iHUD

iHUD Remote


Glass cockpit iHUD - EFIS AHRS motion visualization on the iPhone - iHUD app suite

iHUD suite - Your mobile spatial motion visualization on the iPhone / iPad

iHUD Remote 3.0
A portable iPhone/iPad EFIS display linked by Wi-Fi to external aerospace class AHRS modules


The iHUD Remote Manual can be downloaded as a pdf File. Please click here.




iHUD Remote Overview

iHUD Remote on the iiPhone 4
For pilots: iHUD Remote with reliable attitude, heading and motion information

iHUD Remote is an app that turns the iPhone/iPad *) iDevices into a dependable aerospace inspired glass cockpit for motion visualization and situational awareness on an animated graphical display (EFIS). iHUD Remote takes advantage of remote (external) AHRS (Attitude and Heading Reference System) sensor modules that have the capability of transmitting serial data wirelessly through a TCP ad hoc Wi-Fi interface.

iHUD Remote therefore uses external (remote) sensor data. Any AHRS model form Levil Technology with an identical RS232 serial data protocol, converted by an appropriate Wi-Fi ad hoc interface is supported by iHUD Remote. Currently, iHUD Remote has been tested with the AHRS-G mini by Levil Technology.

iHUD Remote with AHRS-G mini After Aero Visions International and Levil Technology (http://aviation.levil.com) have teamed up for this project, iHUD Remote has been designed to receive and display sensor data sent from Levil (AD)AHRS models with integrated TCP ad hoc Wi-Fi serial communication.

The purchase of iHUD Remote does NOT include the external AHRS module which is a third party device. Please contact Levil Technology (http://aviation.levil.com/AHRS_mini.htm) for purchasing the AHRS-G mini. Without the AHRS module, attitude will not be displayed.

AHRS - Attitude-Heading-Reference-System
AD - Air Data

Watch the video clip showing iHUD Remote with the AHRS-G mini in flight.


The AHRS-G provides Roll, Pitch, Yaw, Ball angle, Yaw Rate, and G force; and - if pitot/static ports are connected - AD (air data) for airspeed, altitude, and vertical speed. Alternatively, iDevices with integrated GPS can be selected for ground speed, altitude, vertical speed, and heading. This allows iHUD Remote to be used without the AHRS connected (or temporarily lost), with the sole limitation of not having attitude information available without the AHRS.

The external AHRS / Wi-Fi module connectivity is an important aspect. Its reliability and safe operation is an integral part of iHUD Remote: Color coded status indicator, in addition to red crosses that individually mark unusable sensor and sensor source on the display give the user a detailed picture of the ability of the EFIS information. If iHUD Remote AHRS senses data errors and/or the Wi-Fi connection is lost, an alert message covering part of the display area is generated (after a 6 s sampling delay) and will need to be acknowledged by the user with the suggested proper actions. Thereafter, corresponding display data are crossed out in red color until the problem has been addressed. iHUD Remote works properly without the AHRS connected or (temporarily) lost by using the iDevice internal GPS data, if available.

iHUD Remote offers an EFIS display that is based on the original iHUD (on the app store since October 2008).
For general operation and description of the original iHUD basic version, or simply iHUD, see The legacy iHUD.

iHUD Remote features:
- AHRS Wi-Fi data protocol now includes UDP in addition to TCP with auto-connect for both (iHUD Remote only).
- Connected Wi-Fi network name is displayed on the top left corner of the main screen.

- V-Speed input and speed ribbon display using a graphical UI.
- Day/night dimming of the main EFIS display.
- Magnetic declination representation based on actual GPS position and altitude. Calculation is based on the World Magnetic Model (WMM).
- Magnetic declination is graphically depicted by means of a turquoise diamond icon on the compass rose.
- Fast selection of all heading modes (T AHRS, M AHRS, T GPS, M GPS) in sequence by double tapping on the compass rose.
- AHRS module battery level display (iHUD Remote only) with % charge.
- Preset fixed Landscape right and landscape left modes (later also portrait mode for iHUD Remote).
- Altimeter Setting: Added option for 'Field elevation' input (iHUD Remote only).

* Reliable and precise Mobile Motion Visualization and Situational Awareness of data received wirelessly from an external AHRS module
* iHUD Remote offers a stand-alone (AD)AHRS representation without the need for cell towers or data servers
* Select between Air Data (AD) from the AHRS or iPhone/iPad GPS source for speed, altitude, vertical speed
* Select between AHRS or iPhone/iPad GPS source for compass heading information (select on-the-fly: double tap compass rose)
* Easy ad hoc Wi-Fi setup to interface (AD)AHRS modules with iDevices.
* Applications: Backup “if everything else fails”; now passengers can follow the airplane movements with their own EFIS / MFD
* No special display needed - just use your iPhone, iPod, and iPad - and install iHUD Remote at a one-time low price

*) Notes:
iHUD Remote works on iDevices with iOS 4.2 and higher.
iHUD Remote will not properly operate with iPhone 3G and older models, and iPod touch 2nd generation and older models.
iHUD Remote will need third party hardware (AHRS) for certain display tasks, not sold together with the app
For using the onboard GPS, iPAD 3G model is needed, iPAD WiFI has no GPS.


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iHUD Remote Manual


Warnings:

1. Never use the iHUD Remote as a primary flight instrument or as backup for IFR flights.

2. Ferrous materials in the vicinity of to the AHRS can affect the magnetic compass reading.


The iHUD Remote Manual can be downloaded as a pdf File. Please click here.

See all Display Screen Shots


GETTING YOU STARTED QUICKLY

-> Start iHUD Remote - Fig.18

-> Connect to AHRS (SETTINGS – WIFI Settings), Fig.1 left

-> Main iHUD window (EFIS), Fig.12
- Check for green AHRS status indicator on main window
- Check AHRS battery level

->
Main iHUD display (EFIS) features and actions
- Speed ribbon, altitude, vertical speed, heading, slip/skid, g-load, Horizon
- Double click on the compass rose for toggling in sequence compass source
- Turquoise diamond shows magnetic declination based on GPS location
- Day/night button (left upper window corner) will a red filter (dimmable)
- Move the heading bug, yellow double triangle on the compass (with finger - hold and move around)

-> Make yourself familiar with all iHUD Remote features
- Check MODE (Main EFIS, AR), Fig.12
- Check SETTINGS (All user selectable Settings in a nested menu), Fig.2
- Check INFO (Information and Quickstart briefing, and more), Fig.16

TERMINOLOGY

AHRS Attitude and Heading Reference System
AD Air Data provided by AHRS (AD)AHRS
HUD Head Up Display
EFIS Electronic Flight Information System
MFD Multi Function Display
AR Augmented Reality (iHUD display with camera view overlay)
M Magnetic heading (AHRS or GPS)
T True or geographic heading (AHRS or GPS)
IAS Indicated Air Speed
TCP Transmission protocol (Transmission Control Protocol), core protocol of IP
UDP Transmission protocol (User Datagram Protocol) within the TCP/IP protocol

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DISPLAY - Fig.12

User Feature List

-> iHUD Remote main EFIS Screen parameter presentation

-> Pitch and bank from external (remote) AHRS module (like Levil's AHRS-G mini).

-> Heading (M or T) on a compass rose with user selectable heading bug.

-> Toggle (four states) between GPS true heading (T GPS) and GPS magnetic heading (M GPS), or AHRS magnetic compass
magnetic heading (M AHRS) and true heading (T AHRS).

-> Select heading source by double tapping on the compass rose for sequencing the four states (M GPS, T GPS, M AHRS, T AHRS).

-> Calculation between true (geographic) and magnetic heading is based on the magnetic declination algorithm of the World
Magnetic Model (WMM) and is automatic, no user interaction is needed.
-> A turquoise colored diamond icon on the compass rose
indicates the declination value calculated from the current iDevice GPS location, altitude, and date.

->Airspeed (AD) or GPS speed on a moving Speed Ribbon with a digital speed window.

-> Pressure altitude (AD) or GPS altitude by a moving Altitude Ribbon.

-> Vertical Speed (VS) is shown with a moving VS-indicator window (AD or GPS).

-> G-load positive or negative with respect to gravity (AHRS).

-> Ball shows slip/skid, cornering g-load for cars (AHRS).

->Day/Night button for night dimming the EFIS display (not AR).

->AHRS / WiFly module battery level icon with % charge.-> Red crosses over selected MFD display areas depict unavailable
signals / sources.

-> The name of the selected Wi-Fi network is displayed near the left top corner, Fig.1 right

-> iHUD Remote Status Indicators show:
SPD (Speed), ALT (Altitude), HDG (Heading), AHRS (AHRS module).
green- signal available and usable
yellow- signal strength marginal
red- signal/sensor not available or not responding (triggers red crosses where applicable)


MODE button

Toggle between:
->EFIS view (standard) - Fig.12
-> Augmented reality with camera (AR) overlaid with iHUD information - Fig.14


INFO button

Link to:
-> Warning screen - Fig.19
-> Quick Start Briefing - Fig.17

-> Terms of Use / EULA
-> iHUD Web Site (Internet needed)


SETTINGS button

Fig.2
Note:
From any nested settings menu, you can backtrack (back button) or directly return to the main iHUD Remote screen (blue iHUD display button)

Display Options - Fig.3
Device Display Options -Fig.4
-> Device Orientation -> Landscape Left or Right, default is ‘Right’
-> Day/Night Dimming -> Slider allows lighter or darker, default 35%

Data Display Settings - Fig.5
-> Units - Fig.7
Speed, Altitude, Vertical Rate -> in aviation common units
-> V-Speeds - Fig.6
Select speeds for:  VS0  VFE   VS1   VNO   VNE in units selected
-> Declination - Fig.8
Declination Info -> Value (N, E) based on GPS location & altitude       
-> Declination Calculator - Fig.19
Offline magnetic declination calculator we used for testing, it may be useful

WiFi Settings & Signal / Compass Source - Fig.9
Connection
-> TCP or UDP (default is UDP), Reset button (UDP connection)
IP address: 169.254.1.1
TCP Port: 2000 (Levil AHRS G mini)
UDP port: 46400 (Levil AHRS G mini)

Compass Heading Source
-> T GPS  or  M GPS  or  M AHRS  or  T AHRS

Speed & Altitude Source
-> GPS  or  AHRS air data

GPS / Compass Options - Fig.10
-> Compass Heading Bug -> set desired value
-> GPS Horizontal Accuracy Threshold -> Slider (default set to high)

AHRS Pitch Calibration (0.0º) - Fig.2
-> Set pitch of AHRS module at installed position, or press RESET to 0.0º

Altimeter Settings - Fig.11
-> Input Reported MSL Pressure, inHg or hPa for altitude correction
-> Input current field elevation in units as selected (ft, m)
-> Reset altimeter to standard MSL pressure

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INITIALIZATION & USAGE

Initialization

Important:
For earlier AHRS-G mini models that are set to TCP connection:
Change the TCP to UDP using the Levil utility or change iHUD Remote UDP to TCP. Once a connection (TCP or UDP) is selected by the user it remains so until changed again, even if the iDevice has been switched off.

UDP or TCP connection to AHRS module

Before using iHUD Remote, the AHRS module with the Wi-Fi converter must be switched on or has to be running. This will provide iHUD Remote to 'see' and identify the Wi-Fi interface from the AHRS. On your iDevice (iPhone, iPod, iPad) go to Settings in the iOS (not iHUD Remote !!). Look for 'Wi-Fi and press the button. Now under 'Choose a Network', you will see the network
WiFly-GSX-bb if Levil AHRS-G mini is used. Press on this network. It will be check marked. Then return to or start iHUD Remote and wait for a green AHRS indicator. You will also see the name of the selected AHRS Wi-Fi network on the left top corner of the main display, see Fig.. A window will temporarily appear telling you that auto-connect is in progress. You can force the Alert window to disappear by pressing the ‘OK’ button, see
Fig.13.

Should the connection fail to start, please check AHRS hardware (switched on?). Possible reasons for failure: Wi-Fi is interrupted due to ‘out-of-range’, iDevice switched to another network, or AHRS problems.

UDP  (UDP is the default connection at first startup,  – auto-connect & reconnect)

The AHRS is connected and ready to be used, shown by the green AHRS indicator. All other indicators depend on the settings. If AHRS is red, check the Wi-Fi connection and/or AHRS hardware. iHUD Remote will always try to auto-connect, and also attempts to reconnect automatically.

With UDP one or more displays devices can be used per AHRS module at a time. That also means one and more different apps can be run simultaneously with one AHRS module

TCP  (auto-connect and reconnect)

The AHRS is connected and ready, shown by the green AHRS indicator. All other indicators depend on the settings. If AHRS is red, check the Wi-Fi connection. While a TCP connection to the AHRS is available and the AHRS is running, iHUD Remote will try to re-connect if connection was interrupted.

With TCP only one connection at a time can be established. Should another iDevice be chosen, switch to UDP first, under ‘WiFi Settings & Signal / Compass Source’.



Usage

The factory calibrated AHRS has to be placed at a preselected position with the orientation as shown. It is recommended to leave the module untouched for two minutes before the vehicle is moved. Pitch angle depends on the installation and can be corrected within iHUD Remote, the pitch correction angle will be stored (Settings) and is still available even after closing iHUD Remote.

iHUD Remote allows to swap apps without loosing connectivity to the AHRS provided that the Wi-Fi network has not been changed. If the network has been changed for any reason then proceed as described under 'Initialization'

iHUD Remote is very flexible in regards to the signal source selection and provide optional (AD)AHRS source or the onboard GPS for speed, heading, altitude, and vertical speed. Those selections can be made under 'Settings' and is immediately shown on the main EFIS screen and the status indicators. The hading selection can even be done on the fly by double tapping inside the compass rose.

iHUD Remote offers standard USA and metric units.  Under ‘Units’ select and combine frequently used units of your preference.

iHUD allows you to select four speed ranges displayed in the speed ribbon as white/green, green, yellow, and red moving ribbons with white/green as the lowest. You find this under ‘Display Options’.

The Heading Bug or compass bug can be set to show the desired heading (track). On the EFIS/AHRS screen, touch the yellow bug (double triangle) and drag it around the compass to set the desired heading. Alternatively, set the heading bug in the provided data field in SETTINGS under ‘Display Options’.

GPS satellites in line of sight and more than 4 satellites (more is better) in view will give the best accuracy of approx. 60 feet on the iDevice. On the ground, this might not be achievable everywhere. We found that 60 feet to 600 feet threshold works quite well in most cases. If no GPS is available, then it is best to set the threshold to ''All" We recommend to play with these settings.


AHRS module placement
The factory calibrated AHRS (Levil AHRS-G mini) has to be placed at a preselected position with the orientation as recommended. It is recommended to leave the module untouched for two minutes before the vehicle is moved. Pitch angle of the AHRS module depends on the installation and can be corrected within iHUD Remote, the pitch correction angle will be stored (Settings) and is still available even after closing iHUD Remote.

AHRS module pitch calibration
When placing the AHRS module, the instrument pitch can be set, so that the attitude calculations are corrected for the current instrument pitch. It can be quickly reset to zero.

Wi-Fi Connection notes
iHUD Remote allows to swap apps without loosing connectivity to the AHRS provided that the Wi-Fi network has not been changed. If the network has been changed for any reason, then either iHUD Remote will auto-connect or proceed as described under 'Initialization'.

Use UDP if possible for best results. In the event of connection problems, the ‘Reset’ button will reset the UDP connection. Under ‘WiFi Settings & Signal / Compass Source’.

Units
HUD Remote offers standard USA and metric units.  Under ‘Units’ select and combine frequently used units of your preference. Under ‘Data Display Settings’.

V-Speeds
iHUD Remote allows you to select the most common V-Speed ranges displayed in the speed ribbon as white/green, green, yellow, and red line moving ribbons. iHUD allows you to select four speed ranges displayed in the speed ribbon as white/green, green, yellow, and red moving ribbons with white/green as the lowest. You find this under ‘‘Data Display Settings’. This emulates speed indicator in airplanes. By use of the most common V-Speeds, VS0  VFE   VS1   VNO   VNE in units selected.  Under ‘Data Display Settings’.

Declination
Declination is evaluated on the basis of the iDevice GPS location and altitude and is constantly updated while in motion. Please check that Location Services is set to ON, and also set to ON for iHUD Remote. Declination is automatically calculated based on the WMM (World Magnetic Model) and is applicable worldwide. The declination values can be positive (E) or negative (W). Declination is displayed on the compass rose represented by a turquoise colored diamond. Under Data Display Settings’.

Altimeter Settings
The air data altimeter can be corrected like on an ordinary steam gauge with the Kolsman altimeter settings window. Enter the reported s.l. pressure in either inHg or hPa.

Instead of the reported MSL pressure, the current field elevation can be used as input, units as selected (ft, m).
The altimeter can be quickly reset to standard pressure.

Magnetic Compass (AHRS internal magnetometer)

iHUD Remote is very flexible in regards to the signal source selection, providing optionally (AD)AHRS source or the onboard GPS for speed, heading, altitude, and vertical speed. Those selections can be made under ‘WiFi Settings & Signal / Compass Source’. and is immediately shown on the main EFIS screen and the status indicators. The compass heading source selection can even be done on the fly by double tapping inside the compass rose in order to display either of T GPS  or  M GPS  or  M AHRS  or  T AHRS I sequence. Note that GPS delivers geographic (true, T) headings, and the AHRS magnetic compass delivers magnetic headings (M).

The Heading Bug or compass bug can be set to show the desired heading (track). On the EFIS/AHRS screen, touch the yellow bug (double triangle) and drag it around the compass to set the desired heading. Alternatively, set the heading bug in the provided data input field in ‘GPS / Compass Options’.

The turquoise colored declination icon (diamond on the compass rose) is a pointer to either magnetic or geographic heading depending on the selected compass heading. If the compass rose heading source is ‘M’ than the diamond is showing ‘T’, and vice-versa.

Speed & Altitude Source
Speed and altitude display can be selected at any time from the internal GPS or from the AHRS module air data (AD). Check always the status indicators for signal availability. Under ‘WiFi Settings & Signal / Compass Source’.

GPS accuracy threshold and GPS remarks
This threshold simply rejects values that have greater error than the selected for the smoothing algorithm. GPS satellites in line of sight and more than 3 satellites in view will give the best accuracy of approx. 60 feet on the iPhone. On the ground, this might not be achievable everywhere. We found that 600 feet to 800 feet threshold works quite well in most cases. If no GPS is available, then it is best to set the threshold to 'All'. We recommend playing with these settings, especially for older Devices.

GPS is only meaningful, if the device is in motion, the magnetic compass is very susceptible to disturbances form any metal and electronics. If the magnetic compass is erratic, the heading window is crossed and the heading indicator on the status line changes to red. Built-in magnetometer calibration is provided.

iHUD Remote offers the useful feature for selecting at any time GPS derived parameters  in the case that AHRS connection is not available or temporarily lost by using the iDevice internal GPS receiver for speed, altitude, heading, and vertical speed.

GPS reception needs GPS satellites in line of sight and more than 4 satellites (more is better) in view will give the best accuracy of < 60 feet on the iDevice. On the ground, this might not be achievable everywhere. We found that 60 feet to 600 feet threshold works quite well in most cases. If no GPS is available, then it is best to set the threshold to 'All’. We recommend to playing with these settings.

Device Orientation
The iDevice can only be used in a preselected orientation. If the iDevice would automatically flip the orientation, the data used for iHUD from the accelerometers would be undefined and in a complete roll or pitch situation (loop, roll) the display would show a wrong attitude.

We have selected landscape right (home button is on the right side) as the default orientation (landscape right) and have added the orientation (landscape left), switchable by the user. This can be changed in ‘Data Display Settings’.

Day/Night Dimming
The Day/Night button  on the main window has a preset dimming value. This can be changed in ‘Device Settings’ by use of a slider (lighter <--> darker). A red filter is applied as the basis for dimming, Fig.15.

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IMPORTANT HARDWARE NOTES

AHRS module:


AHRS performance and limitations (use of AHRS-G mini by Levil Technology)
When the AHRS is turned on, it requires a two minute interval to calibrate itself. To achieve better performance, it is recommended that the aircraft stays in a steady position (or taxing) during this two minute period. During flight, the instrument utilizes the indicated airspeed from the pitot-static for roll and pitch calculations. If your instrument is not connected to the dynamic pressure, the AHRS will “estimate” the speed of the aircraft. In order to better estimate the speed, a +15 deg bank turn to the left for 10 seconds, then a +15 deg bank turn to the right is recommended at the beginning of each flight. Power off/on during flight will not damage the instrument even at an unusual attitude.

There are no flight limitations to the AHRS Series. The instrument will operate in a full 360 degrees of turn and may be used in light aerobatic type maneuvers. Extreme turns may cause the instrument to temporarily disable itself (200 degrees/sec max turn rate). This is indicated by a “flashing” behavior (pitch goes from 0-90 degrees). The instrument automatically resets itself within 3 to 10 seconds if kept steady during that time. This will not cause any harm to the instrument. The AHRS-G mini by Levil shows a flashing alternating color swapping of the sky/earth when the module has exceeded the jerky movement limits. It will settle after some seconds and will be usable again. Otherwise there are no limitations.


The AHRS-G provides Roll, Pitch, Yaw, Ball angle, Yaw Rate, and G force; and - if pitot/static ports are connected - AD (air data ) for airspeed, altitude, and vertical speed. Alternatively, iDevices with integrated GPS can be selected for ground speed, altitude, vertical speed, and heading. This allows iHUD Remote to be used without the AHRS connected (or temporarily lost), with the sole limitation of not having attitude information available.

Wi-Fi Connectivity (auto-reconnect)

The external AHRS / Wi-Fi module connectivity is an important aspect. Its reliability and safe operation is an integral part of iHUD Remote: Color coded status indicator, in addition to red crosses that individually mark unusable sensor and sensor source on the display give the user a detailed picture of the usability of the EFIS information. If iHUD Remote AHRS senses data errors and/or the Wi-Fi connection is lost, an alert message may or may not appear and auto-reconnect will be attempted, and will disappear automatically or forced to disappear by pressing the ‘OK’ button. Affected corresponding display data are crossed out in red color until the connection has been restored. In case of problems with reconnection, please close iHUD Remote completely (including in the fast switching ribbon). We will improve operability of this auto-reconnect as needed.

Ad Hoc Wi-Fi interface (TCP and UDP) The AHRS-G mini offered by Levil Aviation has an integrated RS232 serial interface together with a Wi-Fi adapter. The RS232 communication protocol by Levil Technology is open source for developers. iHUD Remote accepts TCP and UDP connections from WiFly and WiSnap, but should work for any other serial Wi-Fi converters providing identical serial communication protocol or use of an open source protocol in cooperation with the Aero Visions Intl, Inc. team on request.


The TCP and UDP Wi-Fi ad hoc connection parameters used by iHUD Remote:


TCP connection
HOST IP 169.254.1.1
Port: 2000

UDP connection
HOST IP 169.254.1.1
Port: 46400


With TCP only one connection at a time can be established. In case another iDevice display is chosen, close the current connection before connecting to the new one.

With UDP one or more displays can be used per AHRS module at a time. That means one and more different apps can be run simultaneously with one AHRS module.

Warning:
- Never use the iHUD Remote as a primary flight instrument or as backup for IFR flights.
- Ferrous materials in the vicinity of to the AHRS can affect the magnetic compass reading.

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Glass cockpit iHUD - EFIS AHRS motion visualization on the iPhone

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For more information contact AVI by e-mail

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AVI
Aero Visions Intl. Inc., 312 W Fourth Street, Carson City, NV 89703, USA - phone: +1 (801) 721-6375
Aero Visions International Inc iPhone app developments

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