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Summary of Contents for XF ROBOT D-90AI
- Page 1 V1.4 D-90 2025.02 User Manual ©2025 XF All Rights Reserved...
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Page 2: Using This Manual - Legend
Using this Manual – Legend Important Tips Explanation... -
Page 3: Revision History
Revision History Date Document Version 2023.06.19 V1.0 Date Document Version 2023.10.16 V1.1 Installation: Add requirement of pod cooling.[P3] Configuring & Upgrading Firmware: 2.1 Modify default IP address of GCU (192.168.1.121 → 192.168.144.121) and default IP address of camera (192.168.1.108 → 192.168.144.108).[P4] Configuring &... - Page 4 Date Document Version 2024.10.16 V1.3 Date Document Version 2025.02.08 V1.4...
- Page 5 Caution 1. When not in use, store the D-90 in the package box. The recommended storage environment is a relative humidity less than 40% at a temperature of 20±5° C. If the lenses fog up. The water vapor will usually dissipate after turning on the device for a while.
- Page 6 Catalog Introduction Synopsis Characteristics Overview Installation Configuring & Upgrading Firmware GCU Upgrading Gimbal Upgrading Real-time Video Playing Appendix 1 Dimensions Appendix 2 SEI Data Structure Appendix 3 MAVLink Configuration ArduPilot Appendix 4 MAVlink Communication Process...
- Page 8 D-90 User Manual Introduction Synopsis The D-90 equips with a high accuracy 3-axis nonorthogonal gimbal, a 30x zoom camera and a long-wave thermal camera, which can provide visual and infrared images simultaneously. Thanks to the laser range finder, the D-90 can provide the location of a target and the distance to it that improves working efficiency.
- Page 9 D-90 User Manual Overview 1. Damping Platform 2. Thermal Camera 3. Zoom Camera 4. Laser Range Finder 5. Upgrade Port 6. Control Port 7. MicroSD Card Slot NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.
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Page 10: Installation
D-90 User Manual Installation 1. Remove the control port protector. 2. Align and insert the 4 pins into the locating holes of the mount platform. Press down the lock catch to fix the pod. The pod can be also fixed with screws through the holes on the damping platform. - Page 11 D-90 User Manual Configuring & Upgrading Firmware Ensure the gimbal and the GCU have both been upgraded to the latest firmware before use. Otherwise, usage may be affected. Ensure the diver of the config module is installed on the computer before configuring or upgrading the firmware.
- Page 12 D-90 User Manual GCU Upgrading 1. Connect the computer and UART port of the GCU with the config module. Power on the devices. 2. Run FreeFlightIAP software. Choose the COM port corresponding to the config module. 3. Click "browse", choose the firmware file, click "download" and wait for the upgrading complete.
- Page 13 D-90 User Manual Gimbal Upgrading 1. Connect the pod and the GCU with the pod control cable. Connect the computer and the gimbal upgrade port with the config module. Power on the devices. 2. Run GimbalConfig software. Choose the COM port corresponding to the config module.
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Page 14: Appendix 1 Dimensions
D-90 User Manual Appendix 1 Dimensions 41.3 55.1 127.1 Unit: mm NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD. -
Page 15: Appendix 2 Sei Data Structure
D-90 User Manual Appendix 2 SEI Data Structure typedef struct // 64 bytes. Little-endian byte order. Byte alignment uint8_t head[2]; // Header [0xEE, 0x16] struct uint8_t rng_trig:1; // Ranging trigger flag uint8_t_pip_state:3; // Pic-in-Pic Statue 0-Zoom camera (main)+Thermal camera (sub); 1-Thermal camera;... -
Page 16: Appendix 3 Mavlink Configuration
D-90 User Manual Appendix 3 MAVLink Configuration ArduPilot SERIAL1 SERIAL1_BAUD SERIAL1_OPTIONS 1024 SERIAL1_PROTOCOL SR1_ADSB 0 Hz SR1_EXIT_STAT 0 Hz SR1_EXTRA1 0 Hz SR1_EXTRA2 0 Hz SR1_EXTRA3 0 Hz SR1_PARAMS 0 Hz SR1_POSITION 0 Hz SR1_RAW_CTRL 0 Hz SR1_RAW_SENS 0 Hz SR1_RC_CHAN 0 Hz MNT1... - Page 17 D-90 User Manual The MNT1_TYPE is recommended as 6. The MNT1_ROLL_MAX, MNT1_ ROLL_MIN, MNT1_PITCH_MAX, MNT1_PITCH_MIN, MNT1_YAW_MAX and MNT1_YAW_MIN will be configured automatically depend on data from the GCU. The angle limit should be set manual while the MNT1_ TYPE is 4. The RC1~RC3 are just examples, which can be defined according to actual situation.
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Page 18: Appendix 4 Mavlink Communication Process
D-90 User Manual Appendix 4 MAVlink Communication Process After receiving HeartBeat from the flight controller, and identifying SYSID and COMPID of the flight controller, GCU will operate as below: MAVLINK_MSG_ID_HEARTBEAT 0 1. GCU actively sends package at a frequency of 2Hz. 2.
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