Z-1Mini User Manual

Reading Tips - Symbol Explanation

• ⚠️ Important Precautions

• ? Operation Tip

• ❓ Glossary and Reference Information

Version History

Product Precautions

1. After use, store the device properly in its packaging. Recommended storage environment: relative humidity < 40%, temperature 20±5°C. If the lens fogs up, the moisture will dissipate after the device is powered on for a period.
2. Do not place the gimbal in direct sunlight, poorly ventilated environments, or near heat sources like heaters.
3. Avoid frequent starting or stopping of the gimbal. Wait at least 30 seconds after shutdown before restarting to prevent affecting the device's lifespan.
4. Ensure the gimbal interface and surface are clean and dry before installation.
5. Before use, confirm the gimbal is securely mounted on the aircraft platform.
6. During use, do not insert or remove the microSD card while the device is powered on.
7. Do not touch the camera lens directly with your hands or scratch it with hard objects, as this can cause blurred images and affect image quality.
8. When cleaning the gimbal lens, use a soft, dry cleaning cloth. Do not use alkaline cleaning agents.
9. When no valid aircraft inertial navigation data is received, due to Earth's rotation, the gimbal's yaw axis may drift by approximately 15° per hour. To ensure accurate gimbal attitude without drift, transmit valid aircraft inertial navigation data to the gimbal. Typically, this requires the aircraft's GNSS positioning to be valid.
10. If the damping platform tilts more than 45°, the gimbal will trigger a protection mode and return to center (except in FPV mode).

Product Overview

Introduction

The Z-1Mini is a smart 4K full-color night vision micro gimbal equipped with a 4K visible light camera. With AI-ISP full-color night vision imaging engine and AI-HDR imaging engine, it delivers clear full-color images in low-light or high-contrast environments. The Z-1Mini features AI multi-target detection and tracking, capable of intelligently identifying pedestrians and vehicles in the scene and continuously tracking any selected target. The Z-1Mini utilizes a micro non-orthogonal three-axis mechanical stabilization structure, supporting hanging and upright installation. It works with Dragonfly display and control software for real-time image display and gimbal control on a computer. It also works with XF-QGC software to enable all gimbal functions with open-source flight controllers.

Main Features

• Equipped with a 4K resolution visible light camera, supported by the AI-ISP full-color night vision imaging engine, providing clear full-color images in low-light environments. It also features AI-HDR for clear detail presentation in complex lighting conditions with high contrast.
• AI multi-target detection and tracking function, intelligently identifying pedestrians and vehicles, and continuously tracking any target.
• Micro non-orthogonal three-axis mechanical stabilization structure, weighing only 69 grams.
• Supports network, serial port, and S.BUS control, compatible with proprietary protocols and MAVLink protocol for convenient secondary development.
• Utilizes dual IMU complementary algorithms, fused with IMU temperature control and aircraft inertial navigation data, achieving stabilization accuracy of ±0.01°. The gimbal remains stable even during aggressive aircraft maneuvers.
• Supports hanging and upright installation, allowing quick mounting on various aircraft platforms.
• Works with Dragonfly display and control software for real-time image display and gimbal control on a computer without protocol integration. It also allows downloading photos and videos.
• Works with XF-QGC software to enable all gimbal functions with open-source flight controllers.
• Supports overlaying OSD information like latitude, longitude, and altitude on the image. Photos can be written with the shooting location's coordinates in EXIF information. Real-time video streams and recordings support writing SEI information (SEI function will be supported via future firmware upgrades).
• Wide voltage input: 10~26.4 VDC.

Component Introduction

Components

• 1. Fixed-focus Camera
• 2. Vibration Damping Platform

Accessories

• J1.0 Debugging Module
• Ethernet Conversion Module

Connection Diagrams

1. Power Cable

2. SIYI Transmission Network Cable

3. Cloud Eagle H16 Network Cable

4. Ethernet Conversion Module / Cloud Eagle H12Pro/H30 Network Cable

5. Open Source Flight Control Serial Port Cable

6. S.BUS Connection Cable

Interface Introduction & Description

Version A

HDMI

Output HDMI video signal, Micro HDMI connector. Pins: 1-GND.

USB

Reserved, SM03B-SRSS-TB connector. Pins: 2-USB_D+, 3-USB_D-.

ETH

For GCU setup, GCU firmware upgrade, proprietary protocol control, video stream output, and AICore connection. SM04B-SRSS-TB connector. Pins: 1-ETH_Tx+, 2-ETH_Tx-, 3-ETH_Rx+, 4-ETH_Rx-.

UART2

For GCU IP setup, proprietary protocol control, and MAVLink protocol control. SM03B-SRSS-TB connector. Pins: 1-GND, 2-UART_Rx (0~3.3V), 3-UART_Tx (0~3.3V).

PWR

Power input, voltage 10~26.4VDC. SM05B-SRSS-TB connector. Pins: 1-Power In, 2-NC, 3-GND, 4-GND, 5-GND.

UART1

For gimbal firmware upgrade. SM03B-SRSS-TB connector. Pins: 1-GND, 2-UART_Rx (0~3.3V), 3-UART_Tx (0~3.3V).

S.BUS

S.BUS input, compatible with FASST, SFHSS S.BUS1 and FASSTest S.BUS2 protocols. SM02B-SRSS-TB connector. Pins: 1-GND, 2-S.BUS In.

Version B

HDMI

Output HDMI video signal, Micro HDMI connector. Pins: 1-GND.

SP

Audio Output (supported via future firmware upgrade). SM03B-SRSS-TB connector. Pins: 2-AUDIO_OUT+, 3-AUDIO_OUT-.

MIC

Audio Input (supported via future firmware upgrade). SM02B-SRSS-TB connector. Pins: 1-MIC+, 2-MIC-.

USB

Reserved, SM03B-SRSS-TB connector. Pins: 1-GND, 2-USB_D+, 3-USB_D-.

ETH

For GCU setup, GCU firmware upgrade, proprietary protocol control, video stream output, and AICore connection. SM04B-SRSS-TB connector. Pins: 1-ETH_Tx+, 2-ETH_Tx-, 3-ETH_Rx+, 4-ETH_Rx-.

UART2

For GCU IP setup, proprietary protocol control, and MAVLink protocol control. SM03B-SRSS-TB connector. Pins: 1-GND, 2-UART_Rx (0~3.3V), 3-UART_Tx (0~3.3V).

PWR

Power input and AICore connection, voltage 10~26.4VDC. SM06B-SRSS-TB connector. Pins: 1-Power In, 2-GND, 3-GND, 4-UART_AICore_Rx, 5-UART_AICore_Tx, 6-GND.

UART1

For gimbal firmware upgrade. SM03B-SRSS-TB connector. Pins: 1-GND, 2-UART_Rx (0~3.3V), 3-UART_Tx (0~3.3V).

S.BUS

S.BUS input, compatible with FASST, SFHSS S.BUS1 and FASSTest S.BUS2 protocols. SM02B-SRSS-TB connector. Pins: 1-GND, 2-S.BUS In.

Installation

Use four M2 screws to fix the vibration damping platform to the aircraft, ensuring sufficient damping space.

⚠️ Do not rigidly connect the gimbal to the aircraft; ensure the gimbal does not collide with the aircraft during operation.

The gimbal generates significant heat during operation. Ensure the device has good heat dissipation conditions. If heat dissipation is insufficient, a heatsink kit can be used for auxiliary cooling.

Use four M1.6xL4mm screws to fix the heatsink kit to the top of the gimbal.

The heatsink kit is not standard and must be purchased separately. The M2 screws for fixing the gimbal are not included in the package.

The heatsink kit requires separate power supply: 10~26.4VDC @0.5W.

Supports microSD cards up to 256GB, with a speed class of U3/V30 or higher.

Setup and Firmware Upgrade

⚠️ Before proceeding, ensure GCU and gimbal firmware are upgraded to the latest version, otherwise, it may affect usage.

⚠️ Before performing setup or firmware upgrade, ensure the computer has the necessary debugging module driver software installed.

Before setup, set the computer's IP address to a static IP within the same subnet as the GCU, ensuring no IP conflicts (GCU default IP: 192.168.144.108).

⚠️ During firmware upgrade, do not turn off the power, as it may damage the device. After the upgrade is complete, restart the device.

1. Connect the computer to the ETH port on the top of the gimbal using the Ethernet conversion module and power on the gimbal.
2. Run the Dragonfly display and control software and confirm the connection to the gimbal.
3. Navigate to the settings page to configure the gimbal.
4. Click "Save" after completing the settings.
5. Restart the gimbal for the changes to take effect.

For details on network settings, camera settings, S.BUS settings, calibration, aircraft data, and advanced settings, please refer to the "Dragonfly Quick Start Guide" - Functions - Settings, or visit www.allxianfei.com for video tutorials.

Enabling OSD or target recognition may increase video stream latency and decrease frame rate.

Changing the video stream resolution requires restarting the display and control software or player.

Changing network settings will cause the gimbal to restart automatically.

GCU Firmware Upgrade

⚠️ Before firmware upgrade, ensure the Dragonfly display and control software is closed.

1. Connect the computer to the ETH port on the top of the gimbal using the Ethernet conversion module and power on the gimbal.
2. Run the upgrade tool: GCU Upgrade Tool.
3. Click the "Search Device" button and wait for the host computer to complete the search.
4. After the search is complete, click "Connect" and wait for the connection to establish successfully.
5. After successful connection, click "Upgrade". The device will start upgrading, and the software prompt "upgrade successfully" indicates a successful upgrade.

After GCU firmware upgrade, configurations will revert to default values.

Gimbal Firmware Upgrade

⚠️ Before firmware upgrade, ensure the computer has the corresponding driver software installed.

1. Connect the J1.0 debugging module to UART1 and the computer, then power on the gimbal.
2. Run the gimbal configuration software GimbalConfig, select the COM port corresponding to the parameter adjustment module, and click "Start Debugging" to confirm a successful connection to the gimbal.
3. Click "Open Firmware", select the firmware file, click "Start Upgrade", and wait for the software to indicate the upgrade is complete.

For some brands of dual Type-C data cables, the computer may not recognize the debugging module. Try replacing it with a Type-A to Type-C data cable.

The GimbalConfig software interface includes sections for Language, Parameter Operation (Start Debugging, Open Parameter File, Save Parameter File, Upload Parameters, Download Parameters, Write Parameters), Gimbal Operation (Start Gimbal, Stop Gimbal), Sensors (Roll Angle, Pitch Angle, Yaw Angle, Accelerometer X/Y/Z, Gyroscope X/Y/Z), Gimbal Angle, Gyroscope Calibration, Angle 1/2/3, Communication Status, Temperature, Error Code, Firmware Version, and Upgrade controls (Open Firmware, Start Upgrade).

Real-time Video Playback & Overheat Protection

Real-time Video Playback

Example using GCU IP address 192.168.144.108:

Video stream address: rtsp://192.168.144.108

? After the gimbal starts, there may be a brief color cast, which is normal.

Overheat Protection

When the gimbal CPU temperature exceeds 80°C, the camera image will flash once, and the gimbal will enter overheat protection mode. In this mode, the frame rate will drop to 5fps. When the CPU temperature drops below 75°C, the gimbal will automatically exit overheat protection mode, and the frame rate will return to normal.

Appendix 1: Open Source Flight Control Wiring Diagram

Example using TELEM2 interface for flight control.

The diagram illustrates connections between the Autopilot (TELEM2), SIYI Digital Image Transmission Air Unit, and SKYDROID R16/R12Pro/R30. Connections include PWR, ETH, UART2, LAN, and XT30.

Appendix 2: MAVLink Communication Flow

When the GCU receives a heartbeat packet from the flight controller and identifies the flight controller's SYSID and COMPID, it triggers the following actions:

1. GCU actively sends MAVLINK_MSG_ID_HEARTBEAT (0) data packets at a frequency of 2Hz.
2. GCU requests the following data packets sequentially at 1Hz. The flight controller will fill these data into MAVLINK_MSG_ID_COMMAND_LONG (76) data packets and return them until the request is complete: MAVLINK_MSG_ID_EKF_STATUS_REPORT (193) (Not available 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 available for APM), MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286), MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE (284) (Not available for APM).
3. After receiving the above data and when the gimbal is operating normally, the GCU will actively send MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS (285) data packets at a frequency of 100Hz.
4. Typically, the flight controller will actively request the MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION (283) data packet, which the GCU does not actively send.

Appendix 3: MAVLink Configuration Instructions

ArduPilot (Firmware V4.5.7~V4.6.2 using TELEM2 interface)

ArduPilot (Firmware V4.7 and above using TELEM2 interface)

For more support, visit: https://ardupilot.org/copter/docs/common-xfrobot-gimbal.html

PX4 (using TELEM2 interface)

MAVLink

Serial

Mount

Camera Setup

? MAV_1_MODE is recommended to be set to Custom.

AUX1 and AUX2 are example channel numbers; they can be defined according to actual needs. Further usage requires mapping in the RC Map.

Trigger mode is for example purposes only; it can be modified according to actual requirements.