LiDAR
When recording base data with your RTK base, start logging 15-20 minutes before a LiDAR mission flight on a known point. Ensure the recording continues 15-20 minutes after the mission to have the necessary data for PPK processing the LiDAR data.
Lidar Offsets for LiDAR Payloads
AA450 LiDAR should be X = 0, Y = -0.104 and Z = 0.432 If creating or uploading offset files
RESEPI XT32 should be Right = 0, Forward = -0.104 and Up = 0.457 If creating or uploading offset files
Why is my LiDAR Calibration button not showing up although I have a LiDAR selected as a payload?
The LiDAR calibration button will not show up until the drone is armed and launched. Once it is armed and lauched you will now see the button greyed out on the left side of the fly view screen action bar. You must be at minium 150 feet in the air before the button will become pressable. Once pressed you may now use the slider to begin the calibration.
What should I do If my AA450 LiDAR is constanly beeping after being booted?
This means your license has expired. You may contact Support https://wisprsystems.atlassian.net/servicedesk/customer/portal/3/group/11/create/38 to have a new liscense emailed to you, which will never expire.
Is the hot-swap protocol for LiDAR payloads the same as other operations that involve hot-swapping?
Not entirely. When performing hot-swaps while using any Inertial Labs or RESEPI LiDAR payload (such as the Avia Livox or RESEPI Hesai XT32), the time from when the LiDAR begins recording data to the time the LiDAR stops recording data, we suggest you should not exceed 50 minutes total time.
When surveying with LiDAR, what coordinate datum should you use when using a PPK base?
When surveying with LiDAR, WGS84 must be used on the PPK base. After you are done processing the LiDAR data it can be converted to NAD83 or any other state plane for review.
What speed will the drone RTL at after completing a LiDAR mission?
If a LiDAR payload is selected in WISPR Ground Control, once the mission is complete the drone will RTL at a set speed of 10m/s, which is the default RTL speed for a LiDAR mission.
How do I post process data with Inertial Labs LiDAR?
The monument coordinates, provided by a surveyor, includes the offset of the pole or pole/quick release. This is so they can provide the coordinates of the point (scribed X, survey nail or monument). PCMaster requires the ellipsoidal height at the base antenna phase center. The distance between the bottom of the base and the units phase center is unique per model and is most of the time published on the unit or in the technical documents. The total offset between the phase center of the antenna and the monument will need to be added to the ellipsoidal height in PCMaster when prompted to modify or accept the latitude, longitude and ellipsoidal height.
LiDAR Processing Software Installation
Install the processing software for post-processing the LiDAR data you've collected. Follow these steps:
Ensure that your computer meets the following requirements:
Intel Core i7, Ryzen 7, or better.
32 GB RAM.
Nvidia GeForce GTX 1050 Ti or better (minimum 4GB of Digital RAM).
Windows OS.
Download and install the required processing software to post process data.
Inertial Labs has updated the workflow of the programs PCMaster and PCPainter. Please refer to the provided link to download the new versions of PCMaster and PCPainter.
The download links are accessible at the following location:https://wisprsystems.atlassian.net/wiki/spaces/CS/pages/79265793/Downloads#PCMaster-and-PCPainter
2. Data Processing Walkthrough:
PCMaster Walkthrough:
PCPainter Walkthrough:
Where can the RESEPI User Manual be found?
For detailed information on proper RESEPI procedures, please visit the link below. This will allow you access to the RESEPI User Manual, which offers comprehensive guidance and instructions.
If the RESEPI XT32 is not showing a green button on the GNSS on the side of the LiDAR unit, what should I do?
Connect to the RESEPI Access Point and navigate to the GUI through 192.168.12.1
Scroll until you see Record Without GNSS”
On the dropdown switch this to off as seen below and your GNSS button should now be green.
On the USB thumb drive provided by RESEPI, there exists a folder specifically named boresight folder. Is it necessary to retain this folder on the USB thumb drive?
Yes. The boresight folder contains crucial calibration information and the corresponding data that is utilized. It is very important this folder remains intact, as it serves as the sole backup for the distinct unit's settings embedded within the firmware. Refrain from making any alterations to the files contained within this folder.
Please note that Windows 11 should not be used when processing LiDAR data. Windows 11 can skew the time of the data as well as the data itself. Avoid using this when you process your data. Windows 10 is suggested.
How do you use a geoid rather than WGS-84 Ellipsoid?
To use a geoid rather than WGS-84 Ellipsoid, you must select the geoid prior to opening the ppk.pcmp file generated after a data capture. It must be selected before any processing of the data. Follow these steps below:
Open a new PCMasterGL window, not by double clicking on the ppk.pcmp file.
Select the desired geoid model under the “Geoids” menu item.
Select the “Open Project” menu item and navigate to the ppk.pcmp file that is auto-generated after a data-capture.
Select the ppk.pcmp file and it will now process the data with the geoid model.
To add a geoid that is not available on the list, follow the steps below:
Close any open windows of PCMasterGL.
Go to to find and download the geoid corresponding to the correct location of the data capture in .bmp and .wpg format.
Navigate to the file location where PCMasterGL is downloaded on the PC. Open the Geoids folder located at PCMasterGL/resources/Geoids
Once the geoid is downloaded, there will be a .bmp and .wpg file. Place both files in the Geoids folder opened in step 2.
Open a new PCMasterGL window, and the new geoid should be in the list.
Where should I download geoids from?
This link to the Geoid via the Novatel list should be used to download your geoid:
Where is RTK data from pictures taken stored?
The RTK data from pictures taken during a mission are stored on the txt file. The data is not stored on the actual pictures themselves.
What is the difference in the RESEPI PCMaster and the RESEPI PCMasterPro? Which should I use?
PCMasterProGL combines PCMasterGL, PCPainterGL, and Batch Processor. The software has been thoroughly tested by the Inertial Labs Development and Product Release Team but is still formally being distributed as a beta release due to the size and complexity of the release. If a feature is not functioning properly, please let us know.
Please note that as of now, PCMasterGL, PCPainterGL, and Batch Processor will no longer be supported for further updates as future updates will be contained within the merged software release in PCMasterProGL.
If you have an active PCMaster or PCPainter license within your local license manager, then PCMasterPro will utilize the same key. No changes are required in the windows system.
To view the Quick Start Video Please Visit