dji GUIDANCE User Manual
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dji GUIDANCE User Manual

dji GUIDANCE User Manual

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GUIDANCE
User Manual
V1.6
2015.10

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Summary of Contents for dji GUIDANCE

  • Page 1 GUIDANCE User Manual V1.6 2015.10...

  • Page 2: Disclaimer

    Cautions 1. Always fly your aircraft at a safe distance from people, animals, high-voltage lines and other obstacles. 2. Keep your pets away from the aircraft when the Guidance system is activated, as the ultrasonic sensors emit high frequency sound which is audible to certain animals. 3. Do NOT use the system in severe weather conditions such as those involving snow, rain, smog or tornados.

  • Page 3: Table Of Contents

    Contents Disclaimer Cautions Legends Contents Product Profile In the Box Preparing for Use Product Introduction Supported Intelligent Systems Supported Carriers Installing the Guidance System Mounting the Guidance Core Mounting the Guidance Sensors Cable Connection Port Description Connecting the Guidance System Connecting the Intelligent System Connecting the Battery DJI Guidance Assistant Installation Configuration Calibration Upgrade © 2015 DJI. All Rights Reserved.
  • Page 4 Testing Pre-Flight Inspection Test Environment Basic Flight Tests Safety and Maintenance Product Specifications © 2015 DJI. All Rights Reserved.

  • Page 5: Product Profile

    VBUS Cable (Long) ×1 Spare cable. CAN-Bus Cable ×1 Connects the Guidance Core to the DJI flight control system*. *For simplicity, ‘DJI Matrice Flight Control System’ is referred to as ‘DJI flight control system’ in this manual. © 2015 DJI. All Rights Reserved.
  • Page 6 Guidance User Manual Micro-USB Cable ×1 Connects the Guidance Core to other intelligent systems. Supports PC connection. Micro-USB Cable Extender ×1 Use this extension cable if the Micro-USB cable is not long enough. UART Cable ×1 Connects the Guidance Core to other intelligent systems. Screw Pack M2x5 screw ×25 © 2015 DJI. All Rights Reserved.

  • Page 7: Preparing For Use

    Preparing for Use Product Introduction The Guidance system is mainly composed of the Guidance Core and Guidance Sensors, which are installed on the carrier (an aircraft or other robotic platforms) to serve as a positioning guide. The Guidance Sensor collects image data through its cameras and ultrasound data through its ultrasonic sensors, which is processed into useful information by the Guidance Core, and fed into the DJI flight control system* via a CAN-Bus cable, or to other intelligent systems via a USB or UART cable. The...

  • Page 8: Supported Intelligent Systems

    Supported Intelligent Systems The Guidance system processes image and ultrasound data which is converted into useful feedback for the intelligent system. Therefore, a suitable intelligent system is required to work with the Guidance system. Below are the supported intelligent systems.

  • Page 9: Installing The Guidance System

    Read the following requirements carefully before mounting the Guidance Core: 1. Orientate the Guidance Core so that the arrow points to the front of the carrier. If your carrier is an aircraft, the arrow should point to the nose of the aircraft.
  • Page 10 Guidance User Manual 2. Mount the Guidance Core where it will be parallel to the carrier platform, and with the least vibration. Usually, the carrier’s center of gravity experiences the fewest vibrations. 3. To prevent overheating, mount the Guidance Core in places with good ventilation.

  • Page 11: Mounting The Guidance Sensors

    Fix the Guidance brackets to the expansion bay of the DJI MATRICE. Then mount the Guidance Sensor onto the brackets. Ensure the VBUS port of the Guidance Sensor points to the front of the carrier (in the direction of the arrow shown below). Failure to do so may lead to critical system errors and unintended flight behavior.
  • Page 12 2. Mounting the Guidance Sensors on all four sides of the carrier: Fix the Guidance brackets to the Guidance Sensor. Then mount the brackets onto the extension bay of the DJI MATRICE. Ensure the VBUS port on the Guidance Sensor is facing upwards. Failure to do so may lead to critical system errors and unintended flight behavior.

  • Page 13: Cable Connection

    VBUS ports on the other Guidance Sensors are facing upwards. Failure to do so may lead to critical system errors and unintended flight behavior. Refer to the previous steps to install the Guidance system on other carriers, ensuring that all the Guidance Sensors are unobstructed. Cable Connection...
  • Page 14 XT60 port when used with the DJI MATRICE. [3]. USB Port Connects to a PC or other intelligent systems for communication. When connected to a PC, the DJI Guidance Assistant software can be used to configure the parameters of the Guidance system. Use the Guidance SDK API functions to transmit position and velocity data to the intelligent system.

  • Page 15: Connecting The Guidance System

    Guidance Core: 1. Connect the VBUS port of the front facing Guidance Sensor to the VBUS1 port of the Guidance Core. 2. Connect the VBUS port of the right facing Guidance Sensor to the VBUS2 port of the Guidance Core.

  • Page 16: Connecting The Intelligent System

    Connecting the Intelligent System Connection for DJI MATRICE Use the CAN-Bus cable to connect the Guidance Core to one of the CAN-Bus ports on the DJI MATRICE. Connections for Other Intelligent Systems If you are using other intelligent systems, access position and velocity data through the Guidance SDK API functions. The pin descriptions of the UART cable are shown in the figure below. Refer to the intelligent system’s user manual for details on connecting the cables. 1. GPIO 2.

  • Page 17: Dji Guidance Assistant

    4. Double click the desktop icon to launch the DJI Guidance Assistant software. The DJI Guidance Assistant is supported by 32-bit and 64-bit versions of Windows 7 and Windows 8. When using the Guidance SDK, be sure to set the aircraft type as DIY and select ‘USB’ or ‘UART’ from the menu. © 2015 DJI. All Rights Reserved.

  • Page 18: Configuration

    1. Standard: Standard parameters for DJI flight control systems, with default settings set for the DJI MATRICE. The position offset parameters do not need to be modified if you are using the DJI MATRICE with standard mounting positions. Otherwise, if used with other robotic platforms or the DJI MATRICE but with non-standard mounting positions, set the position offset parameters for the Guidance Sensors.
  • Page 19 Click Default to restore the default values. 2). API Parameters The Guidance system supports connections to both USB and UART ports. Choose one of these port as your preferred connection method. You may use the USB port to set the following additional parameters: a.

  • Page 20: Calibration

    Guidance Sensor Measure and fill in the position offset (X, Y, Z) and angle offset (Roll, Pitch, Yaw) between the Guidance Sensor and the intelligent system. You may choose another reference point for the Guidance system other than the intelligent system’s center of gravity. However, all the measurements must be taken relative to that same point. Calibration Always calibrate the system on the first time of use. Choose “Calibration” on the menu bar and click...
  • Page 21 2. Click Start to begin, and a large ring will appear on the calibration board. 3. Pick up the carrier and point the Guidance Sensor of the selected direction at the calibration board. A crossed circle will appear once the camera captures the board. Move the carrier up, down, left and right, at a fixed distance from the screen, to adjust the position of the crossed circle until the centers of the crossed circle and ring coincide.

  • Page 22: Upgrade

    Testing This section uses the Guidance system with the DJI MATRICE for flight tests. Pre-Flight Inspection Checklist 1. The Guidance Core is mounted firmly with the arrow pointing towards the front of the carrier. 2. The Guidance Sensors are mounted firmly. The VBUS port of the downward facing Guidance Sensor is pointing to the front of the carrier, and the VBUS ports of the other Guidance Sensors are pointing upwards. 3. All connections are made correctly and firmly. 4. Parameters are correctly configured in the DJI Guidance Assistant software. 5. Calibration is successful. © 2015 DJI. All Rights Reserved.
  • Page 23 If the Guidance Sensor LED indicator is Solid Red, redo the calibration. If the Guidance Sensor LED indicator is Blinking Red, lift the carrier 50cm above the ground for several seconds, ensuring the downward facing Guidance Sensor is unobstructed. The Guidance system will automatically detect the calibration parameters.

  • Page 24: Test Environment

    If the Guidance Sensor LED indicator is Solid Red, redo the calibration. If the Guidance Sensor LED indicator is Blinking Red, lift the aircraft 50cm above the ground for several seconds, ensuring the Guidance Sensor is unobstructed. The Guidance system will automatically detect the calibration parameters. You may also choose to fly the aircraft without the...

  • Page 25: Basic Flight Tests

    The aircraft will not be able to move in the direction of the obstacle, but can still move in the other directions. Note that obstacles in the blind spots, shown by the shaded regions in the figure below, cannot not be detected. 60° 60° 60° 60° 60° 60° © 2015 DJI. All Rights Reserved.

  • Page 26: Safety And Maintenance

    The Obstacle Sensing Function will only work if all five Guidance Sensors are mounted in the standard positions and face the correct directions - the VBUS port of downward facing Guidance Sensor must point to the front of the carrier, and the VBUS ports of the side Guidance Sensors must point upwards. The downward facing Guidance Sensor is only used for positioning, and NOT for obstacle sensing.

  • Page 27: Product Specifications

    Guidance User Manual humid or dusty areas. 4. Check that every part of the Guidance system is working properly if it is involved in a violent impact. If you have any questions or problems, please contact a DJI authorized dealer.
  • Page 28 The content is subject to change. Download the latest version from https://dev.dji.com/products/devices/guidance If you have any questions about this document, please contact DJI by sending a message to DocSupport@dji.com. © 2015 DJI. All Rights Reserved.

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