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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

0x03

0x0C

Configure GPS Feed

0xCC

0x0B

0x04

0x01

Send Vehicle Angles

0xCC

0x0B

0x05

0x0C

Set GPS Antenna Position

0xCC

0x0B

0x06

Request GPS Antenna Position

0xCC

0x0B

0x07

0x00

Report GPS Antenna Position

0xCC

0x0B

0x08

0x06

IR Specific Category

Set IR Palette

0xCC

0x0C

0x01

0x02

Report IR Palette

0xCC

0x0C

0x02

Summary of Contents for U-Camera

Page 1: ......

Page 2: ... 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...

Page 3: ...cle Angular Velocities Cat 0x0B ID 0x06 20 5 5 5 7 Set GPS Antenna Position Cat 0x0B ID 0x07 20 5 5 5 8 Request GPS Antenna Position Cat 0x0B ID 0x08 20 5 5 5 9 GPS Antenna Position Report Cat 0x0B ID 0x09 20 5 5 6 IR Specific Category Cat 0x0C 20 5 5 6 1 Set IR Palette Packet Cat 0x0C ID 0x01 20 5 5 6 2 Report IR Palette Packet Cat 0x0C ID 0x02 21 5 6 Periodic Reports Packets 21 5 7 Protocol Summ...

Page 4: ...e 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 inte...

Page 5: ... other elements FCS Video transmitter is done via U Camera Harness 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 will 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 pu...

Page 6: ... and motors Main FPGA containing the two processors along with multiple logic GPS receiver ADC for voltage monitoring Thermal sensor Main DB 26 main connector 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 2 1 Manipulating U Camera Board...

Page 7: ...onsiderations 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 3 1 2 Mounting positions Mounting positions U Camera gimbal is designed to be mounted facing the ground from the airframe An example of correct mounting ...

Page 8: ...es provided by U Camera may not be satisfactory and the gimbal may suffer permanent damage 3 1 3 2 3 1 3 2 Electrical multicopters 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 3 1 3 3 Electrical fixed wing vehicles Electrical fixe...

Page 9: ... stabilization point can be modified using the Set Gimbal Rates Packet Section 5 5 5 3 STOW The mode will protect the camera lens pointing it to the angle tilt 90 and pan 0 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 4 3 GPS Configuration GPS Configuration U Camera can work with and without GPS inp...

Page 10: ...Control System used externally provided vehicle angles will provide better performance 4 5 4 5 Maximum Ratings Maximum Ratings Input Characteristics Minimum Maximum Input Voltage 9V 17V 28V with cooling Operating Temperature 15 ºC 70 ºC 4 6 4 6 Autoalign Sensors Autoalign Sensors U Camera devices are precisely calibrated during manufacturing but small perscusions may introduce bias into the sensor...

Page 11: ...d To calibrate the infrared sensor command the FFC Calibration mode using the command mode packet Section 5 5 3 1 U Camera will point itself to the Pan 0º Tilt 90º and perform the calibration When the process finishes the gimbal will switch to Angles mode IMPORTANT this action may be commanded while flying althouth perform it on the ground is encouraged maximize the quality 11 ...

Page 12: ...o 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 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 S...

Page 13: ...flowing the 8 bits should be trimmed to 8 bit with a 0xFF 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 pseudo code for checksum calculation is provided in the following figure For testing purposes the follow...

Page 14: ...to the saving of the current configuration 0x08 Device Information Device Information 0x09 Gimbal Gimbal Command and Report 0x0A Camera Camera Module Command and Report 0x0B External Feed External information provided to the gimbal 0x0C IR Specific Specific commands for the IR payload 5 5 1 5 5 1 Non Volatile Memory Category Cat 0x04 Non Volatile Memory Category Cat 0x04 This category allows to sa...

Page 15: ...requency for telemetry data 0x05 Set Data Frequency CTRL GMB Set Data Frequency for telemetry data 5 5 2 1 5 5 2 1 Report Gimbal Version Cat 0x08 ID 0x01 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 CPU0 Version 3 int32 CPU1 Version 4...

Page 16: ...gles 0x06 Report Gimbal Angles GMB CTRL Report Gimbal Angles 5 5 3 1 5 5 3 1 Set Mode Packet Cat 0x09 ID 0x01 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 Available Modes are Mode Number Mode Name Mode Description 0 Angles Command Gimbal Angles 1 Ra...

Page 17: ... 3 5 Set gimbal Angles Cat 0x09 ID 0x05 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 ...

Page 18: ...bal Type Value Gimbal Type Description 0x00 Invalid Undefined 0x01 IR Gimbal 0x02 Daylight Gimbal 5 5 5 5 5 5 External Feed Category Cat 0x0B External Feed Category Cat 0x0B The External Feed category contains all the communications related to the use of the aircraft GPS instead of the gimbal one Packet ID Byte Packet Name Source Destination Brief 0x01 Send GPS Velocities CTRL GMB Provides the GPS...

Page 19: ...meters second 1e2 5 int32 GPS Vel Down meters second 1e2 5 5 5 3 5 5 5 3 System Position Report Cat 0x0B ID 0x03 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 i...

Page 20: ...Meters 1e3 mm 5 5 5 8 5 5 5 8 Request GPS Antenna Position Cat 0x0B ID 0x08 Request GPS Antenna Position Cat 0x0B ID 0x08 Sending this packet with no payload causes U Camera to report the GPS Antenna position on memory using packet described in 5 5 5 9 5 5 5 9 5 5 5 9 GPS Antenna Position Report Cat 0x0B ID 0x09 GPS Antenna Position Report Cat 0x0B ID 0x09 Reports current GPS Antenna position The ...

Page 21: ...rt 0x0C 0x02 Report IR Palette 5 7 5 7 Protocol Summary Protocol Summary Packet Sync Byte Category Byte Command ID Byte Length Byte Non Volatile Memory Category Save configuration to NV Memory 0xCC 0x04 0x01 0x00 Save FFC Calibration to NV Memory 0xCC 0x04 0x02 0x00 Device Information Category Report Gimbal Software Version 0xCC 0x08 0x01 0x0E Request Gimbal Software Version 0xCC 0x08 0x02 0x00 Re...

Page 22: ...ort GPS Position and Velocities 0xCC 0x0B 0x02 0x18 Report System Position 0xCC 0x0B 0x03 0x0C Configure GPS Feed 0xCC 0x0B 0x04 0x01 Send Vehicle Angles 0xCC 0x0B 0x05 0x0C Set GPS Antenna Position 0xCC 0x0B 0x06 0x06 Request GPS Antenna Position 0xCC 0x0B 0x07 0x00 Report GPS Antenna Position 0xCC 0x0B 0x08 0x06 IR Specific Category Set IR Palette 0xCC 0x0C 0x01 0x02 Report IR Palette 0xCC 0x0C ...

Page 23: ...ve cooling 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 while external connections are represented with a single ended arrow or As indica...

Page 24: ...nternal 14 20 Internal 14 Internal 15 21 Internal 15 Internal 16 22 Internal 16 NC 23 X NC Video Out Sig Video 24 NC 12V Video Tx 12V Video 25 DC_Input Power 0V Video Tx 0V Video 26 0V_Input Power 6 2 6 2 U Camera Main Harness schematic 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 exe...

Page 25: ...U Camera User Manual U Camera electrical connections 25 Figure 8 Main Harness Schematic ...

Page 26: ...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: ...r IR Camera Added Save FFC to NV memory for IR Camera Added IR Palette command for IR Camera 2016 04 01 Version up to 1 04 Added Data Frequency Report and configuration Removed position packet from periodic report 2016 02 15 Version up to 1 03 Added Autoalign modes Added GPS antenna position packets 2015 11 19 Added Mounting Type B 2015 11 18 Updated some expressions Corrected Save Configuration p...

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