U-Camera Manual (English)
Contents
1. Pin No Name Function Conn J3 1 Rx U Camera Rx Command 2 Tx U Camera Tx 3 GND Ground Reference Pin No Name Function Conn J4 1 NC NC P Su pply 2 Vin Input Voltage 9 28V 9 17V without cooling 3 GND Ground Reference Pin No Name Function Conn J5 d NC Video PAL Output Video Out Vin Video 12V to Video Ground 3 GND Video Ground 21 a v x i f udartronder U Camera User Manual U Camera electrical connections 5 _ J J3 3 L 1 EE gt HE gt EE ET 3 pe 3 3 S f cr gt LI a Pp S JL 3 e AS 4 ER 4 mx H I i XZ we 3 2 eg No El L L il ES A LI mM 11 A L n m e T e I a Li 14 o 3 E E do er ee i Le fa bg n E EE mr GE D e da eg c 19 19 mm 5 20 gt r 22 oo oS ras dle 25 25 26 DE ei 2 2 JS o J4 Figure 8 Main Harness Schematic 22 Vr x A e T El Delariranics U Camera User Manual U Camera electrical connections Appendix A Mechanical Drawings MainBoard Dimensions All distances and sizes are shown in mm Vr A gt A of ralecironies U Camera User Manual U Camera electrical connections U Camera External Size Front view Left view scale 223 Scale 2 3 Top view scale 2 3 All distance and sizes are in mm 24 Ar N A EN licita U Camera User Manual U Camera electrical connections U Camera Mounting system A Mounting2. 5 5 3 Gimbal Category Cat 0x09 The Gimbal category refers to the control of the pointing system itself This category contains the packets regarding mode selection report and rates angles command and report Packet ID Byte Packet Name Source Destination Brief 0x01 Set Mode CTRL GMB Set Gimbal Mode 0x02 Report Mote GMB CTRL Report Gimbal Mode 0x03 Set Gimbal Rates CTRL GMB Set Gimbal Rates 0x04 Report Gimbal Rates GMB CTRL Report Gimbal Rates 0x05 Set Gimbal Angles CTRL GMB Set Gimbal Angles 0x06 Report Gimbal Angles GMB CTRL Report Gimbal Angles 5 5 3 1 Set Mode Packet Cat 0x09 ID 0x01 The packet allows to set the pointing mode of the gimbal Data Position Data Type Data Data Description 0 int16 Mode Number Mode number described in the next table 14 U Camera User Manual Available Modes are Communication Protocol Ar x f El ETS ER Mode Number Mode Name Mode Description 0 Angles Command Gimbal Angles 1 Rates Command Pointing Rates 2 Safe Mode Protect the Lens 3 Pllot Front View 5 5 3 2 Report Mode Packet Cat 0x09 ID 0x02 This packet is reported periodically from the gimbal containing the operative mode number The packet structure is the following Data Position Data Type Data Mode Description 0 int16 Mode Number Mode number described in the
3. Thread M3x9 Mounting Thead M3x9 Isometric view Scale 1 1 Mounting Thread M3x9 Mounting Thread M3x9 Mounting Thread M3x9 All distances and sizes are in mm Note other mounting options are available upon request 25 Ar A U Camera User Manual U Camera electrical connections U Camera Mounting system B Mounting Mounting Hole Hole Isometric view Scale 1 1 Mounting Mounting Hole Hole Mounting Hole Mounting Top view Hole Scale 1 1 All distances and sizes are in mm ad 26 U Camera User Manual U Camera electrical connections NT fa relectronics A 27 Vr A A e d El relectronics U Camera User Manual U Camera electrical connections Appendix B Changelog This annex describes changes introduced to this document DERE Changes 2015 11 19 Added Mounting Type B 2015 11 18 Updated some expressions e Corrected Save Configuration packet description Version of document started 1 0 2015 11 03 Created Document If you need a previous version of documentation please contact us at info airelectronics es 28
4. CK B values overflowing the 8 bits should be trimmed to 8 bit with a OxFF mask if the data type is wider than 8 bits The checksum involves all the packet bytes except for the checksum bytes themselves The packet is valid if the calculated CK_A and CK B values are identical to the last two bytes of the packet A pseudocode for checksum calculation is provided in the following figure unsigned char CK_A CK_B CK_A 0 CK_B 0 For I 0 I lt N I CR A CR A Bufferlll CR B CK_B CK Pseudo code for check sum calculation Figure 4 Pseudo code for checksum calculation For testing purposes the following test packet is provided 0 1 2 3 4 5 6 7 8 9 10 11 12 CRA CKB OxCC 0x01 0x02 0x09 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 OxFC 0x74 Figure 5 Example Packet 12 Ar x PR ETS ER U Camera User Manual Communication Protocol 5 4 Data formats and structure The data used in UCSP protocol is always sent using little endian scheme The following table shows the order for the different data types used in the U Camera protocol The position indicates the order used for sending the bytes meaning that Position 0 byte is sent before Position 1 byte and so on Type Position 0 Position 1 Position 2 Position 3 Integer int Int 7 0 Int 15 8 Int 23 16 Int 31 24 Unsigned Int uint Uint 7 0 U
5. Elements A U Camera system is composed by the following elements e U Camera Board is the electronic board that computes the gimbal position and points and stabilizes it e U Camera Gimbal the proper gimbal contains the video module motors and sensors e U Camera Harness connects U Camera Board and U Camera Gimbal and provides the required connections such as power supply command interface or video output Optionally U Camera system can include the following extra elements e GPS Antenna if the embedded GPS chip is to be used an external GPS antenna must be connected Otherwise GPS velocities can be externally provided e Video transmitter in order to send the video feed from the vehicle to the ground station a video transmitter and receiver is required Vr x PR ETS ER U Camera User Manual General System Introduction 1 2 Concept of system operation The basic system operation concept is shown in Figure 1 When correctly placed U Camera Gimbal Harness and Board act as a single element U Camera The interface with other elements FCS Video transmitter is done via U Camera Harness U Camera Video Transm tter U Camera Gimbal L Camera Main Harness U Camera Board Figure 1 System concept The vehicle Flight Control System FCS is in charge of managing the gimbal commanding the required mode angles rates The power supply must be in the absolute range 9 28V and U Camera wi
6. by U Camera sending periodically reports of its status When CTRL sends a request GMB replays to the request before sending more periodic reports The periodic report packets are described in the Section 5 6 5 2 Packet structure The UCSP protocol is based on packets with variable length The packet structure is described in the following tables 0 1 2 3 4 E N 3 N 4 N 5 SYNC BYTE CATEGORY ID LENGTH PAYLOAD1 DI PAYLOADN CHK_A CHK B Position Name Description 0 Synchronization Byte OxCC Synchronization Byte 1 Category number Upcoming Packet Category 2 ld number Upcoming Packet ID number 3 Packet Length N Upcoming data Length 4 N 3 Payload Payload Content N 4 Checksum A N 5 Checksum B Note that the Packet Length Number is referred to Payload meaning that the complete packet is composed by N 6 bytes 11 Vr N 74 x PR ETS ER U Camera User Manual Communication Protocol 5 3 Checksum Calculation As described in the previous section the UCSP packets have two checksum bytes to determine the integrity of the packet This checksum is the 8 bit Fletcher algorithm which is used in the TCP standard RFC 1145 Checksum A CK A and Checksum B CK B must be initialized to zero 0x00 For each byte of the payload the byte is added to CK A and then CK B is the result of adding the previous CK_B value to CK A When adding to CK A and
7. the U Camera system contains the IMU sensors motors and encoders along with the video module U Camera Gimbal is designed to have a small factor and low weight lt 500grams so its suitable for small vehicles The gimbal provides a DB 26 high density connector to interface with U Camera Board and the rest of the system A standard analog video output PAL is available on this connector along with a 12V supply for the video transmitter 3 1 Mechanical Mounting U Camera can be easily mounted on multiple types of vehicles as described in the current section 3 1 1 Vehicle considerations U Camera gimbal is designed to be mounted on both rotary and fixed wing vehicles Although there is not a vehicle limitation mounting position and orientation considerations are described in Section 3 1 2 3 1 2 Mounting positions U Camera gimbal is designed to be mounted facing the ground from the airframe An example of correct mounting position is shown in Figure 3 Other mounting options Roll Tilt configuration or upside down will not work properly Figure 3 Example of correct mounting The mounting scheme is referred to U Camera gimbal U Camera Board can be mounted anywhere on the vehicle The harness connecting U Camera Board and Gimbal can be provided by Airelectronics or manufactured by the client following the guidelines described in the Section 6 Mounting points are described in the Appendix A Other mounting options are available upo
8. 5 5 5 External Feed Category Cat 0x0B The External Feed category contains all the communications related to the use of the alrcraft GPS instead of the gimbal one Packet ID Byte Packet Name Source Destination Brief 0x01 Send GPS Velocities CTRL GMB Provides the GPS Velocities to be used in estimation 0x02 Send GPS Position CTRL GMB Provides the GPS Position and Velocities to be used in and Velocities estimation and pointing 0x03 System Position GMB CTRL Reports current GPS Latitude Longitude and Altitude Report 0x04 Configure GPS Feed CTRL GMB Switch between onboard GPS and aircraft GPS 0x05 Send Vehicle Angles CTRL GMB Provides the Vehicle Euler Angles to be used in estimation and pointing 16 Ar A A s 2 artrnnier 5 5 5 1 Send GPS Velocities Cat Ox0B ID 0x01 Provides the GPS velocities for the gimbal calculations This packet is ignored if on board GPS Is used The packet structure Is U Camera User Manual Communication Protocol Data Position Data Type Data Data Description 0 int32 GPS Vel North meters second 1e2 1 int32 GPS Vel Est meters second 1e2 2 int32 GPS Vel Down meters second 1e2 5 5 5 2 Send GPS Position and Velocities Cat OxOB ID 0x02 Provides the GPS velocities and positions for the gimbal calculations This packet is ignored if on board GPS is used The packet structure IS Data Po
9. 5 6 Periodic Reports Packets U Camera GMB periodically send report packets to inform the controller CTRL of the gimbal status This periodic packet are listed in the following table Category ID Packet 0x08 0x01 U Camera Version Packet 0x09 0x02 Mode Report 0x09 0x04 Rates Report 0x09 0x06 Angles Report Ox0A 0x02 Zoom Report 0x0B 0x03 Position Report Note that the frequency of this packets may vary from one to another For example the Version packet is reported slower than the Angles or Rates report 18 Vr x f a alectra U Camera User Manual Communication Protocol 5 7 Protocol Summary Packet Sync Byte Category Byte Command ID Byte Length Byte Non Volatile Memory Category Save configuration to NV Memory OxCC 0x04 0x01 0x00 Device Information Category Report Gimbal Software Version OxCC 0x08 0x01 OXOE Request Gimbal Softvvare Version OXCC 0x08 0x02 0x00 Gimbal Category Set Mode OxCC 0x09 0x01 0x02 Report Mode OxCC 0x09 0x02 0x02 Set Gimbal Rates OxCC 0x09 0x03 0x06 Report Gimbal Rates OxCC 0x09 0x04 0x06 Set Gimbal Angles OxCC 0x09 0x05 0x06 Report Gimbal Angles OxCC 0x09 0x06 0x06 Camera Category Set Camera Zoom OxCC Ox0A 0x01 0x04 Report Camera Zoom OxCC Ox0A 0x02 0x04 External Feed Category Send GPS Velocities OxCC Ox0B 0x01 OXOC Send GPS Position and Velocities O
10. A d falda tronics UAV AUTOPILOTS U Camera Manual V 1 02 2015 11 19 Vr N d Pi av EE U Camera User Manual Table of Contents General SyS EM ge Ga EEE EE 4 1 1 U Camera Elements RAN 4 1 2 CONC DEO system OE Ane 5 FEB 6 SEC elt Ee IMD EEE ernia 7 NTN 7 3 1 1 Vehicle Consideratons ss 7 2MOUNINOPOSHONS EE aiseaptoians 7 Ge Leed EO O EE 8 3 1 3 1 Combustion engine vehicles helcopnters nana ee 8 1 FELE a praia 8 3 1 3 3 Electrical fixed wing vehces iaia added aa 8 A e 8 PENN 9 4 1 Powering U Camera ii 9 42 PONIO NE rv 9 e PSTN 9 AANO NCC AMOS erd 10 SM ht ne lidi dir oa 10 Seille e deu e ee 11 5 1 Protocol general description ss 11 EPER 11 5 3 Checksum Calculaton 12 5 4 Data formats and structure sis 13 gallo CON SUNG I PP e E oa 13 5 5 1 Non Volatile Memory Category Cat 0X04 aa 13 5 5 1 1 Save configuration to NV memory Cat 0x04 ID 0X01 13 5 5 2 Device Information Category Cat OX08 ala 14 5 5 2 1 Report Gimbal Version Cat 0x08 ID OX01 renee 14 5 5 2 2 Request Gimbal Version Cat 0x08 ID Ox02 aun 14 5 5 3 Gimbal Category Cat 0xX09 i 14 5 5 3 1 Set Mode Packet Cat 0x09 ID OxO1 i 14 5 5 3 2 Report Mode Packet Cat 0x09 ID 0X02 ceeccceeeeeeeeeeeeesaeeeaeees 15 5 5 3 3 Set gimbal Rates Cat 0x09 ID OX03 i 15 5 5 3 4 Repor
11. ETS ER 5 5 3 6 Report gimbal Angles Cat 0x09 ID 0x06 The reported gimbal angles represent the current position of the gimbal referred to its axis Note that these values do not necessarily match the commanded angles U Camera User Manual Communication Protocol The packet structure is Data Position Data Type Data Data Description 0 int16 Pan Angle degrees 100 1 int16 Tilt Angle degrees 100 2 int16 Roll Angle Not Implemented report is always Zero 5 5 4 Camera Category Cat 0x0A The camera category contains all the communications related to the video module and its configurations Packet ID Byte Packet Name Source Destination Brief 0x01 Set Zoom CTRL GMB Set Camera Zoom 0x02 Report Zoom GMB CTRL Report Camera Zoom 5 5 4 1 Set Camera Zoom Packet Cat 0x0A ID 0x01 This packet allows to set the camera optical zoom level The packet structure is Data Position Data Type Data Data Description 0 uint16 Zoom Value Zoom Command 0 16383 Where 0 is the minimum zoom wide and 16383 is the maximum tele 5 5 4 2 Report Camera Zoom Packet Cat 0x0A ID 0x02 The reported zoom represents the current value of the camera optical zoom In some situations the reported zoom may differ from the commanded zoom The packet structure is Data Position Data Type Data Data Description 0 int16 Zoom Value Zoom Report 0 16383
12. Using this power supply the transmitter can be connected directly to the gimbal without external regulators while maintaining the transmitter isolated from the rest of the system Vr x PR ETS ER U Camera User Manual U Camera Operation 4 U Camera Operation 4 1 Powering U Camera Before powering U Camera all the harness and wiring must be connected U Camera system is not ready for hot plugging and powerup without all the harness connected may damage the electronics U Camera accepts input voltages from 9 to 28V IMPORTANT if the power supply is above 17V active cooling of U Camera Board is highly recommended to avoid permanent damage Upon power up the camera will point momentarily to Pan 02 and Tilt O2 and then will start to stabilize in Angles Mode Defined in Section 4 2 4 2 Pointing modes U Camera accepts different modes in order to satisfy various pointing operations e Angles Mode Angles Mode will point the gimbal to the angles provided by Set Gimbal Angles Packet Section 5 5 5 Note that the Gimbal will try to stabilize the camera while maintaining the Pan Tilt angles This will stabilize the image less accurately that the Rates Mode e Rates Mode Rates Mode will completely stabilize the camera The Gimbal will keep the camera pointing to a fixed direction in the space The stabilization point can be modified using the Set Gimbal Rates Packet Section 5 5 5 3 e STOW The mode will protect the c
13. amera lens pointing it to the angle tilt 90 and pan 0 e Pilot The pilot mode will point the gimbal to tilt 0 and pan 0 to provide the front view from the vehicle This mode has a soft stabilization 4 3 GPS Configuration U Camera can work with and without GPS input However it is recommended to work with GPS input to provide the maximum pointing accuracy The GPS source can be selected according to the protocol description in section 5 5 5 4 being the following options available e Internal GPS U Camera will use the onboard GPS receiver to get the position and velocities In this case the GPS antenna must be placed correctly on the vehicle and connected to U Camera Board e External Feed U Camera will use the position and velocities send from the controller as described in the communication protocol Sections 5 5 5 1 and 5 5 5 2 If no antenna is connected and no external feed is provided U Camera will continue working but pointing accuracy may decrease in high dynamics vehicles Ar A A s 2 ertennier U Camera User Manual U Camera Operation 4 4 Vehicle Angles In order to provide the best pointing accuracy U Camera accepts the Euler Angles of the vehicle Yaw Pitch Roll as input The packet providing this angles is described in the communication protocol Section 5 5 5 5 If this packet is received U Camera will use the provided angles as vehicle angles If the packet is not being rec
14. eived U Camera will calculate the vehicle angles from the GPS source Depending on the type of vehicle and Flight Control System used externally provided vehicle angles will provide better performance 4 5 Maximum Ratings Input Characteristics Minimum Maximum Input Voltage 9V 17V 28V with cooling Operating Temperature 15 C 70 C 10 Ar x f a ETS ER U Camera User Manual Communication Protocol 5 Communication Protocol 5 1 Protocol general description U Camera communicates using the U Camera Serial Protocol UCSP UCSP is a serial protocol that allows the controller indicated as CTRL in this document to command U Camera Gimbal GMB in this document Source Destination Main Function CTRL Controller GMB U Camera Command and configuration GMB U Camera CTRL Controller Status Report and Answer UCSP is a standard serial protocol at 115200 bps 1 stop bit and no parity The communication messages are based on a standard packet structure defined in the next Section 5 2 UCSP Serial Speed Stop bit Parity Configuration 115200bps 1 None The downstream flow CTRL GMB is controlled by the master which decides the packets to be sent and when to send them Although not required it is recommended to send periodically 10Hz at least packets regarding the command mode and desired angles rates The upstream flow GMB CTRL is handled
15. he stabilization and pointing will work normally This process usually takes around one second Sync Byte Category Byte ID Byte Length Byte CR A CK B OXCC 0x04 0x01 0x00 0xD1 Ox3E DO NOT use this command during flight and remember to use a stable power supply A loss of power during the saving process may cause permanent damage to the unit 13 Ar A A s 2 artrnnier U Camera User Manual Communication Protocol 5 5 2 Device Information Category Cat 0x08 Device Information category contains the packets required to request and report the firmware version and the serial number of the unit Packet ID Byte Packet Name Source Destination Brief 0x01 Report Version GMB CTRL Report Gimbal Software Version Serial Number 0x02 Request Version CTRL GMB Request Gimbal Software Version Serial Number 5 5 2 1 Report Gimbal Version Cat 0x08 ID 0x01 The payload of the gimbal version report uses the following structure Payload Position Data Type Data Description 0 int16 MB Serial Number 1 int16 SB Serial Number 2 int32 CPUO Version 3 int32 CPU1 Version 4 int16 Non Volatile Memory Version 5 5 2 2 Request Gimbal Version Cat 0x08 ID 0x02 To request the gimbal version information an empty packet is required Sync Byte Category Byte ID Byte Length Byte CK A CK B OxCC 0x08 0x02 0x00 16 OX4C
16. int 15 8 Uint 23 16 Uint 31 24 Float float Float 7 0 Float 15 8 Float 23 16 Float 31 24 Short Int int16 Int16 7 0 Int16 15 8 Unsigned Short Int uint16 Uint16 7 0 Uint16 15 8 Byte Char byte Byte 7 0 5 5 Protocol Structure As described in section 5 2 the protocol packets are defined by a category and ld byte Categories are meant to group multiple commands related to the same element the available categories in the protocol are listed in the following table Category Byte Category Name Brief 0x04 Non Volatile Memory Commands related to the saving of the current configuration 0x08 Device Information Device Information 0x09 Gimbal Gimbal Command and Report Ox0A Camera Camera Module Command and Report OXOB External Feed External information provided to the gimbal 5 5 1 Non Volatile Memory Category Cat 0x04 This category allovvs to save the current configuration to the non volatile memory using the Save Configuration packet Packet ID Byte Packet Name Source Destination Brief 0x01 Save Configuration CTRL GMB Save configuration to Non Volatile Memory 5 5 1 1 Save configuration to NV memory Cat 0x04 ID 0x01 To save the current configuration ton the non volatile memory just send this packet with no payload During the process of saving the configuration the gimbal will not send telemetry or respond to commands although t
17. ll internally regulate the tension level In order to provide a power supply for the Video Transmitter U Camera has a 12V supply available for this purpose For more information read the section 3 1 3 3 Ar f ETS ER U Camera User Manual U Camera Board 2 U Camera Board U Camera Board is the electronic board that handles the gimbal pointing and control It is designed as a separate item from the gimbal itself This architecture allows the board to be placed anywhere inside the vehicle allowing a more efficient distribution of masses when working with small vehicles U Camera Board contains the following integrated elements e Power regulators for video electronics and motors e Main FPGA containing the two processors along with multiple logic e GPS receiver e ADC for voltage monitoring e Thermal sensor e Main DB 26 main connector Figure 2 Mainboard schematic This board must be placed on the vehicle If the on board GPS is to be used receiver antenna should be located on the upper part of the vehicle to obtain the best view of the Sky 2 1 Manipulating U Camera Board The manipulation of U Camera Board must always happen with the device disconnected from the power supply in order to avoid permanent damage To allow an easy fixation of U Camera Board it has four mounting holes described in Appendix A Ar f ETS ER U Camera User Manual U Camera Gimbal 3 U Camera Gimbal The Gimbal of
18. n request Ar f ETS ER U Camera User Manual U Camera Gimbal 3 1 3 Vibration isolation In order to obtain a satisfactory video experience it is recommended to isolate the gimbal from the vibrations that may be present in the vehicle This is specially important in vehicles powered by internal combustion engines or helicopters Regarding vibration isolation we can consider 3 types of vehicles e Combustion engine vehicles and all kind of helicopters e Electrical multi copters e Electrical fixed wing vehicles 3 1 3 1 Combustion engine vehicles helicopters If U Camera is to be mounted on this type of vehicles the use of silent blocks is mandatory If the Gimbal is not isolated from the vibrations from the vehicle the images provided by U Camera may not be satisfactory and the gimbal may suffer permanent damage 3 1 3 2 Electrical multicopters When mounted on electrical vehicles specially on multicopters the use of silent blocks is highly recommended to obtain high quality images although damaging the gimbal is less likely 3 1 3 3 Electrical fixed wing vehicles U Camera can be mounted on electrical fixed vehicles without vibration isolation although the use of silent blocks may improve quality of the images 3 2 Video Transmitter U Camera Gimbal connector provide a power supply at 12V 1A max for a video transmitter supply The pins providing the 12V and ground are described in the main connection Section 6
19. nt damage to the gimbal if powered Figure 7 DB26 Male connector 20 U Camera User Manual U Camera electrical connections Vr A A s 2 ETS Function DB26 Gimbal PIN Main DB26 Board Function Harness Internal 01 01 lt gt Internal 01 Internal 02 02 lt gt Internal 02 Internal 03 03 lt gt Internal 03 Internal 04 04 lt gt Internal 04 Internal 05 05 lt gt Internal 05 Internal 06 06 lt gt Internal 06 Internal 07 07 lt gt Internal 07 NC 08 X OV NC 09 X OV Internal 08 10 lt gt Internal 08 Internal 09 11 lt gt Internal 09 Internal 10 12 lt gt Internal 10 Internal 11 13 lt gt Internal 11 Internal 12 14 lt gt Internal 12 NC 15 X NC NC 16 X NC NC 17 gt Serial 232 Rx Command 232 Rx NC 18 gt Serial 232 Tx Command 232 Tx Internal 13 19 lt gt Internal 13 Internal 14 20 lt gt Internal 14 Internal 15 21 lt gt Internal 15 Internal 16 22 lt gt Internal 16 NC 23 X NC Video Out Sig Video 24 lt NC 12V Video Tx 12V Video 25 lt gt DC_Input Power OV Video Tx OV Video 26 lt gt OV_Input Power 6 2 U Camera Main Harness schematic In the Figure 8 a pin detailed schematic is presented As for the direct connector connector relations no detail is required The exernal connections are detailed in the following tables
20. previous table The mode definition is the same described in the previous section 5 5 3 3 Set gimbal Rates Cat 0x09 ID 0x03 The gimbal rates are the angular velocities commanded to the gimbal when the mode Rates is set Note that unless this mode is active the commands in this packet will take no effect The packet structure is Data Position Data Type Data Data Description 0 int16 Pan Rate degrees Second 100 1 int16 Tilt Rate degrees Second 100 2 int16 Roll Rate Not Implemented fill with Zero 5 5 3 4 Report gimbal Rates Cat 0x09 ID 0x04 The reported gimbal rates are the actual angular velocities of the gimbal around its axis Note that these values do not necessarily match the commanded rates The packet structure Is Data Position Data Type Data Data Description 0 int16 Pan Rate degrees Second 100 1 int16 Tilt Rate degrees Second 100 2 int16 Roll Rate Not Implemented report is always Zero 5 5 3 5 Set gimbal Angles Cat 0x09 ID 0x05 The gimbal angles are the position of the gimbal referred to its axis Note that unless the mode angle is active the commands in the packet will take no effect The packet structure is Data Position Data Type Data Data Description 0 int16 Pan Angle degrees 100 1 int16 Tilt Angle degrees 100 2 int16 Roll Angle Not Implemented fill with Zero 15 Ar f
21. provided by Airelectronics a state of the art small form factor Gimbal designed for small and medium sized UAVs U Camera can be mounted on fixed wing vehicles or rotary wing platforms such as multicopters or helicopters The system uses encoders magnetometers and GPS information to calculate the pointing with high precision Four different operation modes are available Mounted camera provides a 10X optical zoom and an horizontal resolution of 530 TV Lines Based on the same FPGA technology as U Pilot flight control system U Camera is capable of precise pointing even when mounted on vehicles with high dynamics As its twin system U Pilot U Camera is built using a two parallel microprocessor approach e One microprocessor takes care of the state estimation pointing and control of the gimbal using hardware acceleration to calculate high speed algorithms e Another processor handles secondary tasks as managing the camera modules or the communication with the UAV platform Due to the fact that those two processors are working in parallel and there is dedicated electronics taking care of all the serial ports sensors inputs and outputs the system is capable of recalculating the gimbal position and control faster than any other system providing an excellent video stabilization and pointing Using a standard RS 232 communication interface U Camera can be easily integrated with a wide range of systems available on the market 1 1 U Camera
22. sition Data Type Data Data Description 0 int32 GPS Pos Lat degrees le 1 int32 GPS Pos Lon degrees le 2 int32 GPS Pos Alt meters 1e5 3 int32 GPS Vel North meters second 1e2 4 int32 GPS Vel Est meters second 1e2 5 int32 GPS Vel Down meters second 1e2 5 5 5 3 System Position Report Cat 0x0B ID 0x03 This packet reports the last system position calculated in the gimbal Note that this position is not strictly the same as the GPS position The packet structure is Data Position Data Type Data Data Description 0 int32 System Pos Lat degrees 1e7 1 int32 System Pos Lon degrees 1e7 2 int32 System Pos Alt meters 1e5 5 5 5 4 Configure GPS Feed Cat 0x0B ID 0x04 This packet allows to configure the GPS source for the gimbal which can be the internal GPS module or an external feed via serial port The packet structure is Data Position Data Type Data Mode Description 0 byte gps feed config 0 use internal GPS Module 1 use data from serial feed 17 U Camera User Manual Communication Protocol Vr A A A _ s 2 MET 5 5 5 5 Send Vehicle Angles Cat OxOB ID 0x05 Provides the vehicle Euler angles for the gimbal calculations The packet structure is Data Position Data Type Data Data Description 0 int32 Yaw degrees 1e4 1 int32 Pitch degrees 1e4 2 int32 Roll Degrees 1e4
23. t gimbal Rates Cat 0x09 ID 0X04 ecccceeeeeeeeeaeeeeeeeeaeees 15 5 5 3 5 Set gimbal Angles Cat 0x09 ID OX05 cecccseeeseeeeeeeeseeeeseeeeeees 15 5 5 3 6 Report gimbal Angles Cat 0x09 ID Ox06 ae 16 554 Camera Category Cat OXOA Liscia 16 5 5 4 1 Set Camera Zoom Packet Cat OXOA ID OXO1 ooocccccncoccnccccncoccncnnnononos 16 5 5 4 2 Report Camera Zoom Packet Cat OXOA ID 0X02 ee 16 5 5 5 External Feed Category Cat OO 16 5 5 5 1 Send GPS Velocities Cat OXOB ID 0X01 aula ee 17 5 5 5 2 Send GPS Position and Velocities Cat OXOB ID OXO2 17 5 5 5 3 System Position Report Cat OxOB ID Ox03 ea 17 5 5 5 4 Configure GPS Feed Cat OXOB ID Ox04 ana Lee 17 5 5 5 5 Send Vehicle Angles Cat OXOB ID OX05 oocccccccccccncocncoccncococonononccnnnnos 18 5 6 Periodic Reports Dackets Re 18 Ar NR A a dC relerni U Camera User Manual D Eine 6 0 en A A a 19 6 U Camera electrical Connect a E 20 6 1 U Camera main connectors Dinout cece cc cececeeeceeeeeceeeeceeeeseeeeceeeeseeeeseeeeaeeeeeeeaes 20 6 2 U Camera Main Harness ScheMaLtic i 21 AppendpA Meenanical Drawings sleale 23 eier Tel KE Tu Lee Le ME 26 Vr N VA x f a ETS ER U Camera User Manual General System Introduction 1 General System Introduction U Camera is the Gimbal solution
24. xCC Ox0B 0x02 0x18 Report System Position OxCC OXOB 0x03 OXOC Configure GPS Feed OxCC OXOB 0x04 0x01 Send Vehicle Angles OxCC OXOB 0x05 OXOC 19 Vr A A s 2 ETS U Camera User Manual U Camera electrical connections 6 U Camera electrical connections 6 1 U Camera main connectors pinout As described in the previous sections U Camera systems is composed by two main elements U Camera Gimbal and U Camera Board The main harness connects the two of them and provide the required external interfaces such as e Video Output and Video Transmitter supply 12V e Command Interface e Main Power Supply 9 28V 9 17V without active cooling 3x 3x Command RS 232 DB 26 DB 26 Gimbal Internal Connections 16x Board Figure 6 U Camera Harness schematic Both U Camera Board and U Camera Gimbal have DB 26 male conectors To match this connectors U Camera Harness must end in two DB 26 female connectors The pinout of the DB 26 ends is presented in the Figure 7 and following table In the table harness internal connections are indicated with a green double arrow lt gt while external connections are represented with a single ended arrow lt or As indicated in section 4 1 the harness must be completely connected to all the elements before powering up the system IMPORTANT remember to connect each end to the proper element Crossing the connectors of DB 26 Board and DB 26 Gimbal may result in permane
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