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CM160 Multi-sensor Operations Manual

Doc#: 100-104

19/16

19 of 20

Version:1.8.0

The camera state field allows the user to enable / disable certain features on the camera.

-1– Resets Camera when set to this value

0x01 – Enable Stabilisation when set. (GD170 only)

Default is OFF

0x02 –Manual Focus is enabled when set.

Default is AUTO

0x04 – Manual Exposure is enabled when set. (Control of shutter, iris, and gain)

Default AUTO

0x08 – Iris Manual is enabled when set.

Default is AUTO

0x10 – Shutter Manual is enabled when set.

Default AUTO

0x20 – Len Stabilisation is enabled when set.

Default OFF

0x40 – Picture Invert is enabled when set.

Default is OFF / normal

13.3.1

Hybrid Mode Setup:

Notes: Joystick input is configured directly in the joystick plug-in. Have the joystick
output to the following fields.

1551 for Pan control, and 1552 for Tilt control.

Содержание CM160

Страница 1: ...0 Multi Sensor Operations Manual Version 1 8 0 Doc 100 104 UAV Vision Pty Ltd 2013 Unit 2 10 Uralla Road Port Macquarie NSW 2444 Australia Phone Fax 61 0 265 811 994 support uavvision com www uavvision com ...

Страница 2: ...ded Mounting caution V1 8 0 11 06 2013 All Ported previous document across to new file template References References are specific to both the CM100 and CM160 Please refer only the documents which match the model of gimbal you are operating Reference ID Document Name Document Description 1 UV400 101_CM160_GimbalPinOuts_2 0 4 CM160 Gimbal Pin Outs 2 UV100 103_GTI_QuickStartGuide_1 0 0 Gimbal Interf...

Страница 3: ...al Mode 6 1 2 6 Iris Set 6 1 2 7 Shutter Manual Mode 6 1 2 8 Shutter Speed Set 6 1 2 9 Camera Gain Set 6 1 2 10 Stabilize Lens On Off 7 1 2 11 Picture Invert On Off 7 1 3 IR Camera controls 7 1 3 1 IR FFC Mode Select 7 1 3 2 IR Do FFC 7 1 3 3 IR FFC Set Temperature Delta 7 1 3 4 IR Zoom In 2x 7 1 3 5 IR Freeze Frame On Off 7 1 3 6 IR Video LUT 7 1 3 7 IR Video Orientation 8 2 Specifications 8 3 Co...

Страница 4: ...4 Feature Test 12 11 System Dimensions 13 12 UAV NAVIGATION with the CM160 14 12 1 CFG Tab 14 12 2 Payload Tab 14 12 3 15 13 MicroPilot with the CM160 16 13 1 Horizon GCS Configuration 16 13 2 Setup for Camera in the autopilot 17 13 2 1 Control Camera by Position 17 13 2 2 Control Camera by Velocity 17 13 2 3 Hybrid Autopilot Controls Position Joystick Control Velocity 17 13 3 Autopilot Fields for...

Страница 5: ... end stops programmed into the system with an effective travel of 900 from the centre position 1 1 2 Velocity Mode The pan and tilt can be controlled via a velocity this being an absolute system pan or tilt velocity to the CM160 This velocity is the actual velocity in degrees per second that the system will move at The velocity limit demands are 1550 sec and in 0 010 sec increments for both pan an...

Страница 6: ...camera off When the control is off it allows the user to control the iris shutter and gain manually with the manual commands listed below 1 2 5 Iris Manual Mode If the iris manual mode is turned on the iris can be controlled manually but the camera shutter and gain controls will still be automatic 1 2 6 Iris Set The iris may be set manually if you have turned off the auto exposure control or if yo...

Страница 7: ...ke it to happened The disadvantage of the auto setting is it can disturb your image at the wrong time as when this occurs your image will freeze for approximately 1 second The manual setting is generally used for this purpose although we have set the default value to Auto for basic use The user is able to switch between the automatic and manual modes for FFC 1 3 2 IR Do FFC Once in manual FFC mode...

Страница 8: ...s FLIR TAU 2 336 640 up to a 50mm lens Thermoteknix 110k 307k up to a 50mm lens Opgal 320 and 640 up to a 50mm lens 3 1 2 Daylight Cams Sony FCB EX Series block cameras Gigabit Cameras Firewire Cameras 3 1 3 Sensors Laser Range Finder 4 Unpacking the Box The CM160 is well protected and packaged It is provided in a hard ruggedised case to provide additional protection when it is removed from the pl...

Страница 9: ... Test Bench in a hanging configuration The CM160 will move in a predetermined manner during initialisation and indexing The operator cannot control the unit during this process Please note it is good practise to power the CPU supply before the Motor Supply however there is no restriction on the order when applying power The two supplies may also be connected together and powered from the same supp...

Страница 10: ...s Out TX System Communications Transmit Line RS232 15 15 V VIDEO Signal 2 IR Camera Video Signal 0 1 Vp p VID Screen Video Screen Both Outputs 0 0 V VIDEO Signal 1 Day light Camera Video Signal 1 switchable 0 1 Vp p Motor Power Current Draw 1350 4000 mA CPU Power Current Draw 200 900 mA Temperature Ambient Temperature 10 40 C Important Note The maximum voltage when using an HD sensor is 18 volts 7...

Страница 11: ... installation and usage tips The software will enable you to perform simple commands such as Pan Tilt Stabilize ON OFF and Video toggle 9 Bench Kit First time customers should have ordered and received a Bench testing kit This includes a bench stand power supply gamepad and test cables All you need to do is simply connect the serial port power and video feed and you are away You should attach your...

Страница 12: ...2 Position Controller Test Gimbal Movement RANGE PAN 360 Continuous Tilt 120 Demand the preset test angles below and record the reported values Demand Reported PASS PAN 20 02o 0 05 Y N PAN 240 02o 0 05 Y N TILT 0 02o 0 05 Y N TILT 90 02o 0 05 Y N 10 3 Gyro Stabilization NOTE Hand held movements can exceed 1000o s which is out of the range the CM100 can stabilize Either a Lazy Suzan or a rotary tab...

Страница 13: ...CM160 Multi sensor Operations Manual Doc 100 104 13 16 13 of 20 Version 1 8 0 11 System Dimensions ...

Страница 14: ...ed with UAV Vision VD170 Baud rate of 38400 Parity none 232 Next upload that data and check the Payload square where you will find telemetry and fixed ensure fixed is not ticked 12 2 Payload Tab Next go to the payload tab You can now select an angle on the AIR square and the pan tilt should move to that angle If not reboot both AP04 and the camera once the systems have been rebooted select STOW by...

Страница 15: ... Version 1 8 0 12 3 Go to Cam Rotation tab The camera should be pointing in the forward slightly down direction if it isn t then you have to program an offset i e if it is pointing left by 90deg then put 90 in the pan box and it should pan right and point forwards ...

Страница 16: ...8400 Rx Baud 658 8 Rx Bits 659 0 Rx Parity 660 depends on setup Tx Channel 661 38400 Tx Baud 662 8 Tx Bits 663 0 Tx Parity Note field 656 and 660 should be chosen from available unused TPU channels Please see Appendix A of the current MicroPilot Autopilot Installation and Operation Manual for TPU channels and their physical pin outs on the autopilots 13 1 Horizon GCS Configuration This can be used...

Страница 17: ...rocessing power of the autopilot This mode will not utilize camera stabilisation when using Camera Direct Mode 13 2 3 Hybrid Autopilot Controls Position Joystick Control Velocity Pros Allows autopilot to control angles allowing the use of the internal gains of the camera Allows user to control movement by velocity and the joystick Cons This mode will not utilise camera stabilisation User is in con...

Страница 18: ...58 or 1610 Hybrid 0 Velocity Position Additional fields available with the CM160 only Name of Field Field Description Units Video 1 Output IR 1559 0 default video 1 output vision camera 1 video 1 output IR camera 1 Resets IR camera then reverts to previous mode Boolean FFC Mode Image temperature correction 1560 0 default FFC is in Auto mode 1 FFC in manual mode 3 Performs an FFC then switches back...

Страница 19: ...ult is AUTO 0x04 Manual Exposure is enabled when set Control of shutter iris and gain Default AUTO 0x08 Iris Manual is enabled when set Default is AUTO 0x10 Shutter Manual is enabled when set Default AUTO 0x20 Len Stabilisation is enabled when set Default OFF 0x40 Picture Invert is enabled when set Default is OFF normal 13 3 1 Hybrid Mode Setup Notes Joystick input is configured directly in the jo...

Страница 20: ... to figure out the angles you must decide how the camera will be mounted first Then calculate the angles in the plane s reference from the nose of the plane and then fill in the corresponding raw values to match the angles that would be reported from the actual camera Example Mounting on the belly On the belly of the plane the camera s tilt or pitch would go from 0 degrees Facing out the nose and ...

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