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FLI R

Duo P ro R Us e r Guide

Duo Pro R User Guide, Rev. 1.0

Information on this page is subject to change without notice

cog

uint16_t

Course over ground (NOT heading, but direction of movement) in degrees * 100,
0.0..359.99 degrees. If unknown, set to: 65535

Ignored

satellites_visible

uint8_t

Number of satellites visible. If unknown, set to 255

Ignored

MOUNT_STATUS (158)

Field Name

Type

Official Description

FLIR Implementation

pointing_a

uint32_t

Pitch (deg*100)

Meta = Yaw (camera)

pointing_a

uint32_t

Roll angle (rad, -pi..+pi)

Meta = Pitch (camera)

pointing_a

uint32_t

Pitch angle (rad, -pi..+pi)

Meta = Roll (camera)

Target System

uint8_t

Yaw angle (rad, -pi..+pi)

Ignored

Target Component

uint8_t

Roll angular velocity (rad/s)

Ignored

Summary of Contents for Duo Pro R

Page 1: ...FLIR Duo Pro R User Guide Duo Pro R User Guide Rev 1 0 Information on this page is subject to change without notice 1 Official Publication Date December 2017 Duo Pro R User Guide Version 1 0 ...

Page 2: ... 1 6 USB Type C Cable 12 4 Connecting to the Camera 13 4 1 MECHANICAL INTERFACE 13 4 1 1 SIZE WEIGHT 13 4 1 2 MOUNTING 13 4 2 ELECTRICAL INTERFACE 14 4 2 1 Bench Testing 14 4 2 2 COTS USB C Cables 14 4 2 3 Micro HDMI 14 4 2 4 Accessory Port 15 4 3 Software Interface 16 4 4 Connecting to a MAVLink Compatible Flight Controller 16 4 5 Camera Operation 16 5 The FLIR UAS App 19 5 1 Home Screen 19 5 1 1...

Page 3: ...eo File Types 40 6 3 1 14 bit RJPEG 40 6 3 2 14 bit TIFF 40 6 3 3 8 bit H264 41 6 4 Recommended Application Links 42 7 Care of FLIR Duo Pro R 43 Appendix A Software and Firmware Update 44 Appendix B MAVLink Implementation 46 List of Figures Figure 1 Duo Pro R 8 Figure 2 Bench Cable 9 Figure 3 Integration Cable 10 Figure 4 GPS Antenna Cable 11 Figure 5 HDMI Port Pinout 15 Figure 6 Accessory Port dr...

Page 4: ...mware Upgrade Prompts 45 List of Tables Table 1 Duo Pro R Lens Options FOV is Horizontal x Vertical 7 Table 2 Duo Pro R Accessory Port Pinout 15 Table 3 Thermal Image Formats Recorded on microSD Card 38 1 INTRODUCTION 1 1 SCOPE Designed for professional use FLIR s Duo Pro R camera system is more than a thermal camera It is a thermal measurement instrument and data recorder that adds tremendous val...

Page 5: ...nced as a resource for obtaining additional help or information The department can be accessed via the following email address flirsuas support flir com FLIR s OEM Tech Services department can also be reached at sba cores flir com 2 2 FLIR SYSTEMS DOCUMENTS Find the latest documentation listed below for reference at www flir com suas duopro Document Title Duo Pro R Quickstart Guide Web Link Duo Pr...

Page 6: ...at Field Correction FOV Field of View GUI Graphical User Interface I O Input Output ICD Interface Control Drawing Document IDD Interface Description Drawing Document IMU Internal Measurement Unit LUT Look Up Table LWIR Long Wave Infrared NTSC National Television System Committee OSD On Screen Display PAL Phase Alternating Line PWM Pulse Width Modulation RoHS Reduction of Hazardous Substances ROI R...

Page 7: ...isible sensor is 56 x 45 horizontal x vertical and the lens has a maximum distortion of 15 7 and a BFL of 10 02mm The LWIR core is based on FLIR s Tau2 camera core It has a 17um pixel pitch and comes in either a 336x256 or 640x512 pixel array Lens options and their corresponding fields of view are listed in Table 1 640 x 512 336 x 256 13 mm 45 x 37 9 mm 35 x 27 19 mm 32 x 26 13 mm 25 x 19 25 mm 25...

Page 8: ...he following components 3 1 1 FLIR Duo Pro R Camera Figure 1 Duo Pro R 3 1 2 Bench Cable The Bench Cable connects to the Duo Pro R via the 10 pin accessory port and is designed for benchtop testing prior to installing the camera on an airframe The cable comprises an XT60 connector for power an analog video RCA connector and three servo style connectors for PWM signals ...

Page 9: ... microSD card slots are for storing images and or video and for upgrading camera firmware Maximum capacity is 64GB A Class 10 or greater card should be used to achieve full camera performance RAW Thermal video files 14 bit RJPG and 14 bit TIFF files are recorded to SD Card 1 All other data are recorded on SD Card 2 See Section 6 for more details on file formats ...

Page 10: ...tion Cable The Integration Cable is for connecting the FLIR Duo Pro R to a MAVLink compatible autopilot and or standard R C PWM outputs The MAVLink interface operates at a default data rate of 57 6 kbps See Table 2 for pin definitions and Section 5 2 2Error Reference source not found for PWM signal profile Figure 3 Integration Cable ...

Page 11: ...th a clear view of the sky for proper operation The antenna included with the Duo Pro R is a Taoglas AA 162 301111 There is also a small square of double sided adhesive included with the Duo Pro R which can be used to attach the antenna body to your airframe Note the antenna has a small magnet inserted in the base for mounting FLIR recommends removing this magnet and using the included double side...

Page 12: ...the camera to a computer NOTE Connecting the Duo Pro R to a computer does NOT provide sufficient power for the camera to function correctly The Duo Pro R must be powered from an alternate source via the 10 pin connector in order to transfer files to a computer Most computer USB ports are not capable of supplying enough power to power the Duo Pro R and the camera will enter a constant reboot cycle ...

Page 13: ...een 325 and 375 grams depending on lens configuration These mechanical specs do not take into consideration any additional mounting hardware or cabling For additional details please see the Duo Pro R Technical Drawing referenced in Section 2 2 4 1 2 MOUNTING The Duo Pro R camera provides two standard tripod mounting bolt holes on the bottom of the camera Either or both threaded inserts can be used...

Page 14: ...e USB cable into the USB C port on the FLIR Duo Pro R connect power to an appropriate regulated power supply the Duo Pro R may not function properly if powered solely by a USB port on a computer and HDMI or analog video to a downlink if desired Approximate operating current of the Duo Pro R camera is 2 3 A at 5 2Vdc Note FLIR Duo Pro R has over voltage and reverse polarity protection on power pins...

Page 15: ...tailed information on each function DF13 7S 1 25C Signal Wire Color Length Construction Pin 1 PWM_1 GRN 750mm 30 30AWG Twisted Pair Pin 2 PWM_2 WHT 30 AWG Twisted Pair Pin 3 GND BLK Pin 4 PWM_3 Sync ORG 30AWG Twisted Pair Pin 5 Analog Video Out BLU 28AWG CoAxial Pin 6 Analog Video GND GREY Pin 7 Power RED 28 AWG Pin 8 Power RED 28 AWG Pin 9 Power BLK 28 AWG Pin 10 Power BLK 28 AWG Table 2 Duo Pro ...

Page 16: ...opilots Other flight controllers or I O modules may require different cables or connectors Refer to the integration cable pinout in Table 2 and the documentation for your flight controller to correctly connect your camera 4 5 Camera Operation The Duo Pro R does not have an on off switch When power is applied to the camera the Status LED blinks red for approximately 15 seconds then changes to solid...

Page 17: ...ge is captured See Section 0 for instructions on how to adjust camera modes video still image formats PWM settings and other configuration options using the FLIR UAS App Camera Status and Record LED Description Figure 7 LED Description Status LED at power up blinking RED Record LED at power up OFF Status LED at ready solid BLUE Bluetooth is enabled solid GREEN Bluetooth disabled Record LED at read...

Page 18: ...h button on the top of the camera Factory Reset Simultaneously pressing both the Record and Bluetooth buttons for 12 seconds will cause the system to reboot and do a hard reset restoring all factory default settings Note The first time the camera is powered up FLIR recommends verifying it has the latest firmware revision Please see Appendix A for update instructions ...

Page 19: ...ct the desired camera Once selected and the connection process completes the Home screen is displayed see Figure 8 The Home screen shows current camera settings and provides access to basic system configuration settings such as the camera Display Mode IR Scene settings IR Palette MSX settings visible and IR digital zoom control radiometry parameter settings and Record Mode settings video single st...

Page 20: ...DMI with minor impact to recorded RJPG images and snapshots taken during video recording See Settings for more details on recorded data types Figure 9 Video Mode 5 1 2 Scene Each Scene preset provides a combination of automatic gain control AGC settings which have been optimized by FLIR Systems to provide the best image for a specific application In many cases selecting a particular Scene preset w...

Page 21: ... of image parameters When switching between Scene settings the camera requires roughly two seconds to load If unsure which setting to use select Default 5 1 2 2 Region of Interest ROI The Region Of Interest ROI slider allows the user to set a region of interest a rectangular area of pixels on the sensor array that the Scene algorithm will use for its calculations This rectangular area can be confi...

Page 22: ...g positive values of ACE when selecting WhiteHot based color palettes and negative values when selecting BlackHot Color based palettes typically require only small if any changes to ACE 5 1 2 5 SSO The Smart Scene Optimization SSO value defines the percentage of colors that will be linearly mapped With SSO enabled the difference in gray shades between two objects is more representative of the diff...

Page 23: ...ontrast Enhances observed contrast by mapping pixel values to divergent color schemes Subtle differences between object temperatures become more apparent Lava Arctic 3 Alert Helps draw attention to the hottest subjects in a scene by applying high contrast color values to an otherwise linear distribution GreyRed InstAlert 4 Isothermal not shown Highlights any objects within certain temperature rang...

Page 24: ...gurations Figure 12 MSX Parameter Adjustment 5 1 5 FFC To maintain optimum performance thermal imaging cameras occasionally must perform an internal calibration or Flat Field Correction FFC This is accomplished using an internal shutter and takes less than 1 second A warning is provided onscreen 1 2 seconds prior to this event and can be seen in the upper right hand corner of the live image During...

Page 25: ...ured to record visible and IR as separate data 8 bit JPEG 14 bit TIFF files or as one combined FLIR Radiometric JPEG 5 1 8 2 Multiple Configures image capture at a user selectable interval similar to time lapse recordings Frames are captured as any available Photo Format Interval can be configured from one frame per second up to one every 60 seconds 5 1 8 3 Video Video can be recorded in 8 bit H 2...

Page 26: ...ence or FFF SEQ See Section 6 Sound When Start Stop Record Turns on off the audible indicator for recording Even when turned off the speaker will beep three times when the camera is ready after power up Status Light Turns on off the Status and Bluetooth LEDs LED indicators will still be displayed while camera is booting up if this setting is turned off Flip Image Select image orientation normal or...

Page 27: ...r a detailed discussion on how to obtain accurate temperature readings for UAS applications Figure 14 Radiometric Settings Temperature Unit Units of measure displayed on the analog video stream Select between Celsius and Fahrenheit Temperature Range This setting adjusts the camera sensitivity and dynamic range to provide optimum image quality Detectable temperature ranges are as follows o 25 135 C...

Page 28: ... the scene Values from 0 200m 0 218 yards can be configured Spot Meter Turns on or off the spot meter fixed 4x4 pixel array in the center of the image the on screen thermometer on the left edge of the image and the digital temperature in the lower left corner of the image The spot consists of a 4x4 pixel array that is averaged to provide the measurement Spot Meter and Scene Meter cannot be enabled...

Page 29: ... 4 Isotherm Isotherm is a unique FLIR feature that allows users to highlight specific temperatures ranges in their thermal imagery To enable Isotherm simply select one of the IR color palettes with Iso in the name and tune to temperature range limits to highlight objects of interest for your specific application Isotherm Adjustment Units Select Temperature to set your ranges in units of Celcius Se...

Page 30: ...und with these settings for your specific application to find the best palette and setting combination 5 2 1 5 Video Output Analog Video Format Select NTSC or PAL as the format of the analog video that is output to the Accessory Port This setting does not affect the format of the video that is saved to the microSD card HDMI Select the format of the video that is output to the HDMI port Options are...

Page 31: ...be controlled directly from the sUAS flight controller via PWM signals refer to the controller manual for configuration instructions as every brand of controller is a little different Select the desired setting from the list of available PWM functions No two channels can be assigned to the same function Any functions currently assigned to PWM channels will not appear in the list of available funct...

Page 32: ...FLIR Duo Pro R User Guide Duo Pro R User Guide Rev 1 0 Information on this page is subject to change without notice 32 Figure 19 Controller Settings Figure 20 PWM Functions ...

Page 33: ...5ms 20ms HIGH 2ms 20ms Frame Sync PWM channel 3 Accessory Port Pin 4 can be configured to provide a 3 3vdc output during image save operations for time synchronization with other external devices For Still images the signal is high during the capture of individual frames During Video and Timelapse the signal is high for the duration of capture Frame Sync is not available as an input to the Duo Pro...

Page 34: ...Settings The following MAVLink 3 0 commands are currently supported by the Duo Pro R FW 1 0 0 Command MAVLink ID R S Receive Send Notes HEARTBEAT 0 R S PING 4 R S If Duo Pro R has received PING then will reply with a PING SYSTEM_TIME 2 R ATTITUDE 30 R GLOBAL_POSITION_INT 33 R GLOBAL_POSITION_INT_COV 63 R HIL_GPS 113 R MOUNT_STATUS 158 R ...

Page 35: ...splitter cable to attach additional devices to a single port Duo Pro R can operate in a receive only configuration much like an OSD and therefore does not require the TX pin from the camera to be connected to the RX pin on a flight controller Only one external device can connect to the flight controller RX port This device should provide at least HEARTBEAT and request at least SYSTEM TIME and GLOB...

Page 36: ...uetooth Power Adjusts the Bluetooth transmitter power and affects the maximum range at which the Duo Pro R camera can connect to the mobile device Power values are expressed in percent Turn Off Camera Bluetooth Powers down the Bluetooth radio on the camera The camera will normally disable the Bluetooth after two minutes of inactivity unless Persistent Bluetooth is enabled About Serial Number Duo P...

Page 37: ... currently loaded on the mobile device App Upgrade Version If the mobile device is connected to the Internet the Duo Pro R app will automatically search for any available app updates If one exists the user will have the option to update by following the link to the FLIR web page Terms and Conditions Legal disclaimer warranty info usage statistics collection Reset To Factory Defaults Resets setting...

Page 38: ... data radiometric parameters can be adjusted in FLIR software Metadata dynamic per frame Visible video is contained in a separate MOV 14 bit TIFF TIFF 14 bit Tlinear data radiometric parameters fixed at time of capture Metadata only for the initial frame Visible video is contained in a separate MOV Table 3 Thermal Image Formats Recorded on microSD Card 6 1 Visible Video Formats Visible Video can b...

Page 39: ...ormat it should be noted that radiometric parameters such as emissivity and background temperature cannot be adjusted in post processing This is why FLIR generally recommends the RJPEG file format The 14 bit TIFF file format of the Duo Pro R camera contains temperature information in the form of pixel intensities These pixel values can be converted into temperature using the following formulas cou...

Page 40: ... 6 3 1 14 bit RJPEG A 30Hz video file where every frame is an RJPEG This file format is compatible with FLIR Tools and ResearchIR and allows users to edit radiometric parameters such as emissivity and background temperature in post processing Radiometric parameters such as subject emissivity and distance can be adjusted in post processing using FLIR Tools or ResearchIR software giving maximum flex...

Page 41: ...captures the color palette AGC settings and any on screen radiometry information spot meter or scene meter but cannot be adjusted in post processing Furthermore temperature information is not contained in the video file There is a SRT file recorded with each file This is a subtitle file that contains some metadata information date time GPS coordinates and altitude It is only recommended for basic ...

Page 42: ...d 55874 ResearchIR Support Line 866 477 3687 Option 3 Pix4D https pix4d com ImageJ https imagej nih gov ij download html Matlab http www mathworks com products matlab When using Matlab it is recommended that the FLIR Atlas SDK is installed to expose the full metadata set available from FLIR radiometric JPEG files http support flir com resources atlas matlab Software Developers can access full meta...

Page 43: ...ction of lens tissue with each swipe so as not to drag dust or dirt particles back over the lens surface FLIR Duo Pro R cameras have been focused at the factory and optimized for the maximum UAS range Opening the camera may compromise the external seal of the camera and factory focus may be lost FLIR Duo Pro R is neither water nor dust resistant Care for it as you would any valuable piece of elect...

Page 44: ...ettings may not be optimal with the upgraded FW 2 Download firmware update to uSD card Download then save the firmware upgrade onto the camera micro SD card either by connecting your Duo Pro R to a computer with the included Bench cable or through another suitable micro SD card reader 3 With power off insert the uSD card into Slot 1 of the Duo Pro R 4 Power on Duo Pro R Power on the Duo Pro R and ...

Page 45: ...amera by selecting Yes from the Bluetooth Disconnect dialogue The camera should reconnect and present you with the Main screen If you previously selected No in this dialogue you will need to force quit and restart the APP on your handset 7 Restore User Settings From your notes in Step 1 reconfigure any custom settings that have been reset to factory default You can also delete the firmware update ...

Page 46: ...Motors are engaged 4 MAVLink Version uint8_t MAVLink version not writable by user default PING 4 Field Name Type Official Description FLIR Implementation Time Unix uint64_t Timestamp microseconds since UNIX epoch or microseconds since system boot Ignored Sequence uint32_t PING sequence Same as official System ID uint8_t 0 request ping from all receiving systems if greater than 0 message is a ping ...

Page 47: ...Timestamp milliseconds since system boot Ignored Latitude int32_t Latitude expressed as 1E7 Meta GPS Latitude Longitude int32_t Longitude expressed as 1E7 Meta GPS Longitude Altitude MSL int32_t Altitude in meters expressed as 1000 millimeters AMSL not WGS84 note that virtually all GPS modules provide the AMSL as well Meta GPS Altitude Altitude Relative int32_t Altitude above ground in meters expr...

Page 48: ...Speed covariance float 36 Covariance matrix first six entries are the first ROW next six entries are the second row etc Ignored HIL_GPS 113 Field Name Type Official Description FLIR Implementation time_usec uint64_t Timestamp microseconds since UNIX epoch or microseconds since system boot Ignored fix_type uint8_t 0 1 no fix 2 2D fix 3 3D fix Some applications will not use the value of this field u...

Page 49: ... Ignored satellites_visible uint8_t Number of satellites visible If unknown set to 255 Ignored MOUNT_STATUS 158 Field Name Type Official Description FLIR Implementation pointing_a uint32_t Pitch deg 100 Meta Yaw camera pointing_a uint32_t Roll angle rad pi pi Meta Pitch camera pointing_a uint32_t Pitch angle rad pi pi Meta Roll camera Target System uint8_t Yaw angle rad pi pi Ignored Target Compon...

Page 50: ...d or leased in the United States The FCC regulations are designed to provide reasonable protection against interference to radio communications See 47 C F R 2 803 and 15 1 et seq Industry Canada Notice This device is a subassembly designed for incorporation into other products in order to provide an infrared camera function It is not an end product fit for consumer use When incorporated into a hos...

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