先飞技术 | 全产业链自研与制造
User Manual for XF ROBOT models including: D-80AI, D-80AI Dual View Drone Pod, Dual View Drone Pod, Drone Pod
File Info : application/pdf, 18 Pages, 482.96KB
DocumentDocumentD-80AI
User Manual
V1.4 2025.02
©2025 XF All Rights Reserved
Using this Manual Legend
Important
Tips
Explanation
Revision History
Date 2023.06.19 Date 2023.10.16
Document Version V1.0 Document Version V1.1
1.
Installation: Add requirement of pod cooling.[P3]
2.
Configuring & Upgrading Firmware:
2.1 Modify default IP address of GCU
(192.168.1.121 192.168.144.121)
and default IP address of camera
(192.168.1.108 192.168.144.108).[P4]
3.
Configuring & Upgrading Firmware - Camera Configuring & Firmware
Upgrading:
3.1 Modify address of camera configuring webpage (http://192.168.1.108/
cgi-bin/config http://192.168.144.108/cgi-bin/config).[P4]
3.2 Modify supported stream mode (RTSP & UDP RTSP).[P5]
3.3 Add explanation of camera firmware upgrading.[P6]
4.
Add explanation of real-time video playing.[P6]
5.
Appendix 1 Specifications:
5.1 Add parameters of laser lighting module (Laser power and Beam
Diameter).[P8]
5.2 Modify supported stream network protocol (Delete UDP).[P8]
5.3 Modify supported maximum SD card capacity (128GB 256GB).[P8]
6.
Add Appendix 2: SEI Data Structure.[P9]
Date 2024.03.12
Document Version V1.2
1.
Appendix 1 Specifications: Modify parameters of object detection/
identification/ verification distance of zoom camera.[P7]
2.
Modify Appendix 2: SEI Data Structure.[P10]
Date 2024.10.16
Document Version V1.3
Date 2025.02.08
Document Version V1.4
Caution
1. The D-80AI equipped with a laser lighting module, which is a Class 3B invisible laser. DO NOT exposure eyes to the beam within 12 meters or observe the beam by any optical instrument. DO NOT place any inflammable within 20 centimeters in front of the lighting module.
2. When not in use, store the D-80 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.
3. Do not place the product under direct sunlight, in areas with poor ventilation, or near a heat source such as a heater.
4. 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.
5. Make sure the pod port and pod surface are free from any liquid before installation.
6. Make sure the pod is securely installed onto the aircraft, the microSD card slot cover is clean and firmly in place.
7. Make sure the pod surface is dry before opening the microSD card slot cover.
8. Do not plug or unplug the microSD card during use. 9. Do not touch the surface of the camera lenses and keep it away from hard
objects. As doing so may lead to blurred images and affect the imaging quality. 10.Clean the surface of the camera lenses with a soft, dry, clean cloth. Do not use alkaline detergents. 11. 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. 12.When its damping platform tilted over 45° , the pod will trigger protection mode and return to its neutral position. (except in FPV mode)
Catalog
Introduction
1
Synopsis
1
Characteristics
1
Overview
2
Installation
3
Configuring & Upgrading Firmware
4
GCU Upgrading
5
Gimbal Upgrading
6
Real-time Video Playing
6
Appendix 1 Dimensions
7
Appendix 2 SEI Data Structure
8
Appendix 3 MAVLink Configuration
9
ArduPilot
9
PX4
10
Appendix 4 MAVlink Communication Process
11
D-80 User Manual
Introduction
Synopsis
The D-80AI equips with a high-accuracy 3-axis nonorthogonal gimbal, a wide-angle camera and a 30x zoom camera. User can quickly switch to a highly magnified zoom camera view after recognizing a target in a wide camera view. Thanks to the laser lighting module, the D-80AI can provide a clear image even in complete dark environments. The D-80AI have AI multi-object detection and tracking function. The gimble camera can intelligently identify the persons and vehicles in the image, and constantly track one of them. The D-80AI can be mounted tool-lessly onto multiple carriers, whether downward or upward. With the GCU and the Dragonfly software, user can watch the image from the camera and control the pod real-timely on a computer.
Characteristics
Features AI multi-object detection and tracking, which can constantly track one of the persons and vehicles intelligently identified in the image. Combination of wide-angle camera and 30x zoom camera, which can quickly switch between overall and detailed view. Laser lighting module ensures the cameras getting a clear image even in complete darkness. Low-profile spherical shape and 3-axis nonorthogonal mechanical stabilized structure, minimize the gyration radius and the wind resistance of the pod. The D-80AI is able to spin continually around its yaw axis. With the GCU, the D-80AI supports network, UART and S.BUS control. The GCU supports both private protocol and MAVlink protocol. Thanks to the Dual-IMU complementary algorithms with IMU temperature control and carrier AHRS fusion, the D-80AI provides a stabilization accuracy at ±0.01° . Can be mounted onto multiple carriers, whether downward or upward. With the GCU and the Dragonfly software, user can watch the image and control the pod without protocol ducking. Screen supports overlaying OSD information such as latitude, longitude and altitude. Image supports shooting point coordinate EXIF save.Video stream supports SEI stacking. 14~53 VDC wide voltage input.
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D-80 User Manual
Overview
6 1 2
5 3
4
7
8
1. Damping Platform 3. Zoom Camera 5. Laser Lighting Module 7. Control Port
2. Heatsinkz 4. Wide Camera 6. Upgrade Port 8. MicroSD Card Slot
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D-80 User Manual
Installation
1. Remove the control port protector. 2. Align and insert the 4 pins into the locating holes of the mount platform.
Press down the lock catch to fix the pod. The pod can be also fixed with screws through the holes on the damping platform. 3. Plug the pod control cable into the control port and install the port protector back.
While upward mounted or mounted at carriers with large vibration or impact, the pod should be fixed with screws nor the quick-release locks. Gently plug or unplug the cable. Avoid hardly pull the cable. Avoid squash the cable while installing the port protector. Ensure the microSD card slot cover is firmly in place to prevent dust or moisture entering during usage or storage. The pod heats while operating. Please ensure the device 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. The MicroSD card should be configured as HDD-FAT32 mode.
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D-80 User Manual
Configuring & Upgrading Firmware
Ensure the gimbal and the GCU have both been upgraded to the latest firmware before use. Otherwise, usage may be affected. Ensure the diver of the config module is installed on the computer before configuring or upgrading the firmware. Before configuring, the computer should be set to a static IP address, which is in the same network segment with the GCU and the camera (without IP address conflicts). The default IP address of the GCU and the camera are 192.168.144.121 and 192.168.144.108. Do not power off the device while upgrading the firmware. Restart the device once firmware upgrade is complete.
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. When the settings are complete, click "Save". 4. Restart the pod to enable the configurations to take effect.
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 the www.allxianfei.com to get information in the Video Center.
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GCU Upgrading
D-80 User Manual
1. Connect the computer and UART port of the GCU with the config module. Power on the devices.
2. Run FreeFlightIAP software. Choose the COM port corresponding to the config module.
3. Click "browse", choose the firmware file, click "download" and wait for the upgrading complete.
For more information, please refer to the GCU User Manual , or log in to the www.allxianfei.com to obtain information in the Video Center.
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D-80 User Manual
Gimbal Upgrading
1. Connect the pod and the GCU with the pod control cable. Connect the computer and the gimbal upgrade port with the config module. Power on the devices.
2. Run GimbalConfig software. Choose the COM port corresponding to the config module. Click "Open Firmware" , choose the firmware file, click "Start Upgrade" and wait for the upgrading complete. 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.
Visit the www.allxianfei.com for more information in the Video Center.
Real-time Video Playing
Example as camera IP address 192.168.144.108: Stream address: rtsp://192.168.144.108/554
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Appendix 1 Dimensions
D-80 User Manual 82
38.8
8.9
6-M2
42.6
46.9
94 104
127.1
26.8
98.5
80 75
25
30
Unit: mm
R55.3 76
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D-80 User Manual
Appendix 2 SEI Data Structure
typedef struct // 64 bytes. Little-endian byte order. Byte alignment {
uint8_t head[2]; // Header [0xEE, 0x16] struct {
uint8_t rng_trig:1; // Ranging trigger flag uint8_t_pip_state:3; // Pic-in-Pic Statue
0-Zoom camera (main)+Thermal camera (sub); 1-Thermal camera;
2-Thermal camera (main)+ Zoom camera (sub); 3-Zoom camera
uint8_t data_valid:1; //Validity flag of carrier's coordinate, carrier's attitude and camera's attitude
uint8_t tgt_valid:1; //Validity flag of target's coordinate uint8_t reserved:2; // Reserved flag } flag; int32_t uav_lon; // Longitude of carrier. [-180° , 180° ). Resolution 1e-7deg int32_t uav_lat; // Latitude of carrier. [-90° , 90° ]. Resolution1e-7deg int32_t uav_alt; // Altitude of carrier. Resolution 1mm int32_t uav_hgt; // Relative height of carrier. Resolution 1mm int16_t uav_phi; // Roll angle of carrier. [-180° , 180° ). Resolution 0.01deg int16_t uav_the; // Pitch angle of carrier. [-90° , 90° ]. Resolution 0.01deg uint16_t uav_psi; // Yaw angle of carrier. [0° , 360° ). Resolution 0.01deg int16_t cam_phi; // Roll angle of camera. [-90° , 90° ]. Resolution 0.01deg int16_t cam_the; // Pitch angle of camera. [-180° , 180° ). Resolution 0.01deg uint16_t cam_psi; // Yaw angle of camera. [0° , 360° ). Resolution 0.01deg uint16_t cam1_zoom; // Zoom rate of zoom camera. Resolution 0.01x uint16_t cam2_zoom; // Zoom rate of thermal camera. Resolution 0.01x uint16_t rng_dist; // Distance from target. Resolution 0.1m (Invalid, 0) uint16_t gnss_week; //GNSS week uint32_t gnss_itow; //GNSS microsecond. Resolution 1ms int32_t tgt_lon; // Longitude of target. [-180° , 180° ). Resolution 1e-7deg (Invalid, 0) int32_t tgt_lat; // Latitude of target. [-90° , 90° ]. Resolution 1e-7deg (Invalid, 0) int32_t tgt_alt; // Altitude of target. Resolution 1mm (Invalid, 0) uint16_t cam1_fl1x; // Focal length of zoom camera at 1x. Resolution 0.01mm uint16_t cam2_f1x; // Focal length of thermal camera at 1x. Resolution 0.01mm uint8_t reserved[4]; // Reserved uint8_t check_sum; // Checksum } SdSei_t;
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Appendix 3 MAVLink Configuration
D-80 User Manual
ArduPilot
SERIAL1 SERIAL1_BAUD SERIAL1_OPTIONS SERIAL1_PROTOCOL SR1 SR1_ADSB SR1_EXIT_STAT SR1_EXTRA1 SR1_EXTRA2 SR1_EXTRA3 SR1_PARAMS SR1_POSITION SR1_RAW_CTRL SR1_RAW_SENS SR1_RC_CHAN MNT1 MNT1_TYPE RC1 RC1_OPTION RC2 RC2_OPTION RC3 RC3_OPTION CAM CAM_TRIGG_TYPE
115 1024 2
0 Hz 0 Hz 0 Hz 0 Hz 0 Hz 0 Hz 0 Hz 0 Hz 0 Hz 0 Hz
4 (Gremsy) / 6 (SToRM32 Mavlink)
213 (MOUNT1_PITCH)
214 (MOUNT1_YAW)
163 (MOUNT1_LOCK)
3 (Mount)
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D-80 User Manual
The MNT1_TYPE is recommended as 6. The MNT1_ROLL_MAX, MNT1_ ROLL_MIN, MNT1_PITCH_MAX, MNT1_PITCH_MIN, MNT1_YAW_MAX and MNT1_YAW_MIN will be configured automatically depend on data from the GCU. The angle limit should be set manual while the MNT1_ TYPE is 4.
The RC1~RC3 are just examples, which can be defined according to actual situation.
PX4
MAVLink MAV_1_CONFIG MAV_1_MODE MAV_1_RATE Serial SER_TEL2_BAUD Mount MNT_MAIN_PITCH MNT_MAIN_YAW MNT_MODE_IN MNT_MODE_OUT Camera Setup Trigger mode
Trigger interface
TELEM2 Custom / Gimbal 115200 B/s
115200 8N1
AUX1 AUX2 Auto (RC and Mavlink Gimbal) MAVLink gimbal protocol v2
Distance based, on command (Survey mode) MAVLink (forward via MAV_CMD_IMAGE_START_ CAPTURE)
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.
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D-80 User Manual
Appendix 4 MAVlink Communication Process
After receiving HeartBeat from the flight controller, and identifying SYSID and COMPID of the flight controller, GCU will operate as below:
1. GCU actively sends package MAVLINK_MSG_ID_HEARTBEAT 0 at a frequency of 2Hz.
2. GCU requests 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 completing. MAVLINK_MSG_ID_EKF_STATUS_REPORT 193 (No 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 (No this package for APM); MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE 286; MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE 284 (No 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 being received and the pod being operational.
4. Generally, the flight controller will request package MAVLINK_MSG_ID_ GIMBAL_DEVICE_INFORMATION 283 , which GCU does not send actively.
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