U-Camera User Manual -
Table of Contents
Table of Contents
1 General System Introduction.............................................................................................4
1.1 U-Camera Elements...................................................................................................4
1.2 Concept of system operation......................................................................................5
2 U-Camera Board................................................................................................................6
3 U-Camera Gimbal..............................................................................................................7
3.1 Mechanical Mounting..................................................................................................7
3.1.1 Vehicle considerations.........................................................................................7
3.1.2 Mounting positions..............................................................................................7
3.1.3 Vibration isolation................................................................................................8
3.1.3.1 Combustion engine vehicles / helicopters...................................................8
3.1.3.2 Electrical multicopters..................................................................................8
3.1.3.3 Electrical fixed wing vehicles.......................................................................8
3.2 Video Transmitter........................................................................................................8
4 U-Camera Operation..........................................................................................................9
4.1 Powering U-Camera...................................................................................................9
4.2 Pointing modes...........................................................................................................9
4.3 GPS Configuration......................................................................................................9
4.3.1 GPS Antenna position.........................................................................................9
4.4 Vehicle Angles and Velocities...................................................................................10
4.5 Maximum Ratings.....................................................................................................10
4.6 Autoalign Sensors.....................................................................................................10
4.7 FFC Calibration (IR only)..........................................................................................11
5 Communication Protocol..................................................................................................12
5.1 Protocol general description.....................................................................................12
5.2 Packet structure........................................................................................................12
5.3 Checksum Calculation..............................................................................................13
5.4 Data formats and structure.......................................................................................14
5.5 Protocol Structure.....................................................................................................14
5.5.1 Non Volatile Memory Category (Cat: 0x04)......................................................14
5.5.1.1 Save configuration to NV memory (Cat: 0x04, ID: 0x01)...........................14
5.5.1.2 Save FFC to NV memory (Cat: 0x04, ID: 0x02, IR Only)..........................15
5.5.2 Device Information Category (Cat: 0x08)..........................................................15
5.5.2.1 Report Gimbal Version (Cat: 0x08, ID: 0x01)............................................15
5.5.2.2 Request Gimbal Version (Cat: 0x08, ID: 0x02)..........................................15
5.5.2.3 Report Telemetry Data Frequency (Cat: 0x08, ID: 0x03)..........................15
5.5.2.4 Request Telemetry Data Frequency (Cat: 0x08, ID: 0x04)........................15
5.5.2.5 Set Telemetry Data Frequency (Cat: 0x08, ID: 0x05)................................16
5.5.3 Gimbal Category (Cat: 0x09)............................................................................16
5.5.3.1 Set Mode Packet (Cat: 0x09, ID: 0x01).....................................................16
5.5.3.2 Report Mode Packet (Cat: 0x09, ID: 0x02)................................................16
5.5.3.3 Set gimbal Rates (Cat: 0x09, ID: 0x03).....................................................17
5.5.3.4 Report gimbal Rates (Cat: 0x09, ID: 0x04)................................................17
5.5.3.5 Set gimbal Angles (Cat: 0x09, ID: 0x05)....................................................17
5.5.3.6 Report gimbal Angles (Cat: 0x09, ID: 0x06)..............................................17
5.5.4 Camera Category (Cat: 0x0A)...........................................................................17
5.5.4.1 Set Camera Zoom Packet (Cat: 0x0A, ID: 0x01).......................................18
5.5.4.2 Report Camera Zoom Packet (Cat: 0x0A, ID: 0x02).................................18
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