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.
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.
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.
Battery connectors cannot be mated while wet. Blow out any water.
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.
Back-to-Back Flights: 8 batteries (4 sets) and 6 Fast Chargers are needed for continuous back-to-back flights.
Pull up on the latch to release the battery. Continue to hold the latch and slide the battery free from the Astro.
The USB-C port can provide power to devices like the Herelink controller.
Connect the cable and activate the battery.
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.
GNSS base stations on the ground can record satellite observations during flight and can be used to increase the relative and absolute accuracy of the photo geotags.
Astro contains an integrated Freefly RTK unit. Just add a Freefly RTK GPS ground station (sold separately) to enable centimeter-level positioning data.
This is a brief highlight of points relevant to Astro. For full documentation, see the Freefly RTK wiki.
| Setup and Survey-in |
|---|
If the RTK ground unit is moved, repeat the survey-in.
It is not necessary to repeat survey-in after aircraft battery changes.
Adjust accuracy and other settings in Auterion Mission Control (AMC) RTK settings.
Generally, PPK can be performed with RINEX output from any GNSS base station that records at minimum L1 and L2 GPS observations (see Section 1.3 of the u-blox ZED-F9P datasheet). However, photo geotag accuracy after PPK corrections is limited to the accuracy to which the base's position is known. Therefore, it may be worth purchasing a base with additional capabilities (e.g. SIM for CORS RTK, receives more channels, advanced multipath processing, etc) when you cannot put the base on a pre-surveyed GCP.
For the base stations listed below, the settings and procedures provided will ensure output is compatible with the Precise Flight PPK app.
Manufacturer's Page - Manual - Support
Configures output to be compatible with Astro.
Follow Emlid's quickstart procedure.
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.
Perform this procedure before flying Astro.
Install Reach R2S on pole.
Optional: Position pole over GCP
Power on RS2. Make sure booting is complete (LED status) takes about a minute. It will begin logging automatically.
It's not necessary to download a RINEX file after every Astro flight. We typically set up the base station when we arrive to a site, perform all the flights needed at that site, then download a RINEX just before packing up. The same file from the base station can be used for all of the flights performed while the base station was recording.
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.
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)
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.
Astro uses the uBlox F9P as its internal GPS unit.
Astro ships with the Herelink system. Here is the CubePilot documentation. Below are a few points specific to usage with Astro.
Herelink ships in Mode 2 configuration. (Freefly have not tested Mode 1 extensively.)
Herelink ships with the Auterion Mission Control (AMC) app installed. Details of the GUI are in the AMC section of the wiki.
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 should be oriented so that the whip antenna points vertically upward and the disc patch antenna's top surface faces Astro.
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.
When using non-Freefly travel cases, remove sticks to avoid damage to the Herelink.
Charging requires at least 2 amps of current. Less will cause the device to charge slowly or even loose charge.
We recommend connecting Herelink to a power source while flying. With the display at maximum brightness, flight time on the internal battery can be quite short.
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.)
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:
Drag your finger from the top of the touch screen in a downward motion.
Press and hold the Wifi button, as shown in the above picture.
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.
Herelink can only connect to 5 GHz networks. The 2.4 GHz band is used for communication with the aircraft.
Activate 5 GHz wifi hotspot on iPhone 12: Settings > Personal Hotspot > Maximize compatibility: Disable. iPhone 11 and older do not offer a 5 GHz wifi 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.
Astro also has a wifi chip on board, but it does not have significant range. We recommend the Herelink hotspot described in this section for in-flight connections.
Here's the section about Astro wifi settings.
We recommend connecting Herelink to a power source whenever the hotspot is being used because hotspot usage significantly increases Herelink power consumption. (If you'd like to use a SL-8 battery, we offer the cable you'll need.)
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.
Prepare non-metallic tweezers or toothpick.
Remove the Herelink Cover and Seal.
Install one battery on Astro and activate.
Turn on Herelink Pilot Handset.
Slide down from the top of screen and select the Herelink Radio Status message.
On the Herelink Radio page, tap “Pair”.
Using tweezers, press and hold the Herelink Air Unit "Pair/Reset" button until LED2 blinks (hold approximately 3 seconds).
Verify the Herelink Pilot Handset shows a status of "PAIRED" and uplink rate is non-zero.
Open the AMC app on Herelink Pilot Handset and verify connection to the aircraft.
Power off Astro and optionally Herelink Pilot Handset.
Only one Herelink can be paired with Astro at a time. If another remote is paired, it breaks the connection with the previous remote, even after the second remote has been powered off.
The Herelink runs Android. Do not change any Android settings except as described in this wiki.
These provide payload mounting while reducing the aircraft vibrations transferred to the payload
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!
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:
Use a M3x4 BHCS to attach the safety cable to the aircraft, applying Loctite 222 or similar to the fastener.
Use a QTY 3 M3x8 SHCS to attach the isolator cartridges to the aircraft, applying Loctite 222 or similar to the fasteners.
Then plug the payload connector cable into the I/O port.
This isolator is tuned for the Mapping Payload and comes with 4x 30A durometer Dampers.
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
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.
This isolator is best for custom payloads and has several mounting options. The mounting points and dimensions are available here
This isolator kit comes with 6 x 30A durometer Dampers.
To increase isolator stiffness try the following;
A. Increase the durometer of the dampers to 40A or 50A. These are available in our store
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.
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.
Isolator dampers durometers can be identified using the cap color;
A. White/Light Grey - 30A
B. Dark Grey - 40A
C. Black - 50A
Some early production dampers will not follow this convention and will be colored black even though they have a hardness of 30A.
| Device | Action |
|---|---|
Mount RTK unit on tripod
Connect RTK unit to PC via USB cable
Open AMC on PC (download here)
Connect Herelink to PC via the Herelink's wifi hotspot
If there is no telemetry in AMC even after connecting to the hotspot, change UDP settings.
Power on aircraft and keep aircraft stationary
Verify that RTK icon appears in top right of AMC PC, near GPS icon
Wait for the RTK icon to turn white when survey-in is complete (~180 seconds) (Click the icon to see detailed status)
Alternative: go to AMC settings and enter the coordinates of the antenna for even higher accuracy if known.
Fly!
Herelink
Power on and open AMC on the Herelink controller.
PC
Power on and open AMC PC on your computer.
Herelink
Herelink
PC
Connect to the Herelink wifi network (named something like “Android…” or “DV...”). If the aircraft is not recognized by AMC PC, set up a UDP Link.
Hotspot settings (first time): Pull down from the top of the touch screen two times. Tap and hold the hotspot icon in the top-right. Select Tethering & Portable Hotspot.
Enable hotspot: Pull down from the top of the touch screen two times. Tap the hotspot icon in the top-right.
