Airelectronics U-Camera Manual

Manual is about: gyro stabilized solution

Summary of U-Camera

  • Page 2: Table Of Contents

    U-camera user manual - table of contents table of contents 1 general system introduction.............................................................................................4 1.1 u-camera elements...................................................................................................

  • Page 3

    U-camera user manual - 5.5.4.3 report gimbal type(cat: 0x0a, id: 0x03).................................................18 5.5.5 external feed category (cat: 0x0b).................................................................18 5.5.5.1 send gps velocities (cat: 0x0b, id: 0x01)........................

  • Page 4: 1.1

    U-camera user manual - general system introduction 1 1 general system introduction general system introduction u-camera is the gimbal solution 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 veh...

  • Page 5: 1.2

    U-camera user manual - general system introduction 1.2 1.2 concept of system operation 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 (...

  • Page 6: U-Camera Board

    U-camera user manual - u-camera board 2 2 u-camera board 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...

  • Page 7: U-Camera Gimbal

    U-camera user manual - u-camera gimbal 3 3 u-camera gimbal u-camera gimbal the gimbal of 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 ( the gimbal provides a db-26 high density connect...

  • Page 8: 3.2

    U-camera user manual - u-camera gimbal 3.1.3 3.1.3 vibration isolation 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 c...

  • Page 9: U-Camera Operation

    U-camera user manual - u-camera operation 4 4 u-camera operation u-camera operation 4.1 4.1 powering u-camera 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 dam...

  • Page 10: 4.4

    U-camera user manual - u-camera operation errors may appear. The packet that the gps antenna position is described in the communication protocol (section 5.5.5.7). The position is measured in millimeters and referred to the gimbal fixed frame. The gimbal fixed frame is defined: • x axis : camera poi...

  • Page 11: 4.7

    U-camera user manual - u-camera operation 4.7 4.7 ffc calibration (ir only) ffc calibration (ir only) in order to the obtain the maximum image quality, thermal calibration is recommended. To calibrate the infrared sensor, command the ffc calibration mode using the command mode packet (section 5.5.3....

  • Page 12: Communication Protocol

    U-camera user manual - communication protocol 5 5 communication protocol communication protocol 5.1 5.1 protocol general description 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...

  • Page 13: 5.3

    U-camera user manual - communication protocol 5.3 5.3 checksum calculation 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 (r...

  • Page 14: 5.4

    U-camera user manual - communication protocol 5.4 5.4 data formats and structure 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...

  • Page 15

    U-camera user manual - communication protocol 5.5.1.2 5.5.1.2 save ffc to nv memory (cat: 0x04, id: 0x02, ir only) save ffc to nv memory (cat: 0x04, id: 0x02, ir only) to save the ffc calibration to the non-volatile memory of the video module, just send this packet with no payload. Note that this co...

  • Page 16

    U-camera user manual - communication protocol 5.5.2.5 5.5.2.5 set telemetry data frequency (cat: 0x08, id: 0x05) set telemetry data frequency (cat: 0x08, id: 0x05) the user can configure the data rate by sending this packet providing the desired data frequency. Payload position data type data descri...

  • Page 17

    U-camera user manual - communication protocol 5.5.3.3 5.5.3.3 set gimbal rates (cat: 0x09, id: 0x03) 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 pac...

  • Page 18

    U-camera user manual - communication protocol 5.5.4.1 5.5.4.1 set camera zoom packet (cat: 0x0a, id: 0x01) 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 ...

  • Page 19

    U-camera user manual - communication protocol 5.5.5.1 5.5.5.1 send gps velocities (cat: 0x0b, id: 0x01) send gps velocities (cat: 0x0b, id: 0x01) provides the gps velocities for the gimbal calculations. This packet is ignored if on-board gps is used. The packet structure is: data position data type ...

  • Page 20

    U-camera user manual - communication protocol 1 int32 pitch degrees * 1e4 2 int32 roll degrees * 1e4 5.5.5.6 5.5.5.6 send vehicle angular velocities (cat: 0x0b, id: 0x06) send vehicle angular velocities (cat: 0x0b, id: 0x06) provides the vehicle angular velocities in the host vehicle body frame (p, ...

  • Page 21: 5.6

    U-camera user manual - communication protocol 5.5.6.2 5.5.6.2 report ir palette packet (cat: 0x0c, id: 0x02) report ir palette packet (cat: 0x0c, id: 0x02) this packet reports the color scheme for the ir camera. Data position data type data data description 0 uint16 color scheme 5.6 5.6 periodic rep...

  • Page 22

    U-camera user manual - communication protocol packet sync byte category byte command id byte length byte report gimbal type 0xcc 0x0a 0x03 0x02 external feed category report gps velocities 0xcc 0x0b 0x01 0x0c report gps position and velocities 0xcc 0x0b 0x02 0x18 report system position 0xcc 0x0b 0x0...

  • Page 23: 6.1

    U-camera user manual - u-camera electrical connections 6 6 u-camera electrical connections u-camera electrical connections 6.1 6.1 u-camera main connectors pin-out u-camera main connectors pin-out as described in the previous sections u-camera systems is composed by two main elements: u-camera gimba...

  • Page 24: 6.2

    U-camera user manual - u-camera electrical connections function db26 gimbal pin main harness db26 board function internal 01 01 internal 01 internal 02 02 internal 02 internal 03 03 internal 03 internal 04 04 internal 04 internal 05 05 internal 05 internal 06 06 internal 06 internal 07 07 internal 0...

  • Page 25

    U-camera user manual - u-camera electrical connections 25 figure 8: main harness schematic.

  • Page 26: Appendix A

    U-camera user manual - u-camera electrical connections appendix a appendix a mechanical drawings mechanical drawings 26.

  • Page 27

    U-camera user manual - u-camera electrical connections 27.

  • Page 28

    U-camera user manual - u-camera electrical connections note : other mounting options are available upon request. 28.

  • Page 29

    U-camera user manual - u-camera electrical connections 29.

  • Page 30: Appendix B

    U-camera user manual - u-camera electrical connections appendix b appendix b change-log change-log this annex describes changes introduced to this document. Date changes 2016/06/07 • version up to 1.06 • added ir palette periodic report packet • added gimbal type report packet • added missing ir pac...