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YARI Atlas

website·Indexed 31 days ago

https://docs.yarirobotics.com

A platform for managing vehicle and companion-computer data. YARI Atlas provides workflows to organize, upload, and review raw vehicle logs, supporting PX4 ULog (.ulg), ArduPilot DataFlash (.bin), and ROS 2 MCAP (.mcap) files. It includes features for automated report generation, advanced analysis dashboards, and fleet operations management.

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What's inside YARI Atlas

  1. Overview of RTK Correction Sources for YARI GNSS

    RTK-capable GNSS rovers, such as the YARI F9P RTK Rover, require correction data to achieve RTK float or RTK fixed positioning. There are three primary ways to provide this data:

    1. Local Base Station: A local RTK base receiver connected to the ground-control station (GCS) that forwards RTCM data via MAVLink telemetry.
    2. NTRIP Server: An internet-based correction service connected through the GCS that forwards RTCM data via MAVLink.
    3. Moving Baseline: A pair of GNSS modules (base and rover) mounted on the vehicle, primarily used for determining heading/yaw.

  2. Overview of YARI Atlas capabilities

    YARI Atlas is a robotics platform designed for working with vehicle and companion-computer data. It provides a centralized location to connect logs, generated reports, sessions, vehicles, dashboards, and team workflows. Key supported workflows include:

    • Uploading and organizing flight logs and MCAP data.
    • Generating reports and reviewing indexed log metadata via automated health checks.
    • Organizing work by datasets, vehicles, and operational sessions.
    • Inspecting indexed data using configurable dashboards.
    • Adding investigation notes and sharing reports.
    • Syncing completed vehicle logs using the Atlas Agent with vehicle-scoped credentials.

  3. Overview of YARI Robotics Documentation

    The YARI Robotics documentation hub provides resources for setting up YARI hardware, integrating companion computers and vehicle software, and implementing validated robotics workflows. The documentation is organized into the following key areas:

    • Products: Setup, firmware, wiring, and troubleshooting for flight controllers, carrier boards, GNSS/RTK modules, sensors, power modules, and ESCs. Each product section includes an Overview, Instructions (flashing/setup), Downloads (CAD/datasheets), Pinouts, FAQ, and Troubleshooting.
    • Software (YARI Atlas): A platform for organizing vehicle data, generating flight-log reports, collaborating on investigations, and operating connected fleets.
    • Technical Guides: Reusable procedures for ST-LINK recovery, AM32 Configurator, CAN wiring, GNSS antenna placement, companion-computer integration, and power-system practices.
    • Tutorials & Demos: Validated end-to-end workflows combining hardware and software (e.g., Depth Camera & 3D Vision with YARI V6X).
    • Certifications: Compliance and testing documentation.

  5. Review ArduPilot .bin upload reports in YARI Atlas

    When an ArduPilot .bin file is uploaded to YARI Atlas, the system generates an ArduPilot WebTools artifact. Atlas embeds this artifact within a report workflow that adds additional context, including metadata, map and weather data, report tags, and automated checks with supporting evidence.

  6. Analyze ArduPilot DataFlash logs with YARI Atlas

    YARI Atlas supports the analysis of ArduPilot DataFlash logs using the .bin file extension. By uploading a .bin log, users can perform the following tasks:

    • Generate ArduPilot analysis artifacts within the Atlas report workflow.
    • Review report overviews, including evidence, mapping, and weather context (where available).
    • Inspect indexed messages and parameter data.
    • Utilize dashboards to explore supported signals, events, and specific time windows.

  7. Access YARI V6S technical specifications and resources

    Official datasheets, CAD models, and product drawings for the YARI V6S are pending publication. Until the official datasheet is released, developers should refer to the 'Overview' and 'Pinout' sections of the YARI V6S documentation for electrical and mechanical values. Do not infer specifications from other YARI controller models.

  8. YARI V6S Flight Controller Overview

    The YARI V6S is an affordable flight controller based on the Pixhawk FMUv6 architecture, designed for students, academic teams, and researchers. It uses an STM32H743 processor and is compatible with ArduPilot and PX4 Autopilot firmware. It is a single-sensor design without redundant sensors, sensor heating, or vibration isolation, making it a practical replacement for older Pixhawk 2.4.8 (FMUv3) controllers.

  9. Analyze robotics recordings using MCAP files in YARI Atlas

    YARI Atlas supports robotics recordings stored in the MCAP (.mcap) format, which allows synchronized robotics topics to be kept together for review. Users can upload MCAP recordings associated with a vehicle or session to perform the following tasks:

    • Inspect indexed topics via playback-aware dashboard panels.
    • Review telemetry, raw messages, transforms, images, and point clouds.
    • Attach companion-computer data to its corresponding operational session.

  10. Use the PX4 Report Overview for initial investigation

    The report overview serves as the starting point for log analysis. It provides a summary of:

    • Vehicle and session metadata
    • Map and weather context (if available)
    • Report tags
    • Automated checks designed to guide the investigation process.

  11. YARI F10N GNSS Product Overview

    The YARI F10N GNSS is a dual-band, standard-precision positioning and navigation module designed for DroneCAN-capable Pixhawk and ArduPilot systems. It integrates a u-blox NEO-F10N L1 + L5 receiver, magnetometer, barometer, safety switch, buzzer, and status LEDs, all published over DroneCAN. It supports GPS, Galileo, BeiDou, and NavIC (IRNSS) constellations. Note that it does not support GLONASS or RTK centimeter-level positioning.

  12. Understand YARI Atlas Agent scoping and security

    The YARI Atlas Agent is designed for companion computers, field computers, ground stations, and maintenance laptops to automatically upload completed vehicle logs. For unattended synchronization, use a vehicle-specific upload token rather than a broad organization key. Vehicle tokens are scoped specifically to vehicle-log uploads and are restricted to the vehicle's configured destination dataset.