XF Z-6U User Manual

Using this Manual – Legend

• ! Important
• ? Tips
• ? Explanation

Revision History

Caution

1. When not in use, store the pod in the package box. The recommended storage environment is a relative humidity less than 40% at a temperature of 20±5° C. If the lenses fog up, the water vapor will usually dissipate after turning on the device for a while.
2. Do not place the product under direct sunlight, in areas with poor ventilation, or near a heat source such as a heater.
3. Do not frequently power on/off the product. After it is turned off, wait at least 30 seconds before turning back on, otherwise the product life will be affected.
4. Make sure the pod port and pod surface are free from any liquid before installation.
5. Make sure the pod is securely installed onto the aircraft.
6. Do not plug or unplug the microSD card during use.
7. Do not touch the surface of the camera lenses and keep it away from hard objects. Doing so may lead to blurred images and affect the imaging quality.
8. Clean the surface of the camera lenses with a soft, dry, clean cloth. Do not use alkaline detergents.
9. When not receiving valid carrier INS data, the yaw shaft of the pod will drift about 15 degrees per hour because of the earth rotation. To make sure the pod attitude corrects, it is necessary to transmit valid carrier INS data; usually the GNSS should be positioning.
10. When its damping platform tilted over 45°, the pod will trigger protection mode and return to its neutral position. (except in FPV mode)

Catalog

1. Introduction
2. Synopsis
3. Characteristics
4. Overview
5. Quick-Release Module Fuselage Section Dimensions
6. Accessories
7. Port Definition
8. Installation
9. Configuration & Upgrading
10. GCU Upgrading
11. Gimbal Upgrading
12. Real-time Video Playing
13. Overheat Protection
14. Appendix 1 Wiring Diagram of Connecting to Open Source Autopilot
15. Appendix 2 MAVlink Communication Process
16. Appendix 3 MAVLink Configuration
17. ArduPilot
18. PX4

Introduction

Synopsis

The Z-6U carries a 4K resolution 240x hybrid zoom camera, combined with the AI-ISP full-color night vision imaging engine and the AI-HDR imaging engine. It can present clear full-color images in extremely low-light environments or in complex lighting environments. Featuring AI multi-object detection and tracking, the Z-6U can constantly track persons and vehicles intelligently identified in the image.

The Z-6U can be mounted tool-lessly onto multiple carriers, whether downward or upward. With the GCU and the Dragonfly software, users can watch the image from the camera and control the pod real-timely on a computer.

Characteristics

• 240x hybrid zoom camera with 4K resolution, powered by the AI-ISP full-color night vision imaging engine, delivers clear full-color images in low-light environments. Featuring AIHDR, it ensures both highlights and shadow details remain vividly visible even in complex lighting scenarios with extreme brightness contrasts.
• Features AI multi-object detection and tracking, which can constantly track persons and vehicles intelligently identified in the image.
• 3-axis orthogonal mechanical stabilized structure. The gimbal is able to spin continually around its yaw axis.
• Supports network, UART and S.BUS control and is compatible with both private protocol and MAVLink protocol.
• Thanks to the Dual-IMU complementary algorithms with IMU temperature control and carrier AHRS fusion, the gimbal provides a stabilization accuracy at ±0.01°.
• Can be mounted onto multiple carriers, whether downward or upward.
• With the Dragonfly software, users can watch the image and control the pod without protocol ducking, and download photos and videos online as well.
• With the XF-QGC software, all the functions of the pod can be achieved in conjunction with an open-source autopilot.
• Screen supports overlaying OSD information. Image supports EXIF saving. Live video stream and recording supports SEI saving. (SEI functionality will be supported via subsequent firmware updates)
• 20~53 VDC wide voltage input.

Overview

A diagram shows the Z-6U gimbal with labeled components:

• 1. Damping Platform
• 2. Zoom Camera
• 3. MicroSD Card Slot
• 4. Upgrade Port
• 5. Reserved

A label indicates "Nose Direction".

Quick-Release Module Fuselage Section Dimensions

Diagrams show the dimensions of the quick-release module:

• 67.3 mm
• 66.2 mm
• 31.3 mm
• 46 mm
• 36.75 mm
• 30 mm
• 4-∅2.6
• 4-M3×5mm

Important: Use screws of proper length to fix the Quick-Release module. Too short screws may cause the fixation insecure, and too long screws may intervene with the device.

Accessories

Images show accessories:

• J1.0 Config Module
• Network Conversion Module

Wiring diagrams illustrate connections:

1. Power Cable (PWR to XT30)
2. SIYI AirUnit Net Cable (ETH to SIYI-LAN)
3. SKYDROID H16 Net Cable (ETH to H16-LAN)
4. Network Convertor / SKYDROID H12Pro/H30 Net Cable (ETH to RJ45/H12Pro/H30-LAN)
5. Open Source Autopilot UART Cable (POD-UART to CUAV-TELEM2)

Port Definition

Diagrams illustrate port connections:

• 1. Power Port
• 2. Network Port
• 3. UART/S.BUS Port

Installation

To install the gimbal:

1. Turn the load locking knob to the unlocked position.
2. Push the load at a constant speed along the quick disconnecting guide rail until the quick disconnecting component makes a slight "click" sound.
3. Turn the knob to the locked position.

Important: Make sure the load is installed and locked after installation!

To remove the gimbal:

1. Turn the load locking knob to the release position.
2. Press and hold the load release button on the other side.
3. Remove the load.

Important:

• During use or storage, cover the SD card protection cover to prevent liquid or dust from entering.
• The pod heats while operating. Please ensure the device has good cooling.
• Do not hard-connect the pod to the carrier, and make sure that the pod does not come into contact with the carrier during use.

Tips: Supports a U3/V30 or above MicroSD card with a capacity of up to 256GB.

Configuration & Upgrading

Important:

• Ensure the gimbal and the GCU have both been upgraded to the latest firmware before use. Otherwise, usage may be affected.
• Ensure the driver of the config module is installed on the computer before configuration or upgrading.
• Before configuration, the computer should be set to a static IP address, which is in the same network segment with the GCU (without IP address conflicts). The default IP address of the GCU is 192.168.144.108.
• Do not power off the device while upgrading. Restart the device once the upgrading is complete.

Steps:

1. Connect the computer and ETH port with the Network Conversion Module. Power on the devices.
2. Run the Dragonfly display and control software to confirm that it is connected to the pod. Open the settings page.
3. Open the settings and configure the current pod.
4. When the settings are complete, click "Save".
5. Restart the pod to enable the configurations to take effect.

Tips:

• For instructions on Net Settings, CAMERA, S.BUS Setting, Calibration, Carrier, and Advance, please refer to the Dragonfly Quick Start Guide - Ribbon - Settings, or visit www.allxianfei.com to get information in the Video Center.
• After enabling OSD or target recognition, the video stream delay will increase.
• When changing the video stream resolution, the Dragonfly software or player needs to be restarted.
• After modifying network settings, the gimbal pod will automatically reboot.

GCU Upgrading

Important: Before performing the firmware upgrade, please make sure that the Dragonfly software is turned off.

Steps:

1. Connect the computer and ETH port with the Network Conversion Module. Power on the devices.
2. Run the GCU Upgrade Tool.
3. Click the "Search Device" button and wait for the host computer to search to complete.
4. After the search is complete, click "Connect" and wait for the connection to confirm that the connection is successful.
5. After the connection is successful, click "Upgrade" and the device will start upgrading. Wait for the software to prompt "upgrade successfully" to indicate that the upgrade is successful.

Explanation: Following a GCU firmware upgrade, all configurations will be restored to default values.

Gimbal Upgrading

Important: Ensure the driver of the Config Module is installed on the computer before upgrading.

Steps:

1. Connect the upgrading port and the computer with the J1.0 Config Module. Power up the pod.
2. Run GimbalConfig software. Select the COM port corresponding to the Config Module. Click "Open Port" and confirm the software and the gimbal being connected.
3. Click "Open Firmware". Select the firmware file. Click "Start Upgrade" and wait for the upgrade to complete.

Tips: For some brands of dual Type-C cables, there may be cases where the computer cannot recognize the Config Module. Please try replacing it with a Type-A to Type-C cable.

A screenshot of the GimbalConfig software is displayed.

Real-time Video Playing

Example: Camera IP address 192.168.144.108:
Stream address: rtsp://192.168.144.108

Overheat Protection

When the pod's CPU temperature exceeds 80°C, the camera feed will flicker once and enter overheat protection mode, during which the frame rate drops to 5fps. The pod automatically exits overheat protection mode when the CPU temperature falls below 75°C, at which point the frame rate returns to normal.

Appendix 1 Wiring Diagram of Connecting to Open Source Autopilot

This section provides a wiring diagram for connecting the Z-6U to an open-source autopilot, using the autopilot's TELEM2 port as an example. The diagram shows connections between the Autopilot, SIYI Digital Image Transmission Air Unit, SKYDROID R16, and SKYDROID R12Pro/R30, illustrating the use of ETH, UART/S.BUS, and PWR ports.

Appendix 2 MAVlink Communication Process

After receiving HeartBeat from the flight controller and identifying SYSID and COMPID of the flight controller, the GCU operates as follows:

1. GCU actively sends package MAVLINK_MSG_ID_HEARTBEAT at a frequency of 2Hz.
2. GCU requests the following packages in turn at a frequency of 1Hz. The flight controller fills these parameters into package MAVLINK_MSG_ID_COMMAND_LONG 76 until the request is complete:
• MAVLINK_MSG_ID_EKF_STATUS_REPORT 193 (Not this package for PX4)
• MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
• MAVLINK_MSG_ID_SCALED_IMU 26
• MAVLINK_MSG_ID_SYSTEM_TIME 2
• MAVLINK_MSG_ID_RC_CHANNELS 65
• MAVLINK_MSG_ID_CAMERA_TRIGGER 112 (Not this package for APM)
• MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE 286
• MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE 284 (Not this package for APM)
3. GCU actively sends package MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS 285 at a frequency of 100 Hz while the packages above are being received and the pod is operational.
4. Generally, the flight controller will request package MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION 283, which GCU does not send actively.

Appendix 3 MAVLink Configuration

ArduPilot

Taking the use of the autopilot's TELEM2 port as an example:

Tips: Visit https://ardupilot.org/copter/docs/common-xfrobot-gimbal.html for more support.

PX4

Taking the use of the autopilot's TELEM2 port as an example:

MAVLink

Serial

Mount

Camera Setup

Tips:

• The MAV_1_MODE is recommended as Custom.
• The AUX1 and AUX2 are just examples, which can be defined according to actual situation. It should be configured in RC Map for further application.
• The trigger mode is just an example, which can be modified according to actual situation.