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For specific details regarding the Pilot Pro Controller, refer to for Pilot Pro Wiki here ->
The process for existing Astro customers who want to upgrade their Herelink Controller to the Pilot Pro Controller is outlined below. This process involves a software update to the Herelink Radio Air unit installed on the Astro.
You can contact support@freeflysystems.com if you would like to get your Astro upgraded by the Freefly team.
This upgrade is not straightforward but it can be executed by technically proficient customers on their own.
NOTE: Some Astros do not have the required UART cable exposed. If you remove the Herelink Air cover and do not see the bundled cable to connect, the upgrade has to be done by the Freefly team. Please contact Freefly Support.
Required Tools:
1.5mm Hex driver
USB micro cable
A wire clipper/cutter
Tweezers or paperclip
Process:
Software Update for Herelink
Remove the usb connector from the Herelink
Connect the device to your computer via USB.
Remove the isolator if installed and if its in the way to make space for the USB cable.
Power on the Astro with one battery
Run the software update (Mac instead of a Windows computer is recommended)
There will be folders for macOS and Windows platforms. Ensure to run the script labelled "1_..." first. After this script successfully completes, proceed with the script labelled "2_....""
To bypass operating system warnings: On Windows, run scripts as administrator. On Mac, click on the script while pressing the "control" button on the keyboard, then press open.
Connect the usb cable that is coming from Astro back to the Herelink
Plug in the UART port
Reminder: If you do not have this cable exposed when you open the Herelink cover, then the update must be done by the Freefly team
Unlike the Herelink handset configuration, Pilot Pro requires this port, so it must be installed.
Find the existing, unused UART cable.
Carefully cut the zip tie with a wire clipper/cutter.
Connect the cable to the UART port of the Herelink Air unit.
Bind the radios
Prepare tweezers or paperclip.
Power on Astro with one battery.
Using tweezers, press and hold the Herelink Air Unit's "Pair/Reset" button until LED2 blinks (hold approximately 3 seconds).
Repeat this step on the Pilot Pro's Herelink Radio.
Ensure the light goes solid.
Open the AMC app on Pilot Pro and verify the connection to the aircraft.
You're done! Perform your preflight checks as usual and enjoy your flight.
(for visual assistance with the process)
Purchase a
Make sure Astro is on
the Herelink software update package.
.
Here's a printable template to diagram ideas for working with Astro. We're looking forward to seeing your plans!
Freefly Systems developed an FAA compliant Remote ID solution for Astro.
For existing Astro operators, Remote ID compliance can be achieved by a field software upgrade.
New Astro's shipping after February 2024 come with standard Remote ID installed.
Any Astro that shipped before February 2024 can be upgraded to be Standard Remote ID compliant. Upgrade can be done by the pilots in the field without any additional hardware required.
Download firmware v1.5 or above from https://freeflysystems.com/support/astro-support
Follow update instructions Updating Firmware
After the firmware update is completed, keep the Astro connected with the USB cable and navigate to the Astro's Settings page
Press the Remote ID toggle (shown in image), then accept to enable.
Once Remote ID is enabled, you can get your Remote ID Serial Number. This number is different from Astro's hardware serial number.
While still on the firmware update page (10.41.1.1), locate the Skynode Serial Number
Prefix this number with 18179 to get your Aircraft's FAA Remote ID Serial Number
For the example above, this would be 18179130000018
The range of valid Astro RID serial numbers is between 18179130000000-1817913FFFFFFF, using the hexadecimal numbering system.
Log in or Create an account at FAA DroneZone
Select the 'Drone Owners and Pilots Dashboard'
Select 'Manage Device Inventory' then 'Add Device' or 'Edit Device'.
Affix a label to your drone
Remote ID rule requires standard Remote ID aircraft to display a label indicating the drone complies with the rule. Print a label that indicates "FAA Standard Remote ID Compliant" and use a tape or adhesive to securely affix it to your drone. The label must be in English and be legible, prominent, and permanently affixed to the unmanned aircraft.
Maintenance information relating to Freefly's implementation of the Herelink into Astro.
While Herelink is a product available for purchase outside of Freefly, please keep in mind that the Astro implementation of Herelink is uniquely tailored for optimal performance and functionality. We don't recommend accessing any of the ports available on the Herelink Air Unit, as it may interfere with some of these optimizations or may even be disabled. The Herelink wiki can be helpful for some questions, but may not provide accurate information in the context of Astro. If you have any questions or concerns, don't hesitate to reach out to contact@freeflysystems.com or Contact Us through our website.
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.
Prepare non-metallic tweezers or toothpick.
Remove the Herelink cover and seal.
Install one battery on Astro and activate.
Turn on the Herelink Pilot Handset.
Use your finger to pull down from the top of the 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 the uplink rate is non-zero.
Open the AMC app on Herelink Pilot Handset and verify connection to the aircraft. Power off Astro and Herelink Pilot Handset.
In this example, we will select Area Survey. The workflow for other types of missions is relatively similar.
Here is where you can enter the name of your mission. If you are connected to the internet (and not the aircraft), you can also select the location of your mission, check for flight advisories, and save your map for offline use.
By selecting the 3D option on the bottom-right corner of the map, you can switch to 3D mode. This will allow you to view the map from a variety of angles in order to better assess the coverage and safety of your mission. If you have downloaded a 3D map of the area, you can also show a graph of the aircraft's height relative to the ground. This can be invaluable in areas with a high variance in terrain height, as it will help you more accurately gauge the quality of your images as well as decrease the risk of flying into obstacles.
Once you select the Fly option from the mission planning screen, Site Scan will go through a series of checks to make sure that the aircraft is ready to take off.
Once these checks are finished, Site Scan will prompt you once again to check your takeoff point and give the aircraft permission to start the mission.
Now that the aircraft is flying, you will have telemetry along the top of the screen. From left to right, the telemetry is as follows: Distance from the home point, altitude, charge of batteries, and satellites in range. You can switch between a variety of views while the mission is in progress.
Global settings can be opened from the Project List screen immediately after opening the app. Select the to open the settings.
The Aircraft Settings are only accessible when Astro is connected to Site Scan. If the option is grayed out, connect to the Herelink hotspot.
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.
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.
The Camera Settings are only accessible when Astro is connected to Site Scan. If the option is grayed out, connect to the Herelink hotspot.
Once the mission finishes and the aircraft lands, all of the captured photos will be stored on the USB stick plugged into the Astro. Alternatively, you can choose to upload the missions to Site Scan over the internet. You will need to disconnect the iPad from the Herelink Hotspot and reconnect it to a wifi network with internet access in order to upload. Once the images have been uploaded, there are a variety of ways to use, share, and manipulate the data within Site Scan by selecting the ... button in the top-right corner.
Test
Improper installation of this seal can allow water entry to the Herelink Air Unit, which has little internal water resistance. Failure of the Herelink Air Unit would result in a loss of radio link. Repair of this unit requires the entire Astro to be sent to Freefly.
Invert Astro. Remove 3x M2.5 x 5 BHCS and remove Herelink Cover with Seal from the Astro Chassis underside.
Install Rubber Grommet
2. Use 3x M2.5 x 5 BHCS to mount Herelink Cover to Astro Chassis underside. Apply Loctite 222 to fasteners. Torque to 0.2 newton meters (finger tight).
In December 2023, we have enhanced the app update process for Herelink controllers. Previously, updates were delivered via a full Android system over-the-air (OTA) update, which was time-consuming and required updating the entire system even for a single app. Now, with the Freefly Updater app, you can individually manage updates for each app. This app notifies you of available updates or new apps, allowing you to install the latest versions easily. The Freefly Updater also includes a page to view the status of all your Herelink apps, ensuring you're always up to date. (Please note that an internet connection is required to detect new app versions.)
Following is a one time process for switching to the Freefly Updater Workflow on Herelink.
Connect your Herelink to the internet through WiFi.
Swipe down from the top of the screen to pull down the Android quick menu.
If there are any updates available, you will see them here. Follow the instructions to get your software updated. Alternatively, go to Android Settings > About phone > System Updates.
After completing the OTA, note that Herelink will no longer have AMC (Auterion Mission Control) and Skyway apps installed.
Ensure your Herelink is connected to the internet.
Open the new Freefly Updater app, which can be found on your home/launch screen.
Once in the Freefly Updater app, either refresh the page or wait a few seconds for it to automatically check for the latest apps.
Select the apps you need to install (Auterion Mission Control and Skyway) and proceed to installing them both.
Use the refresh button at the top of the page to update the app status if necessary.
Step 3: Finalizing the Installation of Skyway and AMC
Setup Skyway
After installing Skyway, open the app at least once. This ensures it will automatically launch in future startups.
Remember, both AMC (Auterion Mission Control) and Skyway are necessary to connect to the drone.
Locate and Organize Apps
Following installation, you'll likely find the Freefly Updater app and AMC on the Android home screen. If not:
Access your app list by tapping the grid icon at the bottom right of the home screen.
Find the AMC app icon.
To add AMC and Skyway to your Favorites:
Tap and hold on the app icon.
Select "Add to Favorites" from the pop-up menu.
Repeat these steps for the Skyway app.
Enabling Automatic Launch for AMC:
If you wish for AMC to open automatically each time you turn on the controller:
Tap and hold the AMC app icon.
Choose "Enable Launch on Boot" from the pop-up menu.
Herelink controller is now ready for use.
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 .
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.
The Astro and later versions of the Alta X come pre-integrated with a Freefly RTK unit. Just add a Freefly RTK GPS (sold separately) to enable centimeter-level positioning data.
Instructions for RTK with the Pilot Pro and Astro or Alta X can be found on our Pilot Pro wiki through the link below
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.
Perform this procedure before flying Astro.
Install Reach R2S on pole.
Optional: Position pole over GCP
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)
Known Issue: When you click Convert & Download, the Trimble crashes. You can only download without converting for now. Jeremy thinks it might be because of low storage space and reseting might help. Let's give it a shot.
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.
It is recommended to do Sensor Calibrations in the AMC app. Please refer to
Generally, PPK can be performed with RINEX output from any GNSS base station that records at minimum L1 and L2 GPS observations (see ). 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 . The PPK workflow can be found.
- -
Follow .
Power on RS2. Make sure booting is complete () takes about a minute. It will begin logging automatically.
Please do not format Herelink to factory settings! All of Freefly's configurations to make Herelink work optimally with Astro out of the box will be lost. If you are experiencing issues with Herelink, please reach out to us at contact@freeflysystems.com for assistance.
Use the Freefly Updater app for managing app updates on your Herelink controllers. If the Freefly Updater app is not installed, follow these instructions. Ensure your controller is connected to the internet to install the latest apps and receive update notifications.
To update your apps, go through the following steps.
Connect your controller to the internet.
Open the Freefly Updater app.
Either refresh the Your Apps page or wait for it to auto-refresh.
This page will display a comprehensive list of all apps available for installation or update. Apps with the latest version will be marked as LATEST.
To update or install apps, simply tap on the desired app and follow the prompts to INSTALL or UPDATE, granting any necessary permissions.
Revisit this page anytime to confirm you have the latest versions of your apps.
This process is rendered obsolete for most customers by the Freefly Updater.
Connect your Herelink to the internet through WiFi.
Swipe down from the top of the screen to pull down the Android quick menu.
If there are any updates available, you will see them here. Follow the instructions to get your software updated. Alternatively, go to Android Settings > About phone > System Updates.
If you get a "Can't check for updates" message, go to Settings > Date & Time, and ensure the date is correct. If not, manually correct it before trying to update the software again. If you're still unable to update, check your internet connection using Chrome on the Herelink. Occasionally, wifi access points require you to agree to terms and conditions in your browser before an internet connection is fully established. 40% battery is required to update the Herelink firmware.
To find the Herelink firmware version, drag down from the top of the Herelink's touch screen and tap the settings gear in the top-right corner. Scroll all the way to the bottom of this menu and select About phone. On the next screen, look for the OEM build number.
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.
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/app-development/app-development/application-development-1
Coming soon! Let us know what kind of examples would be interesting.
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!
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 M3x6 BHCS to attach the safety cable to the aircraft, applying Loctite 222 or similar to the fastener.
Use 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 M3x6 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.
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.)
Herelink
Power on and open AMC on the Herelink controller.
PC
Herelink
Herelink
PC
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.
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.
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.
Smart Dovetail is not hotswap compatible. To avoid damaging Astro or your sensor, please power off the aircraft before attaching or removing a Smart Dovetail payload.
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.
Alpha
Initial design release
11/12/2021
Beta
Complete model released
3/24/2022
Production
Available in store
6/17/2022
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 9 for pinout table and pin identification diagram.
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.
If you need camera trigger or capture feedback on the Payload Adaptor ZPD connect, remove the PCBA from the housing and connect a 0 ohm resistor to R5 for trigger, and to R2 for the capture pin. Pins 24 (capture) and 26 (trigger) can then be used. If you need help configuring Astro to use these pins for your payload, reach out to our support team.
No hotswap protection. Do not mate or demate Smart Dovetail while the aircraft is powered.
If the payload has even modest capacitance or other inrush current the connector contacts on both aircraft and payload side will be eroded.
Not all ZPD pins are implemented. Power, ethernet, serial, and usb are present. Please let us know if unimplemented pins are blocking you: support@freeflysystems.com.
Hard-mounting to Astro chassis requires standoffs (M3 male-female, 8mm length included in the kit). The requirement is due to interference between the cable bundle and Herelink Air Unit.
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.
Configured as ethernet adapter.
Functionality:
connection to payload
mass storage (e.g. flash drive)
firmware updates
It is not possible to power Astro via this port. For example, to update firmware or download logs, power Astro with a battery.
Connector type: JST-ZPD 26-pin
Connector: JST GH 6-pin
Connector: JST GH 6-pin
Connector: headers, 0.1 inch spacing
PWM outputs are active when the aircraft is powered on.
In AMC, select the output pins by navigating to Menu > Vehicle Setup > Parameters. Possible outputs are:
Connector: JST GH 4-pin
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
Connector: JST GH 6-pin
Not active or user configurable. This button is included for future expansion.
Connector: XT-30
Battery Voltage: 18 - 25.2 VDC
Continuous current: 5.5 A (overcurrent protection set to approximately 5 A)
The XT-30 connector provides direct access to the raw battery output. Please note that the overcurrent protection is set to trip around 5 A, though variations may occur, with testing showing cutoff points between 4.7 and 5.3 A. We recommend keeping the load under 4.5 A to avoid triggering the protection circuit.
Important Notes:
If you are not using a gimbal, you can draw up to 4.5 A through the XT-30 connector.
If you have a gimbal attached, which typically draws about 1 A, you’ll need to limit the remaining load on the XT-30 to 3.5 - 4 A.
The circuit responds within a few milliseconds, so any large inrush currents may activate the overcurrent protection.
In order for the XT30 to behave as expected, the Herelink needs to be powered on and in communication with Astro.
The Freefly Systems Astro has been approved by the Defense Innovation Unit and was added to the . Freefly the original Astro (Herelink radio variant) and the new Astro (NDAA/Blue) variant.
Part 950-00142 Astro (NDAA/Blue) Package conforms to the exact Authority to Operate (ATO) configuration approved by DIU. This aerial system consists of 3 main components: Astro, Pilot Pro, and Doodle Labs Radios.
The design of Astro’s Blue configuration aims to balance user flexibility with the security requirements of DIU’s Blue program. Astro can achieve Blue status through settings alone, which involves reconfiguring various systems and enabling passwords and permissions that only administrators can change. The Blue configuration is delivered fully compliant, allowing administrators to enable specific features according to their security needs.
The Samsung tablet mounted on the Pilot Pro features a multi-user concept with user and admin levels. This multi user security feature is not enabled by default, but is available for those who require it.
The tablet’s standard Android login security password, provided on a card with the vehicle, serves as the “pilot” level password. This boots the tablet into Samsung KNOX kiosk mode through the designated app. From this mode, the pilot can open AMC, the primary ground control software for the drone, while background apps communicate with the controller hardware.
Exiting the kiosk mode requires the administrator password, granting full control over the Android system. Administrators can change passwords, enable or disable wireless networks, and access the Freefly updater app to check for updates.
The RJ45 port on the back of the Pilot Pro typically connects to the drone network, enabling telemetry and video consumption and interaction with the drone. By default, this port is disabled, but the administrator can log in and reconfigure.
Astro serves a webpage at https://10.41.1.1, allowing certain drone configurations like enabling LTE or WIFI, cloud services, local Mavlink streams, and more. These settings are disabled by default. An unauthenticated user can view the drone’s serial number and software versions on this page. However viewing and enabling other settings requires a login password. The administrator can enable features and remove the password.
Logging is set to "stealth mode" by default on the Blue Astro, and is disabled on the controller, and payloads. It is recommended that administrators enable all logging to assist with support requests to Freefly. Stealth logging can be disabled by changing the SDLOG_NO_POS_DAT parameter to disabled.
When logging is set to stealth mode, Astro stops recording any positional data to logs and other places like image capture metadata. It is important to note that this breaks mapping workflows that involve PPK processing.
Admins can enable full logging on Astro by:
Connect Astro to PC with USB, login to https://10.41.1.1, go to settings, enable Cloud Services (this feature also enables advanced features. in the future we will make it a separate setting so they are not tied together)
Go to AMC, then repeatedly tap on the AMC icon in the top-left-hand corner of the app. After tapping about 6 times, a popup menu will appear asking if you would like to switch to Advanced Mode. Then tap on the button again to open menu. Go to Advanced > Parameters, then search for SDLOG_NO_POS_DAT. Then set it to disabled.
Power cycle
Critical auxiliary ports on Astro are disabled. The USB connector allows connection to the internal webpage (as mentioned above). The CAN port is available but only shows battery telemetry communication, serving as a non-essential bus for the aircraft. The Ethernet port on Astro’s IO panel is not electrically connected to anything.
All bootloaders are encrypted and require the correct keys to install firmware. Firmware updates for the Pilot Pro are managed through the Freefly updater app. Accessing this application requires the administrator to exit the kiosk mode.
Astro Firmware can be downloaded from our website or the Auterion Suite. Installation requires the administrator to log in to the https://10.41.1.1 webpage via USB to access the installer tools.
Drone parameter configuration is protected by AMC. While in user mode, AMC restricts all configuration settings beyond basic pilot requirements to administrator mode.
Astro (NDAA/Blue) variant ships with very strict security requirements. Users needing an NDAA aerial system without these security features can break the ATO conformance and setup the Astro as described below. System was designed so that these features can be enabled/disabled individually as needed.
Astro
Using the admin login password, connect to 10.41.1.1. Then you can enable any of the following:
LTE and Wifi
Remote ID
Mavlink
Cloud services
Remove the administrator feature to update firmware
Disable stealth logging
Open AMC and go to advanced mode. Then you can change any of the following:
Enable missions to be stored and persisted on power cycle
Enable physical access to:
Mavlink and parameter access
TCP Mavlink port (enables access to USB and the Ethernet from the payload port on the IO Board)
Enable Telem 3 and Telem 4 access from the IO Board
Pilot Pro
Disable Kiosk mode (if already enabled) by logging in with the Admin password
Enable Pilot Pro App logging and Doodle radio logging
Enable the RJ45 port on Doodle radio (enabled ethernet)
Does the Astro (NDAA/Blue) variant ship with Remote ID?
All Astro variants, including Blue/NDAA and Herelink variants ships with RemoteID enabled.
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 .
This section will be expanded to include specifications and example code.
These features are still in development so check back!
Power on and open on your computer.
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.
Connect to the Herelink wifi network (named something like “Android…” or “DV...”). If the aircraft is not recognized by AMC PC, set up a
Smart Dovetail Plate offers a ZPDR-26V-S JST connector for payloads. The pinout nominally matches the .
This connector can be accessed directly or to pass connections to the connector.
The mating connector to build a payload cable is .
For each output, select an input source channel (i.e. 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 ).
IO board label
Parameter name
1
RC_MAP_AUX1
2
RC_MAP_AUX2
3
RC_MAP_AUX3
4
RC_MAP_FLAPS
Herelink
Channel
Wheel
5
Button D
10
Parameter
Function
PWM_AUX_DIS1
PWM output when autopilot is not armed. When set to -1 the value for PWM_AUX_DISARMED will be used. a similar parameter is availabel for each channel
PWM_AUX_MIN1
Minimum PWM pulse for this output. When set to -1 the value for PWM_AUX_MIN will be used.
PWM_AUX_MAX1
Maximum PWM pulse for this output. When set to -1 the value for PWM_AUX_MAX will be used.
PWM_AUX_REV1
Invert direction.
PWM_AUX_FAIL1
PWM output if autopilot is in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
Astro
N
Herelink GCS
Herelink
Astro
N
Pilot Pro
Herelink
Astro (NDAA/Blue)
Y
Pilot Pro
Doodle
DroneDeploy reality capture software allows Freefly pilots to quickly process imagery into easy-to-understand digital twins, generating valuable insights for construction, energy, and agriculture.
DroneDeploy Flight App does not currently support Freefly aircraft for mission planning. We recommend using Auterion Mission Control to plan and fly your mission.
Astro imagery is ready to upload to DroneDeploy as soon as you complete your flight. Remove the USB thumb drive from Astro and upload your data from Astro Map or the Wiris Pro thermal payload to DroneDeploy for processing.
You can find DroneDeploy's support center and technical documentation here: https://help.dronedeploy.com/hc/en-us
DroneDeploy's Support team can be reached at support@dronedeploy.com
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