.. _andruav-de-native: ==================================== What Is New: DroneEngage Inside ==================================== Andruav 15 has a new engine. The phone now runs the **real DroneEngage modules**, the same modules that run on a Raspberry Pi. Andruav and DroneEngage now use one protocol, one WebClient and one account. .. image:: /images/diagrams_2026/andruav_native_stack_2026.svg :align: center :alt: The DroneEngage modules de_comm, de_mavlink and andruav_phone inside the Andruav phone | .. list-table:: :header-rows: 1 :widths: 25 75 * - Module - Job * - ``de_comm`` - Connects the phone to the Mission Server (``cloud.ardupilot.org`` or your own :ref:`air-gap server `). * - ``de_mavlink`` - Connects to the ArduPilot flight controller. Sends telemetry and receives commands. * - ``andruav_phone`` - Gives the phone parts to the system: the camera, the sound, the flash, the screen and the SMS. .. tip:: **Prove your idea on a phone. Ship it on DroneEngage.** A mission that works on Andruav works on a DroneEngage Raspberry Pi too. When people depend on the vehicle, move it to a Pi. You keep the same WebClient and the same account. | The Home Screen =============== The home screen shows the state of the system on one page. |pic_off| |pic_on| .. |pic_off| image:: ./images/andruav_de/andruav_home_not_connected.jpeg :height: 500px :alt: Home screen before connection - Native Unit Offline, SIGN-IN and CONNECT buttons .. |pic_on| image:: ./images/andruav_de/andruav_home_connected.jpeg :height: 500px :alt: Home screen connected - Native Unit Online, SECURED, flight telemetry linked, all modules live | **Mission Server card** * **SIGN-IN** opens the account screen. Enter your email and access code. * **CONNECT** starts ``de_comm`` and ``de_mavlink``. The card then shows **Native Unit Online** and the state of each module. * **SECURED** shows that the phone checks the TLS certificate of the server. * **DISCONNECT** stops the modules. **Flight Telemetry card** * Shows the vehicle type, the link, the flight mode and the arm state. * Shows the GPS satellites, the battery and the signal. * **ENABLE TELEMETRY** opens a UDP port on the server for Mission Planner or QGroundControl. The card shows the address, for example ``andruav.com:40952``. Tap again to close it. See :ref:`andruav-telemetry`. **Modules** .. list-table:: :header-rows: 1 :widths: 15 85 * - Tile - Tap it to * - **PHONE** - Open the phone screen: IMU, GPS and SMS (see below). * - **FPV** - Open the camera and the video stream. See :ref:`andruav-fpv`. * - **Com** - See the state of the server link. * - **FCB** - Connect the flight controller (see below). A tile is green when its module is live. A tile is grey when its module is offline. | Connect the Flight Controller ============================= Tap the **FCB** tile. Select the link that your vehicle uses: * **Bluetooth** * **USB** * **Wi-Fi / TCP-IP** * **UDP Broadcast** — Andruav listens on a local port, for example ``14550``. .. image:: ./images/andruav_de/andruav_fcb_sheet.jpeg :height: 500px :align: center :alt: FCB connection sheet with Bluetooth, USB, Wi-Fi/TCP-IP and UDP Broadcast | The WebClient can also send a connect command to the FCB. The phone then links the FCB in the same way. | The PHONE Screen ================ Tap the **PHONE** tile. The screen has three tabs. |pic_imu| |pic_gps| |pic_sms| .. |pic_imu| image:: ./images/andruav_de/andruav_imu.jpeg :height: 420px :alt: PHONE screen IMU tab - attitude, phone status and raw sensors .. |pic_gps| image:: ./images/andruav_de/andruav_gps.png :height: 420px :alt: PHONE screen GPS tab - phone GPS fix, GPS Injection and Ignore Mobile Sensors .. |pic_sms| image:: ./images/andruav_de/andruav_sms.jpeg :height: 420px :alt: PHONE screen SMS tab - SMS commands, allowed contacts, PIN and dry run | **IMU tab** * Shows the roll, the pitch and the heading of the phone. * **CALIBRATE**, **FRONT** and **ZERO TILT** set how the phone is mounted on the vehicle. * Shows the phone battery, the FCB battery, the flight mode, the speed and the altitude. * Shows the raw values of the accelerometer, the gyroscope and the compass. **GPS tab** * Shows the phone GPS fix: the satellites, the accuracy and the age. * Shows which GPS the unit uses: the board GPS or the phone GPS. * **GPS Injection** — *coming*. It is not active in this version. See :ref:`andruav-gps-injection`. * **Ignore Mobile Sensors** — never use the IMU or the GPS of the phone. **SMS tab** * Control the vehicle with SMS when there is no internet. See :ref:`andruav-sms`. | Comm-Loss Failsafe ================== When the link to the server stops, ``de_mavlink`` sets the flight controller to a failsafe mode. It does this on the phone itself. It does not need the app screen or a ground station. #. Open **Settings**. #. Go to **DroneEngage native**. #. Turn on **Comm-loss flight failsafe**. #. In **Failsafe flight mode**, select the mode: ``rtl`` (default), ``smart_rtl``, ``land``, ``loiter``, ``pos_hold`` or ``brake``. .. image:: ./images/andruav_de/andruav_settings_native.jpeg :height: 500px :align: center :alt: Settings - DroneEngage native section with Comm-loss flight failsafe | .. warning:: Test the failsafe in SITL or on the ground first. See :ref:`andruav-simulators`. | Themes for Outdoor Use ====================== Open the menu (⋮) and tap **Theme**. Select: * **Dark** — the default. * **Light** * **Sun** — high contrast and larger text for direct sunlight. You can also set **Full brightness in Sun**. * **Follow system** |pic_theme| |pic_sun| .. |pic_theme| image:: ./images/andruav_de/andruav_theme_sheet.jpeg :height: 480px :alt: Theme selector - Dark, Light, Sun, Follow system .. |pic_sun| image:: ./images/andruav_de/andruav_home_sun.jpeg :height: 480px :alt: Home screen in the Sun theme | Settings ======== The settings are in groups. The main groups are: .. list-table:: :header-rows: 1 :widths: 28 72 * - Group - What you set * - Connection & Security - **Require SSL verification**. Keep it on. Turn it off only for a private server whose certificate the phone cannot check. * - FCB & Telemetry - Auto connect the FCB, auto start the app, ignore the phone sensors, GPS injection (*coming*). * - NTRIP / RTK - Caster, port, mountpoint and account (*coming*). * - FPV & Settings - The camera, the resolution, the RC camera switch, and the STUN / TURN servers for video. * - Safety & Recovery - Flight mode failsafe, minimum battery, flash screen and lost siren to find a lost vehicle, RC block. * - DroneEngage native - Comm-loss flight failsafe and its flight mode. |pic_conn| |pic_safe| .. |pic_conn| image:: ./images/andruav_de/andruav_settings_connection.jpeg :height: 480px :alt: Settings - Connection & Security and FCB & Telemetry .. |pic_safe| image:: ./images/andruav_de/andruav_settings_safety.jpeg :height: 480px :alt: Settings - Safety & Recovery | Permissions =========== At the first start, Andruav asks for permissions. Andruav needs them for these features: .. list-table:: :header-rows: 1 :widths: 40 60 * - Permission - Used for * - ``CAMERA`` - FPV video and photos. * - ``ACCESS_FINE_LOCATION`` - The phone GPS. * - ``READ_SMS``, ``SEND_SMS``, ``RECEIVE_SMS`` - SMS commands and SMS info. * - ``READ_PHONE_STATE`` - The mobile signal level. * - ``READ_MEDIA_*`` - Saved photos, videos and sound files. * - ``POST_NOTIFICATIONS`` - The notification that keeps Andruav on in the background. .. image:: ./images/andruav_de/andruav_security.jpeg :height: 450px :align: center :alt: Security dialog that lists the missing permissions | Tap **OK** and give each permission in the Android dialogs.