User Manual for XF ROBOT models including: Z-1Pro, XF ROBOT, 智能吊舱, 夜视相机, AI相机, 无人机吊舱, 飞控, MAVLink, ArduPilot, PX4, 用户手册

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先飞Z-1Pro 智能黑光全彩夜视微型吊舱 - 南京先飞机器人技术有限公司

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Document Document

Z-1Pro


V1.4 2025.08

©2025  

 - 








 2024.06.17
 2024.10.15
 2025.01.15
 2025.07.04
 2025.08.05

 V1.0
 V1.1
 V1.2
 V1.3
 V1.4


1.  40% 20±5° C 
2.  3.  30s 
 4.  5.  6.  microSD  7. 
 8. 
 9. 
 15°  GNSS  10. 45°(FPV  )





1



1



1



2



2



4



8



9

GCU 

10



11



12



12

 1 

13

 2 MAVLink 

14

 3 MAVLink 

15

ArduPilot

15

PX4

17

Z-1 


Z-1Pro  AI-ISP   AI-HDR  Z-1Pro  AI   Z-1Pro   Dragonfly   XF-QGC 

 AI-ISP    AI-HDR    AI    100   S.BUS  MAVLink    IMU  IMU   ±0.01°   Dragonfly    XF-QGC   OSD  EXIF  SEI SEI   10~26.4 VDC 
NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 1

Z-1 




2

1 1. 

2. 



J1.0 



2 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

1
2
3
4
5
6
1.  2.  3.  H16  4.  /  H12Pro/H30  5.  6. S.BUS 

Z-1 

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 3

Z-1 

 A HDMI

USB

ETH

1 2 3

1 2 3 4

PIN 1

PIN n

PWR 5 4 3 2 1

UART1 3 2 1

PIN n

PIN 1

UART2 1 2 3
SBUS 2 1

4 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

Z-1 

 



 

HDMI USB
ETH

 HDMI 

Micro HDMI -

1



SM03B-SRSS-TB 2

3

1

 GCU GCU    AICore

SM04B-SRSS-TB

2 3

4

GND USB_D+ USB_DETH_Tx+ ETH_TxETH_Rx+ ETH_Rx-

1

UART2

 GCU IP   MAVLink 

SM03B-SRSS-TB 2

3

GND UART_Rx (0~3.3V) UART_Tx (0~3.3V)

PWR

  10~26.4VDC

1 2 SM05B-SRSS-TB 3 4 5

Power In NC GND

1

UART1 

SM03B-SRSS-TB 2

3

S.BUS 

1

S.BUS

 FASSTSFHSS  S.BUS1  FASSTest  S.BUS2

SM02B-SRSS-TB

2



GND UART_Rx (0~3.3V) UART_Tx (0~3.3V) GND
S.BUS In

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 5

Z-1 
 B

HDMI USB

SP 1 2 3
PIN 1 ETH

1 2 3

1 2 3 4

PIN 1

PIN n

PWR 6 5 4 3 2 1

UART1 3 2 1

PIN n

PIN 1

MIC 1 2 PIN n UART2 1 2 3
SBUS 2 1

6 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

Z-1 

 



 

HDMI  HDMI 

Micro HDMI -

SP

 

1 SM03B-SRSS-TB 2
3

MIC

 

SM02B-SRSS-TB

1 2

1

USB 

SM03B-SRSS-TB 2

3

1

ETH

 GCU GCU    AICore

SM04B-SRSS-TB

2 3

4

1

UART2

 GCU IP   MAVLink 

SM03B-SRSS-TB 2

3

GND AUDIO_OUT+ AUDIO_OUTMIC+ MICGND USB_D+ USB_DETH_Tx+ ETH_TxETH_Rx+ ETH_RxGND
UART_Rx (0~3.3V)
UART_Tx (0~3.3V)

1 Power In
2

PWR

 AICore  10~26.4VDC

3 SM06B-SRSS-TB
4

GND

5 UART_AICore_Rx

6 UART_AICore_Tx

1

UART1 

SM03B-SRSS-TB 2

3

S.BUS 

1

S.BUS

 FASSTSFHSS  S.BUS1  FASSTest  S.BUS2

SM02B-SRSS-TB

2



GND UART_Rx (0~3.3V) UART_Tx (0~3.3V) GND
S.BUS In

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 7

Z-1 

 4  M2  
   4  M1.6 x L4mm 
M1.6 x L4
M2
 ;  M2  10~26.4VDC @0.5W  256GB  U3/V30  microSD 
8 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.



Z-1 

 GCU  
 IP  GCU  IP  GCU  IP  192.168.144.108  
1.  ETH  2.  Dragonfly  3.  ,  4. "" 5. 

S.BUS  Dragonfly Quick Start Guide-  -  www. allxianfei.com

 OSD 





NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 9

Z-1 
GCU 
 Dragonfly  1.  ETH  2.  GCU Upgrade Tool
3. "Search Device"
4. "Connect"
10 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

Z-1 
5. "Upgrade" upgrade successfully 
GCU 

 1.  J1.0  UART1  2.  GimbalConfig COM "
" 3. """"
 Type-C   Type-A  Type-C 
NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 11

Z-1 

 GCU IP  192.168.144.108  rtsp://192.168.144.108

 CPU  80  5fps CPU  75 
12 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

 1 
 TELEM2 

Z-1 

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 13

Z-1 
 2 MAVLink 
GCU  SYSID  COMPID  1. GCU  MAVLINK_MSG_ID_HEARTBEAT 0  2Hz 2. GCU  1Hz  MAVLINK_
MSG_ID_COMMAND_LONG 76  MAVLINK_MSG_ID_EKF_STATUS_REPORT 193PX4  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 112APM  MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE 286 MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE 284APM  3. GCU  MAVLINK_MSG_ ID_GIMBAL_DEVICE_ATTITUDE_STATUS 285  100Hz 4.  MAVLINK_MSG_ID_GIMBAL_DEVICE_ INFORMATION 283  GCU 
14 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

 3 MAVLink 
ArduPilot
 TELEM2   V4.5.7~V4.6.2

SERIAL2 SERIAL2_BAUD SERIAL2_OPTIONS SERIAL2_PROTOCOL SR2 SR2_ADSB SR2_EXIT_STAT SR2_EXTRA1 SR2_EXTRA2 SR2_EXTRA3 SR2_PARAMS SR2_POSITION SR2_RAW_CTRL SR2_RAW_SENS SR2_RC_CHAN MNT1 MNT1_TYPE MNT1_DEFLT_MODE CAM CAM1_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 (SToRM32 Mavlink) 0 (Retracted)
6 (MAVLinkCamV2)

Z-1 

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 15

Z-1 
 TELEM2   V4.7 

SERIAL2_PROTOCOL SERIAL2_BAUD CAM1_TYPE MNT1_TYPE MNT1_ROLL_MIN MNT1_ROLL_MAX MNT1_PITCH_MIN MNT1_PITCH_MAX MNT1_YAW_MIN MNT1_YAW_MAX MNT1_RC_RATE RC6_OPTION RC7_OPTION RC9_OPTION

8 (Gimbal) 115 / 250 / 500 / 1000 (  ) 4 (Mount) 14 (XFRobot) -50 50 -145 60 -180 180 60 (deg/s) 213 (Mount Pitch) 214 (Mount Yaw) 163 (Mount Lock)

 https://ardupilot.org/copter/docs/common-xfrobot-gimbal.html 

16 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

Z-1 

PX4
 TELEM2 

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)

MAV_1_MODE  Custom
AUX1AUX2   RC Map  

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. 17



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