For detailed UAV control in SkyHunter, a radial menu is used — an intuitive interface for quick access to commands and diagnostics.

The menu opens by clicking on the drone icon on the map. After that, a control circle appears around the UAV, divided into two functional zones:

• upper section — operational control commands;
• lower section — diagnostics and technical parameters.

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Upper Section — Operational Control

The upper section contains the main commands that affect UAV behavior in real time.

Arm/Disarm

Motor initialization and startup command. After activation, the drone enters a flight-ready state.

Following type

Opens the target tracking algorithm settings (interception type). Various behavior models are available — for example, direct pursuit, lead interception, or flight to specified coordinates.

Navigation type

Allows selecting the navigation source:

• Beacons — positioning via ground beacons;
• GPS — satellite navigation;
• Radar — positioning based on radar data.

Control type

Sets the drone control mode:

• Guided — control via autopilot algorithms;
• System — control via SkyHunter algorithms;
• Pasika — control via SineLink Pasika algorithms.

Follow this UAV

This command is used to focus the camera on the selected UAV. After activation, the interface automatically centers the map on this drone and dynamically tracks its movement in real time.

Delete

This command is used to clear the current simulator state and reset active connections. It allows restarting the simulated drone in case of freezing, loss of synchronization, or other technical issues. After executing the command, the simulator returns to its initial state and is ready for restart.

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Lower Section — Diagnostics and Technical Status

The lower ring contains technical indicators that allow the operator to quickly assess the UAV status and make decisions.

The system uses color indicators for data assessment:

Color	Meaning
🟢 Green	System operating normally
🟠 Orange	Requires attention
🔴 Red	Critical situation

Navigation status

Shows:

• active navigation type (GPS / Beacons / Radar);
• fix type (e.g., RTK);
• number of satellites;
• signal quality.

This section allows quickly determining whether the positioning data is accurate enough to complete the mission.

Color	Meaning
🟢 Green	Navigation data is being received in full volume and normal quality
🟠 Orange	Low quality navigation data
🔴 Red	Navigation data is absent (no GPS, beacons, or radar data)

EKF

EKF (Extended Kalman Filter) displays the sensor confidence level and the status of position estimation algorithms.

Relative error indicators are displayed for sensors:

• velocity;
• horizontal position;
• vertical position;
• magnetic field (compass).

This is a key tool for diagnosing navigation or sensor problems.

Color	Meaning
🟢 Green	Everything is operating normally
🟠 Orange	EKF error value exceeds 0.5 but does not exceed 0.8. This indicates problems with measured parameters (vertical or horizontal position, compass). In most cases, the cause is poor navigation data from external sources such as beacons or radar.
🔴 Red	EKF error value is 0.8 or higher. In this case, the autopilot continues to operate based on the inertial navigation system, however there is a risk of error and INS disconnection, which is an undesirable operating mode.

Vibration

Displays vibration levels along the X, Y, Z axes, as well as clipping counters (number of measurements at maximum accelerometer positions).

Regular monitoring of this parameter increases flight reliability.

Color	Meaning
🟢 Green	Value up to 30. Normal vibration level. Sensor and inertial system operation is stable.
🟠 Orange	Value 30–60. Elevated vibration level that is not fully filtered by the system but remains acceptable for flight.
🔴 Red	Value above 60. High-risk zone. Flight is possible, but strong vibrations create noise in sensors, which can lead to unstable inertial navigation system operation. The cause may be improper aircraft setup or structural platform vibrations. Flight under these conditions is possible, but navigation stability may be reduced.

Battery

Shows key power parameters:

• voltage;
• current consumption;
• remaining charge percentage.

This data is critically important for:

• planning interception time;
• calculating return distance;
• making decisions about emergency mission termination.

Color	Meaning
🟢 Green	Battery charge level above 50%. Normal operating mode, no restrictions for mission execution.
🟠 Orange	Battery charge level 20–50%. Remaining energy is limited. It is recommended to plan mission completion or UAV return.
🔴 Red	Battery charge level below 20%. Critically low charge level. The mission must be terminated immediately and the UAV must land.