Tersus Captain Software
Tersus Captain is the mission planning and control software for TheDuck™ USV. It runs on the TC80 controller and provides real-time navigation, autonomous mission execution, sonar monitoring, and data review.
Main Interface
The main interface displays:
| Element | Description |
|---|---|
| Map View | Real-time map with USV position and survey track |
| Status Bar | GNSS fix, battery, depth, speed, and link status |
| Mission Panel | Active waypoints and mission progress |
| Sonar Indicator | Current depth reading from the ES200 |
| Mode Indicator | Current USV operating mode |
Mission Planning
Manual Waypoint Planning
- Tap the Mission button to open the mission planner.
- Tap "Add Waypoint" and then tap on the map to place each waypoint.
- Configure waypoint properties (speed, depth record trigger) as required.
- Tap "Save Mission" when all waypoints are placed.
- Review the planned track for obstacles or restricted areas.
Area Coverage Planning
Area coverage planning automatically generates a lawnmower survey pattern within a defined polygon:
- Tap Mission → Area Coverage.
- Tap on the map to define the survey polygon vertices. Tap the first point again to close the polygon.
- Configure survey parameters:
| Parameter | Description |
|---|---|
| Line Spacing | Distance between parallel survey lines (metres) |
| Heading | Orientation of survey lines (degrees) |
| Speed | Survey speed (m/s) |
| Start Corner | Which corner of the polygon to begin from |
| Overlap | Percentage overlap between adjacent lines |
- Tap "Generate". The app calculates the survey lines and displays the planned track.
- Tap "Save" to accept the plan.
Other Functions
| Function | Description |
|---|---|
| Polygon Fence | Define a geofenced boundary; USV will not cross the fence |
| Circular Fence | Define a circular exclusion zone |
| Breach Return Point | Set a safe point the USV returns to if the fence is breached |
| Advanced Settings | Configure mission parameters: RTH altitude, loiter radius, mission end action |
Start Mission
- Confirm the USV is armed and in Remote (Manual) mode.
- Tap "Upload Mission" to send the waypoints to the USV.
- Switch the H20 3-Stage Switch (Right) from Down (Remote) to Middle (Auto) mode.
- Tap "Start Mission" in Tersus Captain. The USV will navigate autonomously along the planned track.
Mission Operation
During the mission:
- The active waypoint is highlighted on the map
- The survey track is drawn in real time
- Depth data is recorded continuously to the SD card
- Battery level and link quality are shown in the status bar
- The Stop button immediately halts the mission and holds position
Switch the USV Working Mode
| Mode | Switch Position | Description |
|---|---|---|
| Remote (Manual) | Down | Full manual control via joysticks |
| Hold | Middle | USV holds current position |
| Fast Return | Up | USV returns directly to launch point |
| Auto (Mission) | Middle + app command | USV executes the uploaded mission |
Always switch to Remote mode and confirm manual control before operating near obstacles or in confined waterways.
Settings
General Settings
Configure display units, language, map source, and logging preferences.
Link Settings
Configure the communication link between the TC80 and USV:
- Tap Settings → Link Settings.
- Tap "Create New Link".
- Select link type (USB Serial or Wi-Fi) and configure port/baud rate.
- Tap "Connect" and verify the link indicator turns green.
Safety Settings
| Setting | Description |
|---|---|
| Low Battery Return | Battery percentage at which the USV automatically returns to launch |
| Link Loss Action | What the USV does when the control link is lost (Hold / Return) |
| Max Speed | Maximum allowed speed during autonomous missions |
| Geofence Action | Action taken when the USV approaches the fence boundary (Warn / Return / Hold) |
Track Color Settings
Configure the color scale used to display depth data on the survey track in the map view. Choose from preset color schemes or define custom depth ranges.
Version
View the current firmware version for the USV, remote control, and Tersus Captain software.
Hydrographic Cross-Section Mode
The Hydrographic Cross-Section Mode is used for acquiring depth profiles along a defined transect line:
- Tap Mission → Cross-Section.
- Tap on the map to set the start point of the transect, then tap to set the end point.
- Tap "Start Collection". The USV will navigate along the transect and record depth data.
- Tap "Finish Collection" when the transect is complete.
- The recorded data can be played back and exported from the Data Review screen.
Camera
TheDuck™ includes a 1080P HD camera with 120° FOV and 30 m night vision.
In Tersus Captain:
- Tap the Camera icon to open the live camera view.
- The camera window can be resized, hidden, or expanded to full screen.
- The camera feed is useful for situational awareness during manual operation in low-visibility conditions.