery Location
20.	Select Home Point Type If Relative to Subsonus is selected, set: When Reaching Recovery Location command Bearing Distance Vertical Mode Vertical If Geodetic location is selected set: Latitude Longitude	Recovery location - either Relative to Subsonus or a Geodetic location. Bearing - bearing of the recovery location in degrees. The default bearing is set to 90 degrees. Vertical - Distance, in metres, along the Bearing previously entered.
Save Mission
21.	Click Menu from the left hand panel and click Save Mission As
22.	Name the mission and click Save	Note: Spaces are not allowed in the mission name.

Note: The next steps for Hydrus to be deployed can be found in Hydrus Pre-deployment