VisNav Mission Planner

Produkt strony: VisNav_USB_FlashPackage.zip (mapa ESP + mapa Jetson + mission JSON + klucz 512 B). GO i tory zostają na ziemi. Spec paczki i API

Planner API: checking…

1. Launch window

Launch time (UTC) Operator laptop time, written into winds_esp32.bin as t0. Jetson has no Wi-Fi in flight and must not replace this clock.

Duration (h)

Cruise altitude (m) Constant-level float used for planning. ESP still interpolates the pressure cube from baro in flight.

Altitude error ± (m) Re-integrates the GFS track at alt−Δ and alt+Δ so you can see a missed cut if density altitude is wrong.

Wake lead (km / min) Jetson is powered when the balloon is still this far / this long before the closest approach, so VisNav has time to acquire. Box = ensemble positions at that instant + 3σ + FOV pad. Timeout is a backup if the box is missed.

Wake timeout cap (h) Hard safety ceiling for battery protection. Simulation sets the actual wake timeout earlier (cut time + 2h); this cap guarantees Jetson wake on abnormal delays while capping maximum battery drain.

Ascent rate (m/s) Tropospheric vertical ascent velocity from surface to cruise altitude (e.g. 5.0 m/s = 300 m/min). Set to 0 for instantaneous cruise float. Crucial for realistic ground launch coordinate solution.

2. Launch and cut

Solve launch from primary cut Reverse-integrates control winds from the primary cut for the forecast duration, then flies control + ensemble forward from that start. Launch lat/lon become read-only. Wind domain must cover the reverse track; a start outside the cube is edge-clamped wind, not a real pad.

Launch lat

Launch lon

Cut targets — first is primary (reverse + labels). Jetson fires the cutter on the first radius entered (OR).

3. Wind domain

North

South

West

East

GEFS members NOAA GEFS is 1 control + 30 perturbed members at 0.5° (same product as the MATLAB/Herbie script, atmos.5). Open-Meteo gfs025 pressure levels are empty; we use gfs05. All 31 series arrive in one JSON per grid point, so 30 members are not 30× HTTP. Download is slow on purpose. Interrupted runs resume from disk cache.

Grid (deg) Native GEFS 0.5° is the useful maximum (finer only interpolates the same field). 1° is enough for a first pass. A huge domain with few max-points silently coarsens — shrink the box to the corridor after simulate, then re-fetch at 0.5°.

Max grid points Open-Meteo cap. If domain × grid exceeds this, step coarsens 1° → 2° → 2.5° (never 4°). 80 fits a Poland 1° box. A Black-Sea→Kazakhstan corridor needs ~120–200 at 1°, or shrink the dashed cube to the blue track then re-fetch. Native GEFS is 0.5°. Mission partition budget ~2 MiB, not the 16 MB chip.

Cube packed to ESP Control (default): GEFS unperturbed member — closest to a deterministic GFS guess, physically consistent. Mean: average of U,V over 30 members — lower RMSE of the endpoint after ~36 h, but a wind that no real atmosphere has (smoothed jets). Do not use the mean for cutter timing if members split around a trough.

4. Jetson wake box & timeout

Wake north

Wake south

Wake west

Wake east

Auto timeout from simulation (recommended) When enabled, the timeout programmed into ESP32 and mission_config.json is calculated from flight kinematics (cut arrival time + 2h margin, capped by safety limit). Uncheck to override manually.

Effective wake timeout (h)

Control miss to cut
Ensemble inside radius
Median / P90 miss
Closest approach
Suggested wake / timeout
Wake 2D 3σ axes / azimuth
Alt −Δ / +Δ miss
Launch used
Reverse / solved start

Control

GEFS members

Altitude ±Δ

Wind cube

Wake 2D Ellipse (3σ)

Jetson wake box