Astro uses Freefly SuperLight Batteries, the SL-8 Air version. This is a brief summary of their essential functions. For complete documentation and specifications, see the SuperLight Battery Wiki.

Charging

Connect the charger to a power outlet and the battery. The onboard battery management system will do the rest. A lightning bolt symbol indicates the battery is charging. The screen will show a charging time estimate.

Installation

Slide the batteries into the rails on top of Astro until the latches click. Check that the latches are fully down. It is also recommended to pull the battery in the opposite direction to ensure that the battery cannot be removed without releasing the latch.

Press the button twice to activate. Activating one battery automatically activates the other battery.

Usage

Press the button once to check state of charge. Press again to activate the battery (i.e. to enable output).

Press the button to cycle through top-level screens. Hold for detail, when available. Press to return to top level.

When a battery is ejected from a device, it will automatically enter standby. After 30 seconds of inactivity, the battery will revert to standby automatically. To activate standby manually, press and hold the button.

Removal

Pull up on the latch to release the battery. Continue to hold the latch and slide the battery free from the Astro.

Power Devices via USB-C

The USB-C port can provide power to devices like the Herelink controller.

Connect the cable and activate the battery.

Flying Back-to-Back

Four sets of SuperLight batteries and 6 SL Fast Chargers are needed to fly Astro back-to-back continuously. Assumes every pack is drained to 6% and pack temperatures are low enough to permit immediate charging. In hot weather, the batteries must cool before flying add one set of batteries.

Herelink

Astro ships with the Herelink system. Here is the CubePilot documentation. Below are a few points specific to usage with Astro.

Hardware Controls

Herelink ships in Mode 2 configuration. (Freefly have not tested Mode 1 extensively.)

Mission Control GUI

Herelink ships with the Auterion Mission Control (AMC) app installed. Details of the GUI are in the AMC section of the wiki.

Setup

The color scheme can be set to Outdoor (white background) or Indoor (black background) in AMC > Settings.

Screen brightness and audio volume can be adjusted in Android settings, found by using the pull down gesture from the top of the screen. We recommend maximum brightness and volume.

Antennas

Antennas should be oriented so that the whip antenna points vertically upward and the disc patch antenna's top surface faces Astro.

Control Sticks

The Herelink Controller that is shipped with Astro comes with two different styles of control sticks. You can use whichever kind you want depending on if you are a "pinch" style or a "thumb" style grip.

To change the sticks, simply unscrew them like a standard bolt and thread on the other stick version.

Charging

Charging requires at least 2 amps of current. Less will cause the device to charge slowly or even loose charge.

While flying, we power Herelink with SL-8 batteries. Herelink consumes approximately 3% of the SL-8 battery per hour. (USB-C to USB Micro-B cables are sometimes tough to find, so we carry them in the Freefly Store.)

WiFi

Internet

Herelink can access the internet by connecting to wifi networks. Doing so allows you to download satellite maps for offline use.

To connect Herelink to Wifi:

1. Drag your finger from the top of the touch screen in a downward motion.

2. Press and hold the Wifi button, as shown in the above picture.

3. Select your Wifi network and enter the password if required.

Assuming you have the correct information and a working Wifi access point, Herelink should now be connected to the internet.

Hotspot

Herelink can create a wifi network to facilitate connecting iPad/PC to Astro in flight, for example, to run AMC or a companion app like ESRI Site Scan.

UDP Link

If you aren't able to connect after following the above steps, you'll need to add a new UDP link on the connecting device (laptop/tablet). Tap the AMC icon in the top-left corner, then settings>comm links to create a new UDP Link. Fill in the settings as shown below:

Once that configuration is created, you'll need to select it from the list and hit "Connect". Alternatively, you can set it up to automatically connect on start as shown in the screenshot.

Binding the Herelink Air unit to Controller

1. Prepare non-metallic tweezers or toothpick.

2. Remove the Herelink Cover and Seal.

3. Install one battery on Astro and activate.

4. Turn on Herelink Pilot Handset.

5. Slide down from the top of screen and select the Herelink Radio Status message.

6. On the Herelink Radio page, tap “Pair”.

7. Using tweezers, press and hold the Herelink Air Unit "Pair/Reset" button until LED2 blinks (hold approximately 3 seconds).

8. Verify the Herelink Pilot Handset shows a status of "PAIRED" and uplink rate is non-zero.

9. Open the AMC app on Herelink Pilot Handset and verify connection to the aircraft.

10. Power off Astro and optionally Herelink Pilot Handset.

11. Replace the Herelink Cover and Seal.

Android

Isolator Configuration

There are several different isolator designs for Astro:

• Astro Isolator - This isolator is an updated version of the Smart Dovetail Isolator for better vibration rejections and robustness. It is compatible with both the Mapping Payload and the Wiris Pro Payload.

• Smart Dovetail/Mapping Isolator - This isolator shipped with early Mapping Payloads and has the Smart Dovetail connector for payloads that use the Pixhawk Payload Standard.

• Integrator Isolator - This is best for custom payloads and offers several mounting bolt patterns. It does not have any electrical connection to the aircraft.

All three isolators can be configured for a variety of payloads by adjusting the amount of Dampers and swapping between Dampers with different stiffness's. A good rule of thumb is if your payload is swinging too much the system needs more stiffness and if the payload is vibrating it needs less!

Astro Isolator

This isolator works well for most payloads that use the Smart Dovetail connector and weigh up to 1.5kg. This includes the Mapping Payload and the Wiris Pro Payload. The isolator comes with 6x 30A durometer Dampers, and mounts to the bottom of the Astro lower chassis. To install:

1. Use a M3x4 BHCS to attach the safety cable to the aircraft, applying Loctite 222 or similar to the fastener.
2. Use a QTY 3 M3x8 SHCS to attach the isolator cartridges to the aircraft, applying Loctite 222 or similar to the fasteners.

4. Then plug the payload connector cable into the I/O port.

Mapping Isolator

This isolator is tuned for the Mapping Payload and comes with 4x 30A durometer Dampers.

1. When using this isolator with the Mapping Payload we do not recommend altering the stiffness to ensure the systems performs optimally. We do not recommend using this isolator with the Wiris Pro Payload

2. To install the isolator, use 4 M3x8 BHCS to attach the top plate of the isolator structure to the aircraft, applying Loctite 222 or similar to the fasteners.

3. Use a M3x4 BHCS to attach the safety cable to the aircraft, applying Loctite 222 or similar to the fastener.

4. Then plug the payload connector cable into the I/O port.

5. Insure the damper washers are installed on the bottom of the dampers. These prevent the isolator dampers from being pulled through the metal structure during aggressive flight maneuvers.

Integrator Isolator

This isolator is best for custom payloads and has several mounting options. The mounting points and dimensions are available here

1. This isolator kit comes with 6 x 30A durometer Dampers.

2. To increase isolator stiffness try the following;

   A. Increase the durometer of the dampers to 40A or 50A. These are available in our store

3. To decrease isolator stiffness try the following;

   A. Decrease the number of Isolators to 4 by removing one damper from the front right and left pair. This is only recommended for payloads lighter than 400g.

4. To install the isolator:

   A. Pull 3 sets of the desired Dampers through the outer holes on the isolator plate.

   B. Install the Damper washers. Pinch the Dampers and gently slide the rubber into the slit in the washer.

   C. Flip over Astro and locate the three M3 holes highlight below

   D. Use QTY 3 of M3 x 8 SHCS screws to attach the isolator to the chassis of Astro, applying Loctite 222 or similar to the fasteners.

Damper Identification

1. Isolator dampers durometers can be identified using the cap color;

   A. White/Light Grey - 30A

   B. Dark Grey - 40A

   C. Black - 50A

RTK

Astro contains an integrated Freefly RTK unit. Just add a Freefly RTK GPS (sold separately) to enable centimeter-level positioning data.

This is a brief highlight of points relevant to Astro. For full documentation, see the .

Settings

Adjust accuracy and other settings in .

PPK

Emlid Reach RS2

First time config

Configures output to be compatible with Astro.

• Install SIM card (optional).

• Open ReachView 3 app (iOS or Android). Connect to RS2. via wifi and open the Reach Panel (192.168.42.1)

• Logging > Raw Data > Settings:

  • RINEX 3.03

  • Satellite systems: check all

  • Logging Interval: 1s

  • This log is for OPUS: Checked

  • Measured height, m: [Height of your pole]

  • Automatically start recording when receiver is turned on: Optional. We use this.

• Logging > Position > Settings:

  • Automatically start recording when receiver is turned on: Optional. We use this.

• Logging > Base Correction > Settings:

  • Automatically start recording when receiver is turned on: Optional. We use this.

• Correction input (optional, requires network connection via wifi or cellular). This is not necessary for high accuracy results, but a live correction feed will allow another avenue of finding the GPS's position to high accuracy. With network corrections, the GPS absolute accuracy should increase to cm level.

  • Enter credentials.

Setup

Perform this procedure before flying Astro.

• Install Reach R2S on pole.

  • Optional: Position pole over GCP

RINEX Download

• Connect to RS2 via wifi

• Open EmlidView 3 app. Logging.

• stop logging if its running

• Download the RINEX file and the pos file if desired.

Trimble R2,10,12

Follow manual to enable recording either on boot or on demand. To download the data, stop recording, then go to the data store and select the correct file. Pick the option to convert and download and choose observables and ephermis, and RINEX 3.03 or 3.04 format.

(More details coming soon)

Tersus Oscar

Use the NUWA app and connect to the Tersus Oscar. Go to SURVEY tab, and select static survey. Enter the duration to be max (1440 minx), interval 1hz, RINEX format 3.04, select mount type, and enter the antenna height on the given mount. Select start, and make sure the timer starts counting.

When done, reconnect with the NUWA app and go back to static survey, and then stop the recording. Use a USB-mini cable and plug into the bottom of the unit. Download the rinex files from the RECORD virtual USB drive that appears.

Internal GPS

Astro uses the uBlox F9P as its internal GPS unit.

Astro runs Auterion Enterprise PX4 and is MavSDK compatible. This means a serial connection can be used to get messages like GPS position and velocity from the autopilot, send commands like desired position or speed. More info at DroneCode.org, including example code.

You can include MavSDK in your mobile or onboard apps. You can make remote controllers that communicate via MavLINK. You can make sensors that pump their data back and forth to Astro with MavLINK. You can make an app that runs on PC, and the PC connects to the herelink hotspot, allowing full access to the drone telemetry on the laptop.

Smart Dovetail

Smart Dovetail is a payload quick release with mechanical connection and electrical connections for power and data. It's an open standard that implements the Pixhawk Payload Bus.

CAD

This model contains the entire smart dovetail assembly. You are welcome an encouraged to use this model to Integrate Smart Dovetail into your payload! This also serves as the reference design for the Pixhawk Payload Bus Quick Release.

Pinout

Plate KEL

Smart Dovetail Plate uses KEL DY11-040L to connect with the Aircraft side. Integrate this connector into your payload (e.g. for mass production).

Pinout is defined in the Pixhawk Payload Bus standard doc. See page 5 for pinout table and pin identification diagram.

Plate ZPD

VBAT is on the IO Panel bus, which includes the XT30, and is protected at 5 A.

Max current per pin is 2 A.

The mating connector needed to build a payload cable is ZPDR-26V-S.

What's in the Box

The Astro Smart Dovetail Kit, which includes both the vehicle and payload side of the dovetail, can be found in the store.

• Smart Dovetail Receiver (vehicle side)

• Smart Dovetail Plate (payload side)

• Fasteners, SHCS M3 x 8, qty 4

• Payload connectors, ZPDR-26V-S, qty 2

• Payload Ribbon Cables, 13 conductor, 28 AWG, qty 4

The Universal Dovetail Kit, which includes only the payload side of the dovetail, is also available in the store.

• Smart Dovetail Plate (payload side)

• Payload connectors, ZPDR-26V-S, qty 1

• Payload Ribbon Cables, 13 conductor, 28 AWG, qty 2

Limitations

Astro Vibration Isolator

The Astro Vibration Isolator is designed to be adaptable. By default, it comes preconfigured to work best with the Astro Mapping Payload, and it ships with 4 x 30A durometer isolators. Our engineering team decided this is the best configuration based on real-world testing.

Isolator plates allow up to 8 isolators. Different durometers to the Astro store, which include 30A, 40A, and 50A options.

Here is a ulog of a typical flight with a 1.5kg payload as an example of aircraft vibration.

I/O and Electrical Panel

USB-C

Configured as ethernet adapter.

Functionality:

• connection to payload

• mass storage (e.g. flash drive)

• firmware updates

Payload

Connector type: JST-ZPD 26-pin

This connector can be accessed directly or to pass connections to the Smart Dovetail connector.

The mating connector to build a payload cable is ZPDR-26V-S.

TELEM3

Connector: JST GH 6-pin

AUX UART

Connector: JST GH 6-pin

PWM

Connector: headers, 0.1 inch spacing

PWM outputs are active when the aircraft is powered on.

Setup

In AMC, select the output pins by navigating to Menu > Vehicle Setup > Parameters. Possible outputs are:

For each output, select an input source channel (i.e. Herelink hardware button you will push to trigger a change in PWM).

PWM output values (e.g. 1100 us) are controlled by these parameters (read more in the PX4 Parameter Reference).

CAN

Connector: JST GH 4-pin

Console pinout

Console is a special serial (UART) port that is useful for troubleshooting applications running on the IMX8 processor inside Astro.

Connector: JST GH 6-pin

Ethernet

Connector: JST GH 6-pin

Bind Button

Not active or user configurable. This button is included for future expansion.

Battery V

Connector: XT-30

• Battery Voltage: 18 - 25.2 VDC

• Continuous current: 5.5 A (overcurrent protection set at 6 A)

The XT-30 connector is direct access to the raw battery output, with overcurrent protection cutoff at roughly 5 Amps from the entire IO board. If you have no gimbal attached, you can pull all 5A from the XT-30, but if you have approximately 1A from a gimbal, you'd only be able to use 4A.

Astro Integration Sketchpad

Astro has an onboard computer. This means your code can run in a Docker and connect via ethernet/serial to a payload, the autopilot, and via LTE modem to the internet. Learn more in the Auterion App Dev Guide, including example code.

This section will be expanded to include specifications and example code.

These features are still in development so check back!

Astro is PX4 and MavSDK compatible. This means a serial connection can be used to get messages from the autopilot like GPS position and velocity, or send commands to the autopilot like position and speed. Learn more here: https://www.dronecode.org.

Astro has an onboard computer. This means your code can run in a Docker and connect via ethernet/serial to a payload, the autopilot, and the internet via LTE modem. Learn more here: https://docs.auterion.com/developers/getting-started/application-development

Example code

Coming soon! Let us know what kind of examples would be interesting.

Global settings can be opened from the Project List screen immediately after opening the app. Select the to open the settings.

Aircraft Settings

RC Stick Control Mode

Sets the configuration for how the stick inputs control the aircraft. This option is set to mode 2 by default. Unless you are very familiar with other control modes, we highly recommend that you avoid changing this setting.

Sensors Calibration

Shows the current calibration state of the sensors in the aircraft. If all options are green, no action is needed. If a sensor is not calibrated properly, the dot will be yellow or red. Tap on the associated sensor to recalibrate.

Compass Calibration

Camera Settings

Flight Settings

Geozone

Share Location

Geospatial

My Account

General Settings

System Info