• Fixed a bug which in some cases caused UgCS to not launch after updating to 5.5.0.
• Circlegrammetry tool has been hidden for platforms which don't support required actions. Supported platforms are: DJI M350, M300, M30 Series, Mavic 3 Enterprise series, Ardupilot, PX4.

• New flight planning tool for oblique image capture - Circlegrammetry tool. Available for all licenses.

• Ability to show / hide automatically generated waypoints. By default they are now hidden. Press Ctrl+P to show/hide additional waypoints.

• Support for video preview from Herelink controller through RTSP in Video transmitter.

• For Ardupilot and PX4 vehicles tilt rotation direction of "Set camera attitude" action has been inverted. Positive value now means rotate down, negative - rotate up.
• User data is now automatically removed when uninstalling UgCS, prompt is displayed during uninstall process.

• For Photogrammetry, Area scan and LiDAR area fixed the bug that sometimes caused the algorithms to place waypoints too close to each other.
• Fixed an issue where routes would be processed successfully even if distance between waypoints was less than the minimum allowed distance defined in the vehicle profile.
• Fixed an issue where sometimes Enter/Esc keys didn't work in the route creation wizard.
• Fixed a bug causing default horizontal speed defined in the vehicle profile to be ignored during importing routes from kml files.
• Fixed the bug causing shortcuts to be ignored when input language was not set to English.
• Fixed the bug causing UgCS to ask user credentials unexpectedly.
• Overall stability improvements.

• Fixed a bug causing UgCS activation to fail.

• Fixed a bug causing UgCS to resolve wrong AMSL and AGL altitudes for a specific drone when switching from DJI Pilot or UgCS Companion to UgCS for DJI app.
• Fixed a bug which caused TTF route calculation to fail in some cases over mountainous terrain.
• Fixed an issue where UgCS activation could fail on certain devices.
• Fixed an issue where on Windows, dialogs for selecting a file or directory were opened in non-modal mode.

• When hovering the cursor over the elevation profile, the corresponding section of the route is now highlighted.

• Multiple routes of the same type (KML, CSV or JSON) can now be imported together instead of separately.

• Map Layers window will no longer automatically close when interacting with the map.
• Turn type icons are no longer shown on the route displayed on the map on mouseover.
• Discontinued support for UgCS iOS app.

• Resolved an issue where UgCS would not start in case of a corrupt configuration file.
• Overall stability improvements.

• Daylight theme. Users can now switch between Dark and Light themes using the sun/crescent icon in the top bar.

• Rangefinder altitude mode can now be used on the first waypoint of a route.
• An additional waypoint is no longer automatically added at the beginning of a route in cases when resuming a Rangefinder route.

• DJI Zenmuse H20N sensor size parameter has been fixed in the payload profile.
• Fixed an bug where sometimes the path drawn between two vertical Adaptive bank segments would be displayed incorrectly.

• Support for Autel Evo MAX 4T / 4N. Autel Evo MAX 4T and 4N owners can now plane routes for these drones in UgCS, export them into a .kmz file (in DJI format), and then import it into Autel Explorer.
• Support for DJI Zenmuse H30, H30T payloads.
• The ability to add/move/delete placemarks on the map. Right click anywhere on the map to add a placemark.

• Tower scanning functionality. Circle tool can now be used to create multiple circles at a desired distance from each other in upward or downward facing direction.

• Added a tooltip window with the most important UgCS keyboard shortcuts.

• 'P' key can now be used to show/hide the Elevation Profile window.
• Camera attitude (Tilt 90 degrees) is now added by default in Photogrammetry, Corridor and LiDAR Area and LiDAR Corridor tools. It no longer has to be added manually.

• Removed Takeoff tool. Takeoff segments in routes will automatically be replaced with waypoints.

• Fixed the bug causing UI elements to disappear unexpectedly on macOS in some cases.
• Fixed the bug causing ardu-vsm to crash on Linux.
• Improvements in overall application stability.

• For Ardupilot, if the first/resume waypoint is rangefinder, manual takeoff is now required.
• NFZ/Obstacle avoidance are now disabled for TTF segments.
• For all DJI M300 and M350 vehicle profiles this update sets 'safe distance over terrain' to 5 meters if the current value is less than 5 meters.

• Fixed the bug causing wrong resume point altitude for TTF missions.

• Fixed an issue causing installation to fail in certain cases.

• Fixed a bug causing “No rangefinder is healthy” warning to be dispayed during a TTF route upload to SkyHub.
• Fixed a bug which caused route import from .kml files to fail.
• Fixed an issue where route (or mission) export to .json files would fail in certain cases.
• Fixed an issue causing installation to fail in certain cases.

• Administrator rights are no longer required to run UgCS on Windows. UgCS can now be run on a local user account on Windows. Administrator rights are only required for installation / update. Moreover, once installed, UgCS can be run from any user account on a given computer. Data (missions, map layers, etc.) is shared across all accounts on a device.
• Map layer import progress is now also displayed in the top bar.

• ‘Send Feedback’ button is now hidden by default.

• For Ardu and PX4 drones fixed the bug causing 'Takeoff' command to fail in certain cases.
• Improvements in overall application stability.

• Fixed a bug where UgCS server cannot be activated remotely.

• New user interface.

• Route segment editing window now has three separate tabs - Basic parameters, Advanced parameters and Actions.

• New combined telemetry and commands window.
• Updated Route parameters window.

• File import/export now uses standard operating system dialog window.
• Keyboard shortcuts for quick UI scaling (Ctrl+ / Ctrl-).
• New Open Mission window, allowing to preview number of routes within each and creation time.

• Map Layers window can now be opened directly from the top bar.
• Route Elevation profile window can now be opened from the top bar.
• Simplified route planning toolbar with less commonly used tools hidden at the bottom.
• Switching between Editing and Telemetry viewer modes can now be done from the to bar.
• Undo and Redo buttons moved from top bar to top-left menu (still available using Ctrl+Z and Ctrl+Y keyboard shortcuts).
• Route parameters window is not displayed during route creation (but can still be accessed through route context menu).

• Support for external GPS Receivers to get operator location for remote ID.

• Fixed a bug causing the warning "Remote ID controller has been detected..." to duplicate sometimes.

• For LiDAR Pattern tool the arrow widget was moved upward to make it easier for users to rotate the segment.

• Fixed a bug causing px4-vsm service to crash when connecting a drone to UgCS via USB cable.
• Fixed a bug where the Vehicle Log would show messages with around 5 second delay.
• Fixed a bug where IMU calibration parts of the route were not highlighted.
• Fixed a bug which (in rare cases) caused the drone to get a wrong heading on the segment after an IMU calibration line.

• Added Remote ID support for Ardu and PX4 vehicles.

• In LiDAR Area and LiDAR Corridor segments 'IMU calibration' option is now is disabled by default. It should be enabled when flying with DJI L1 or L2 sensors.

• Fixed a bug which caused an error when saving the mission while connected to UgCS server via VPN.

• Added support for UgCS Companion app (previously called SkyApp) for DJI M350.

• Fixed a bug which caused UgCS installation to fail if user data from previous installation was not removed.
• Fixed a bug which caused UgCS Enterprise video components installation to fail.

• Fixed a bug which in some cases caused an incorrect flight altitude when using M350 connected to UgCS through SkyApp application.

• Ability to connect multiple drones through DJI Pilot 2 to UgCS. Requires UgCS Enterprise or Commander license.
• For Ardupilot (v.4.0 or newer) drones added ability to set 'Continue' failsafe action in the event of RC loss.

• Fixed an issue where in some cases incorrect drone heading was set in Vertical Scan segments.

Support for new DJI L2 LiDAR

• DJI L2 profile now available for flight planning for M300 and M350.

Drone and payload profile import / export

• Any drone and payload profile can now be exported to a separate file.
• Drones and payloads with no profile in UgCS by default can easily be imported.
• The selection of ready-made drone and payload profiles for is published in UgCS User Manual »»»

Support for Phase One P3 iXM cameras

• Phase One P3 iXM camera support has been added via payload profile import/export feature mentioned above.
• On DJI M300 and M350 Phase One iXM cameras can only be used via direct Pilot 2 connection to UgCS.
• Camera profiles for import are available on UgCS User Manual »»»

SkyApp Android app support for DJI M350

• To provide true-terrain following functionality from SkyHub for DJI M350, a new Android app SkyApp is introduced.
• SkyApp is required to be used with M350 when using SkyHub device.
• SkyApp is not backwards compatible with UgCS versions older than 4.19.
• The app will be released within a few days after UgCS 4.19 release.

‍

• For DJI M350, M30, Mavic 3E battery warnings shown in UgCS now correspond to thresholds in flight controller (instead of vehicle profile).
• Unused parameters has been removed from respective DJI vehicle profiles.
• For DJI M300 and M350 the expected flight trajectory displayed in corners is now more accurate.

• For Non-DJI cameras UgCS now provides correct camera type to DJI Pilot 2.
• Maximum horizontal speed for DJI M350.

• Camera profiles for DJI Mavic 3 series has been fixed. Previous profiles caused photogrammetry tools to resolve wrong overlaps.
• UgCS routes were not displayed in the latest (7.1.0.24, 7.1.0.32) versions of DJI Pilot 2.

LiDAR tools for Ardu and PX4 vehicles

• LiDAR flight planning using FOV angle is now possible for Ardupilot and PX4 vehicles
• LiDAR Area, LiDAR Corridor and Pattern tools have been unlocked for these drones
• Current support of LiDAR tools for Ardu and PX4 is experimental. Adjustable corner radius and loop turns are not available.
• For smoother cornering on Ardupilot users should use Spline turn type and "Waypoint acceptance radius" parameter within drone profile can be increased (e.g. from 2 to 5 m).

Point-of-interest (POI) for M350, M300, M30, M3E

• POI action is now available for drones using direct Pilot 2 connection (or route export to Pilot 2)
• POI action is now available in all route planning tools for these drones
• POI action is automatically added in Circle tool when planning routes for these drones

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• Outdated vehicle and payload profiles have been removed.
• Support for Mikrokopter and Micropilot has been discontinued.
• For DJI drones wait action is now limited to 25.5 seconds according to DJI recommendations. Previously it was possible to use a larger value but in fact DJI drones continued the mission after 22.5 seconds of waiting.
• DJI M30T and M3T camera profiles has been updated.
• Improvements in Korean translation.
• Added a redesigned "Start Trial" / "License activation" window.

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• In the route properties it was not possible to select some failsafe actions.
• Fixed a bug causing the application to freeze in some rare cases.
• Application icon not displaying in the application list.
• Fixed an issue where UgCS added extra waypoints between waypoints with altitude mode Rangefinder.
• Improvements in overall application stability.

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Support for DJI M350

• DJI M350 profile is now available for route planning.
• Added ability to export routes to DJI Pilot 2 (.KMZ).
• DJI M350 can now be directly connected to UgCS from DJI Pilot 2.

New terrain following mode - Smart AGL

• 'Smart AGL' altitude mode allows the drone keep a constant distance to nearest surface on the flight line (instead of vertical distance to the ground like in regular AGL mode), making flights over steep terrain safer.
• 'Smart AGL' is set as the default option under 'Altitude mode' parameter in all flight planning tools.
• 'Smart AGL' also changes the behaviour of flight path in survey side movement segments and overshoots - terrain following is now utilized in these parts of the route as well.

Adjustable corner radius

• A new 'Corner radius' parameter has been added to the route parameters. Default value is set to 20.
• 'Corner radius' parameter has been added to Waypoint segments and can now be adjusted individually per each waypoint.
• 'Adaptive Bank Turn' segments now visually display the flight path, taking into account corner radius.

• Camera shots are now paused during automatic LiDAR IMU calibration segments in LiDAR Area and LiDAR Corridor.
• Maximum speed in DJI drone profiles has been decreased from 17 to 15 m/s.

• Routes for M300 now resume at correct altitude in DJI Pilot 2.
• DJI Pilot 2 now correctly displays remaining time for routes made in UgCS.
• PX4 VSM no longer crashes when multiple PX4 drones are connected and one of them is reset.
• KML files imported in UgCS as 2D Objects now display correctly when located above ground.
• Copied vehicle profiles can now be deleted.
• Improvements of overall application stability.

• Optimised 3D client performance.

• Automatic LiDAR IMU calibration segments for DJI L1 and other LiDAR sensors.
  For LiDAR Area and LiDAR Corridor segments now a new checkbox “IMU Calibration” is available. If selected, calibration segments are inserted every 100 seconds or every 1000 meters (whichever comes first). Calibration segments are highlighted in blue color on the route.
  ‍

• Added support for Freefly Astro drones.
  Profiles for Freefly Astro and Freefly Alta X drones have been added to UgCS along with camera profiles for Sony A7R IV (24 mm, 35 mm). Vehicles are not automatically recognized, therefore after connection their vehicle profile needs to be changed from “PX4 Quad” to either “Freefly Alta X” or “Freefly Astro”.
• Implemented a new changelog window to notify users about new version availability as well as changes in new versions.
• Added full Korean language translation.

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• Fixed an issue where DJI Mavic 3 and Matrice 30 series routes created in UgCS had to be moved to “Local” storage on Pilot 2 before upload. Routes of DJI Mavic 3 and Matrice 30 series now can be uploaded directly from the “Cloud” section in DJI Pilot 2.
• Fixed an issue where sometimes magnetic map overlay was displayed with holes.
• Improvements in overall application stability.

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• When resuming a route on Pilot 2 for M300, in some cases the altitude set will be too high and users may get an error message. When flying longer routes with the need to resume them after battery change on M300, using UgCS for DJI app instead of Pilot 2 is recommended.

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• For DJI M3E series, M30 series and M300 introduced the ability to connect to UgCS directly from DJI Pilot 2.
  ‍This can be used as an alternative to UgCS for DJI. With connection through DJI Pilot 2 to UgCS it is possible to access routes planned in UgCS from Pilot 2 without the need to export them. Aircraft telemetry is also displayed.
  Notes: DJI Cloud API sends the drone telemetry once every two seconds. This causes the drone telemetry in UgCS to be displayed with a delay and the aircraft avatar (on the 3D map) moves with a 2 second interval. Commands such as “Route Upload” or “Auto Mode” are not available in UgCS when connected directly from Pilot 2. Route has to be uploaded and started from Pilot app. For more detailed information refer to UgCS manual section Connecting DJI Pilot 2 to UgCS »»»

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• Added ability to control speed when moving to first waypoint.
  ‍”Initial speed” parameter has been introduced in Route options window. It can be used to control the speed of the drone when flying to the first waypoint. The default value comes from ‘Initial speed’ parameter in the corresponding vehicle profile. Default value can be changed for all routes for a select drone by changing the parameter in the drone profile in main menu.
  ‍

• Added Japanese language in collaboration with our partner - SkyLink Japan
• Added Korean language

• Additional UI themes have been removed. Now only default theme is available.
• Removed Click&Go command for PX4 vehicles.
• Removed “Do not modify” option from “Action on loss of RC” drop-down menu in route parameters for all DJI vehicles.

• Fixed an issue where, when removing an empty mission, a new one was created.
• Improvements in the Elevation Profile window stability.
• Improvements in overall application stability.

• Updated Chinese localization.

• Fixed an issue where on ArduCopter firmware v.4.1 or newer the drone would rotate clockwise in each turn no matter the direction.
• Fixed an issue where UgCS 4.6.520 would start with an error after an upgrade if the previously installed version contained a manually created vehicle profile with one of the following names: 'Tundra', 'DJI Mavic 2 Enterprise Advanced', 'Fleet Sim Quad', 'DSS F450', 'Parrot Anafi'.

• Fixed an issue where sometimes a route exported to DJI Pilot 2 would fail to start with the error code 1546.
• Bugs in Vertical Scan tool:
  - Fixed an issue where sometimes route upload to a vehicle would fail due to Vertical Scan segment points being closer than 1 meter apart.
  - Fixed an issue where in some cases the first shot of every plane was made in the wrong direction.

• Added ability to change vertical scaling in the elevation profile window by holding Ctrl / Cmd and scrolling.
  ‍

• Added support for DJI Mavic 3 Multispectral.
• Added payload profile for DJI Zenmuse H20N.

• Fixed an issue where in some cases routes were not displayed in UgCS for DJI mobile app.
• Fixed an issue where in some cases LiDAR Corridor was calculated with an incorrect forward overlap.
• Fixed an issue where in some cases the flight path between LiDAR Corridor and the next segment was not a straight line.
• Improvements in overall application stability.

• Added new default elevation source - “SRTM 1 Arc-Second Global”.
  ‍Important!
  The new elevation source replaces the previous ‘SRTM 4 void filled elevation data' which is still available in Map Layers / Elevation window but is now disabled by default. If you are using offline map caching, don’t forget to cache the map with the new elevation source before going to the field.

• Added ability to resize the Elevation window
  - The elevation window can now be resized by dragging
  - The “pin” button on top right allows to quickly switch between compact and large size
  - Improved elevation autoscaling algorithm to better resolve the vertical scale of the chart.

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• Added ability to select between Relative and Absolute altitude modes when exporting routes to DJI Pilot 2.

‍

• The default route name has been changed to 'Route N'.

• Fixed an issue where some external map sources couldn't be added due to an error.
• Improvements in overall application stability.

• Fixed an issue where incorrect payload info was exported to DJI Pilot 2 for routes planned for M3T and M30T profiles.
• Fixed an issue where the Land segment was incorrectly exported to DJI Pilot 2.

• Added support for DJI Mavic 3 Enterprise (M3E/M3T) and DJI M30/M30T drones.
  ‍New profiles for DJI M3E, M3T, M30, M30T, and their cameras are available for route planning in UgCS.
  ‍These drones are supported via a new feature of route export from UgCS to DJI Pilot 2 (KMZ/WPML format).
  Note: It is currently not yet possible to connect M3E/M3T, M30/M30T drones directly to UgCS via UgCS for DJI. This feature is in development.

• Added the ability to export routes from UgCS to DJI Pilot 2 (KMZ / WPML format).
  This file format includes all necessary parameters (e.g. speed, turn type) and actions (e.g. set the camera by distance, change camera tilt), allowing to import a route from UgCS directly into DJI Pilot 2 and fly it with all drones supporting DJI Pilot 2 (currently DJI M300 RTK, M30/M30T, M3E/M3T). This feature can be accessed by clicking on “Export…” in the drop-down route parameters menu and selecting the option “DJI Pilot 2”.

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• Introduced the ability to split Corridor and Lidar Corridor segments by approximating points.
  ‍To split a corridor, right-click on any approximating point and select “Split”.
• Added short names for payloads.
  ‍All payload profiles now have a new attribute - “Short name”. Short names (if provided) are displayed in the flight planning tool options instead of the full payload name to make it easier to tell which payload is selected.
• For vertical scanning missions, the ability to set line spacing in meters (instead of using overlap) is added.

• For all DJI drones, the default route fence radius (maximum flight distance) has been increased from 500 to 2500 meters.
  In case the fence radius is exceeded, it can now be quickly changed by clicking on the link in the error message and editing it in the pop-up window.

• Previous "Export route to KML" and "Export route to JSON" route menu items have been merged into a single "Export…" menu item.
• Panorama action is no longer displayed for DJI M300 as it is not supported by UgCS for this drone.
• Required dropdown options in flight planning tools (e.g. camera) are now highlighted when empty.

• LiDAR profiles are no longer displayed in the payloads list.

• Fixed an issue where in some cases after pattern segment DJI M300 would fly with Adaptive Bank instead of Stop&Turn turn type.
• Improvements in overall application stability.

• ‍Ability to change the order of route segments. A new UI element - “segment bar” has been added above the route planning tool window. It allows to easily preview all existing route segments and their order, quickly switch between them for editing as well as change their order via drag and drop. This currently works in routes containing up to 20 segments.

• ‍Ability to cache maps and elevation of large areas (up to 100 square km per area) for offline use. This feature was introduced in UgCS 4.9.817 as experimental and now is being fully released. It is no longer necessary to enable it from the Main Menu.

• ‍The ability to change the altitude of the waypoint and circle by dragging up/down has been disabled by default. This change was made due to users sometimes accidentally changing the altitude when trying to move a point. Altitude can still be changed in the same way as before - by entering it in the input field of the selected route planning tool. If needed, altitude adjustment by dragging can be enabled again in the Advanced section of the Main Menu.

• ‍Updated input fields to make them better match the dark theme.

• For Freefly Alta X it is now no longer necessary to edit the configuration file to connect the drone to UgCS. Now by default, the UDP port 14550 is active in PX4 VSM.
• The name of the Windows desktop shortcut has been shortened to simply "UgCS" instead of “UgCS client”.

• Fixed an issue where in some segments of the vertical scan tool the drone had an incorrect heading set.
• Fixed an issue where in some rare cases UgCS could freeze while closing.
• Fixed an issue where UgCS uninstallation could freeze when a lot of data had been cached in the geoserver.
• Fixed an issue where the scroll bar of the log could disappear.
• Solved an issue where emulator telemetry data did not contain home position.
• Stability improvements.

• ‍Added Shift+Click selection. When selecting multiple route segments (e.g. waypoints), it is now possible to do it faster using Shift+Click without having to select each one individually using Ctrl+Click.

• ‍Implemented alphabetical sorting of routes. When the route list gets expanded, all routes are now sorted alphabetically.

• Updated the startup loading screen.

• Fixed an issue where sometimes camera trigger interval (when using Set Camera by Time or Distance) didn’t provide adequate forward overlap in the LiDAR corridor tool.
• For DJI M300 fixed an issue where, when using the Vertical Scan tool, the default camera action did not set the camera angle to look towards the vertical plane.

• Fixed an issue where route processing could fail if it contains “To VTOL mode" action.

• ‍Added advanced map & elevation caching for offline use. It is now possible to select and cache maps and elevation on large areas, preview cached areas and manage them. The size of a single area can be up to 100 square kilometers.
  This is an experimental feature. To enable it, go to Main Menu / Configuration / Experimental features and select “Enable experimental features”. It will now be available in Map Options / Map Layers / Offline maps.

• Added support for Freefly AltaX drone. Route upload, actions and other features are now supported. When connected, the drone will be displayed as a PX4 quad. To use this drone, make sure to select the “Support PX4 vehicles” checkbox during installation.

If you have Ardupilot VSM installed, make sure it is stopped in the Service Manager and “Autostart” is disabled when using AltaX or another PX4 drone. Otherwise, ArduPilot VSM and PX4 VSM may conflict.

• Ardupilot VSM is no longer selected to be installed by default. If you need to use an Ardupilot-based drone, make sure to select “Support ArduPilot vehicles” checkbox during installation. You can also repair UgCS installation by running the installation file again and adding it.
• Right-clicking anywhere on the map and selecting “Offline map” opens up the dialog window for selecting a region on the map for caching it. For this option to be available, experimental features have to be enabled in the Main Menu / Configuration page.

• Bug fixes and stability improvements.

• If large areas are cached using the experimental offline map caching feature, UgCS uninstallation can take longer.

• Implemented quick route renaming. Routes can now be quickly renamed by clicking on the name in the route card without having to go into route parameters.

• The safe trajectory type has been removed. Together with that, the ability to choose the trajectory type in the route parameters window has been removed as well. All existing and future routes will be calculated using the “Straight” trajectory type.
  For SDK users - Route.trajectoryType field is now deprecated. You must not fill it. If UgCS receives a non-empty Route.trajectoryType it will raise an error: "The field 'trajectoryType' is deprecated."

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• Improvements in overall application stability.
• Fixed a bug from UgCS 4.7 where, when planning a route for Ardupilot vehicles, incorrect turn types were displayed instead of the default Straight / Spline.
• Fixed an issue where sometimes DJI L1 wouldn't stop data recording at the end of a LiDAR Area or LiDAR Corridor segment.

Camera profile fixes:

• Profile settings for DJI M2EA thermal camera have been updated to achieve the correct flight height for thermal photogrammetry.
• DJI Zenmuse X7 focal length value has been updated.

• Undo/redo operations have been introduced. Ctrl+Z and Ctrl+Y keyboard shortcuts can be used in addition to new buttons in the top bar.

• For Ardupilot vehicles, the ability to add additional telemetry fields from MAVLink messages has been introduced. Added telemetry fields are displayed in the telemetry table widget of UgCS and in UgCS Telemetry Viewer.

• Parrot Anafi support has been discontinued. Parrot VSM and the Parrot Anafi vehicle profiles have been removed from UgCS.
• Desktop shortcuts have been simplified. From now on by default UgCS installer creates only a single UgCS shortcut on the desktop.

• Fixed an issue where during route creation "Next" button was sometimes disabled even when a vehicle profile was selected.
• Improvements in overall application stability.

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• When an aircraft goes offline, it is now still displayed on the map until UgCS is restarted. Hovering the mouse over the aircraft will display the last known latitude and longitude.

• A new "Pattern" tool has been introduced. It allows creating a figure-eight LiDAR calibration pattern that can be used within the flight plan. It should be used before each LiDAR area (or LiDAR corridor) segment.

• DJI Matrice 300 RTK now performs the "Circle" segment much smoother. This feature requires UgCS for DJI v.2.34 or newer.
• "Turn type" parameter has been removed from the "Circle" tool. From now on, UgCS chooses the best turn type supported by the aircraft to fly the circle segment as smoothly as possible.
• In the compact telemetry card, the ground speed is now displayed instead of the vertical speed. Vertical speed and other telemetry data are available in the expanded telemetry card.
• A part of the activated license code is now visible in the "License" window. This allows users with multiple licenses to understand which one has been activated.

• "Facade scan" tool has been renamed to "Vertical scan" tool.
• In the "Pattern" command parameters window, the "Height" parameter (which defines the bounds of the figure) has been renamed to "Length" so as to never confuse it with the flight altitude.

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• Log4J vulnerability CVE-2021-44228 has been fixed.
• The error message that is displayed to the user when they try to upload non-georeferenced images as a map layer has been made more understandable.

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• Added profile for TUNDRA drone.
• DJI Zenmuse L1 recording control (requires UgCS for DJI v.2.33 or newer).

From now on, UgCS automatically starts data recording on DJI Zenmuse L1 at the first waypoint of a 'Lidar area' (or 'Lidar corridor') segment and stops data recording at the last waypoint of the segment. A corresponding icon is displayed in the hint for the first and the last waypoint of the segment:

Also, if it is required to start/stop data recording at a specific waypoint, it can be done using the new 'lidar recording control' action - which isavailable for waypoints only.

• In future it is not required to restart the UgCS server after activation to connect UgCS for DJI via the 'direct connection' option.
• LiDAR tools:

Additional hints will help to avoid common mistakes during mission planning for LiDAR.

In future each newly created 'Lidar corridor' or a 'Lidar area' segment has the 'Set camera attitude' action with 'Tilt'=90. It is possible to change or remove this action if special settings required.

Profiles of 'DJI Zenmuse H20/H20T', 'DJI Zenmuse L1', 'DJI Zenmuse P1' are attached to the 'DJI Matrice 300' profile. New users don't have to attach them manually.

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• 3D objects weren't imported from some .kmz files.
• An "incorrect input format" error occurred while importing a route for some files exported from the previous versions of UgCS.
• Sometimes, messages in the route calculation log contained wrong number of waypoints.
• Improvements of overall software’s stability.

• Introduced the ability to create a LiDAR corridor from KMZ/KML.
• Camera profile for DJI Zenmuse L1.
• [!no full support!] Vehicle profile for DJI Mavic 2 Enterprise Advanced.

• Outer corner flight path changed for 'Corridor' and 'LiDAR corridor'.

Export options for altitude when exporting a route as a KML:

• AMSL
• Relative to ground under 1st waypoint - allowing this exported KML route to be imported and used in DJI Pilot or Autel Explorer

LiDAR corridor:

• The algorithm produced a wrong number of passes when 'Side distance' is provided directly but 'Camera' parameter is not empty.
• The algorithm produced double loops for some turns.

• Sometimes, visual artifacts (like a wavy line) were displayed near turn points.

• For DEMs with a resolution higher than 3m, the flight path height calculated by UgCS may be not accurate enough. We added 'elevation.pathfindingResolution.default' parameter in 'ucs.properties' file. Reducing the value (default value is 3 meters) increases flight path height precision but takes more time to process the route.

• The 'Camera' parameter is now optional for 'Lidar Area' and 'Lidar Corridor' tools. If 'Camera' is provided then UgCS takes into account not only FOV of the LIDAR (provided in the 'FOV' parameter of the tool) but also FOV of the camera and chooses the smallest one. Otherwise, UgCS takes into account only FOV of the LIDAR.

For 'Lidar Area' and 'Lidar Corridor' tools:

• The altitude on loops (added by the tools for sharp corners) may be less than the safe distance over terrain. From now on if a flight altitude on a loop is lower than the safe distance over terrain, UgCS doesn't add this loop to the flight path.
• The wrong length is displayed in the tooltip for segments with curved lines.
  Duplicated warnings about max descent rate exceeded.

Minor bug fixes.

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Issues with Corridor mapping and LIDAR corridor tools

• Sometimes altitude calculated in AMSL mode, did not ensure required GSD.
• Extra passes were created
• Path with AGL altitude did not correctly followed terrain
• Issue with calculated camera trigger interval (time/distance) which did not ensure required forward overlap.

Issues with LIDAR area tool

• The upload of a route failed due to the error: "Corner radius must be in range from 0.2 to 1,000."
• The calculation of a route failed due to the error "Can't calculate coordinate for specified location."

Issue with the calculation of a route due to error "Automatic calculation of camera trigger distance is not supported for this algorithm."

Minor bug fixes

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• Corridor segments with photo camera ignored the set altitude type and generated all segments with AMSL.

New tools for LIDAR surveying for UgCS ENTERPRISE license

“Lidar area” and “Lidar corridor” tools, although look similar to “Photogrammetry” and “Corridor”, provide additional functionality unlocking the full potential of LIDAR surveying:

• loops on the turn, reducing shaking of the sensor;
• area buffer, improving coverage on area borders;
• an ability to specify side distance manually, or calculate it in UgCS based on the camera FOV and LIDAR’s FOV;
• the “Corner radius” parameter;
• visualization of curve lines of the flight path.

The new command “Pattern” simplifies LIDAR calibration. It can be executed before/after executing a mission and at any time in the middle. UgCS supports the two most popular IMU calibration patterns: U-figure and Eight. You can change pattern size, altitude, and flight speed if required.
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Note: The “Pattern” command and the “Corner radius” parameter require UgCS for DJI 2.30 or newer.

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• An ability to control Parrot ANAFI with a joystick

• The calculation algorithm of Photogrammetry and Area Scan segments has been redesigned to avoid flying out of the polygon boundary.
• Important! If you update UgCS from a previous version, check your missions thoroughly for any changes!
• The flight path on overshoots has changed. From now on, decreasing the ground elevation on overshoots does not change the flight path above this area.
• Performance improvements.
• Toolbar icons updated.
• For all DJI vehicle profiles, the "Min distance between waypoints" parameter has been increased to 1 meter.

• The error ‘Could not parse the KML file’ occurred when importing a KML file with multiple layers.
• Minor bug fixes.

• For DJI M300 fixed the bug causing Companion to ignore turn type defined for waypoints in UgCS and apply Adaptive Bunk Turn for all waypoints.

• Fixed the bug that sometimes caused CPM to lost connection with UgCS.
• Fixed the bug that sometimes caused Companion for M300 to crash.

• Fixed the bug causing UgCS Companion for M300 to ignore LiDAR start/stop data recording actions.
• Fixed the bug that sometimes caused Companion for M300 to crash.

• Fixed the bug that sometimes caused the app to crash on startup.

• Ability to display values from scalar sensors attached to SkyHub.

• Log downloads and ability to clear them.

• For SkyHub missions fixed a bug causing UgCS to not track the passed part of the route after restoring connection.

• Support for DJI M30 and Mavic 3 Enterprise series drones.
• Video feed from main camera and possibility to switch camera lenses.
• Possibility to minimize/maximize video and map.

• Support for DJI M350.
• Settings
• Settings for Custom Network RTK Service.
• Battery thresholds settings.
• Video preview from FPV.
• Route uploading and execution:
  • TTF routes are uploaded to SkyHub. To start and manage the route execution use Custom Payload Monitor.
  • Regular routes are uploaded to DJI Flight Controller. To start and manage the route execution use UgCS.
• Map features:
  • Displaying a map provided by MapBox;
  • Switching between Satellite and Chematic.
    Displaying the uploaded route on the map.
    Displaying the drone and RC locations on the map.
    The ability to focus the map on the route or the drone location.
• SkyHub connectivity:
  • Bidirectional communication with SkyHub.
  • SkyHub connection indicator.
• UgCS connectivity:
  • Support for incoming connections from UgCS 4.21.0 or newer on tcp port 54322.
  • List of UgCS servers discovered in the network, the ability to switch connection between them by select another server in the list.
    UgCS connection indicator.
• Crashlytics.