NextVision Gimbals (with TRIP2)

This section describes how to set up the Nextvision with Skynode. Please refer to this page for wiring instructions and this page for specifics about the Pixhawk Payload Bus.

The officially supported gimbals are the NextVision NightHawk2, Colibri2 and Raptor. The officially supported computer is the NextVision TRIP2.

Other gimbals (DragonEye, Starling) and other computers (TRIP5, TRIP6) work as well but might have missing features or unexpected behaviors. Auterion is currently working on the final integration.

What you will need for this step

• Skynode Enterprise (powered as described in Power Skynode)

• Pixhawk Payload Bus (connected as described in Pixhawk Payload Bus)

• Microhard Air Unit (optional - connected as described in Data Link Module

• Cable provided with the Nextvision payload

• Nextvision Nighthawk2, Colibri2 or Raptor payload (not included in the kit)

• Nextvision Trip2 (not included in the kit)

Preparation

To access the payload settings you need to connect the payload via Ethernet to your computer. The default IP address for Nextvision is 192.168.0.201. This means you need to assign a static IP address on your computer's Ethernet that is in the same subnetwork (eg. 192.168.0.10) as the Nextvision camera. The next section goes through some of the payload settings that we will change to be compatible with the Auterion setup. These include:

• The default Skynode Ethernet network is 192.168.168.0/24 instead of 192.168.0.0/24

• The default Skynode video format is MP2TS instead of RTP

• The default Skynode Nextvision protocol is mavlink extended

Network Settings

• IP address: 192.168.168.201

• Gateway: 192.168.168.1

Video Settings

• Encapsulated Format: MP2TS over RTP

• Destination Port: 11024

• Disable Video Redirection

• Enable Stream IDR Mode

• Enable Roll Derotation setting is optional, it can also be changed from the camera settings in AMC

Communication Settings

• Protocol Type: Mavlink Extension

• Protocol Medium: Ethernet

• Protocol Report Port: GCS Port

• Remote IP: 192.168.168.100

• Remote Port: 10024

• Local Port: 10024

Mavlink Settings

• Mavlink Ground Crossing Height Source: Mavlink Packet - SetGimbal

• Execute Mavlink Flight Plan: disabled

• Mavlink Heartbeat Source: GCS Port

System Mode Settings

• Joy Movements During Pos. Modes: Disabled

• System Mode After Track Loss: GRR (If a valid CFoV coordinate is available, a POI will be set on the last tracked location instead)

Tracker Settings

• Enable Relocking (optional)

Camera Settings

• Enable Full Ack Mode: disabled

• Camera Initial Mode: Observation

These camera settings need to be set according to the position of the gimbal in relation to the vehicle:

• Set to Belly or Nose according to vehicle

• Enable Camera Image Flip if necessary for vehicle

• Geo Calibrate according to vehicle, if there is a rotational offset between autopilot and gimbal a calibration is needed.

OSD Settings

• OSD Mode: Disabled

• OSD Mini Map: Disabled

RC Settings

Auterion Systems support the use of a RC to control the gimbal. If used:

• Enable Remote Control

• Select channels for the functions

Setup

1. Connect the camera to the Trip2 computer.

2. Connect the Trip2 computer to the Pixhawk Payload Bus Adapter Board using the JST-GH to Ethernet RJ45 cable that is provided with the payload.

3. Follow the instructions in General Setup. This section is the same for all payloads.

IP Settings with Microhard Air Unit module connected

The default Microhard DHCP server will assign an IP address in the range 192.168.168.100 - 192.168.168.200 to Skynode.

IP Settings without Microhard Air Unit module connected

In this case, there is no DHCP server that will assign an IP to Skynode, therefore you need to set a static IP, such as 192.168.168.100.

• Login into Skynode via SSH
• Create the file /data/override.env

• Add the following environment variables

AP_CONFIGURE_ETHERNET_IP=192.168.168.100
PAYLOAD_MNG_CTRL_IP_NV=192.168.168.201

• Reboot Skynode

Features

1. Tracking Mode: The gimbal follows the selected target

2. Point of Interest: The gimbal locks on a geo coodinate. It can be set by selecting the location on the map or on the video feed.

3. GRR: The system compensates for angular and translational movement of the platform. It will attempt to maintain the ground crossing location in the center of the image.

4. Observation: Similar to GRR, but the gimbal does not compensate for translational movement of the platform. For example: If the gimbal is looking north, and the vehicle turns, the gimbal will continue looking north.

5. LPOS: Gimbal remains in fixed position relative to the vehicle.

6. EO: Switch to electro-optical image sensor

7. IR: Switch to thermal image sensor

8. Switch between photo and video mode

9. Take a picture or start and stop recording a video

10. Open the settings

11. Zoom in

12. Zoom out

13. Current Field of View (changes with zoom)

14. Virtual Joystick, only shown if enabled in the settings

15. Current Angle of the gimbal

16. Cancel POI: Only shown if a POI is set

Center Field of View

Set Camera Projection in the camera settings -> Settings to enabled. This will display a projection of the field of view on the map, with the center of the field of view marked with a yellow marker.

In addition the center field of view coordinates are displayed on the upper edge of the video stream and the map. Selecting the coordinates will freeze them to make reading them easier.

Figure 8

For VToLs AMC offers the feature of flying in a figure of 8 to keep a point of interest in the field of vision without hitting the yaw limit of the gimbal. Simply set the 8 on the map, after setting a point of interest the 8 will automatically be realigned to keep the point always in the field of view.

Supported Versions

Auterion Mission Control	AuterionOS	TRIP Firmware
v2.7.0	v1.17.0	v1.3.85/v1.4.8/v1.4.20