Pilot Pro Wiki

For specific details regarding the Pilot Pro Controller, refer to for Pilot Pro Wiki here -> https://freefly.gitbook.io/pilot-pro-public

Upgrading Astro to Pilot Pro Controller (950-00140-02)

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.

Required Tools:

• 1.5mm Hex driver

• USB micro cable

• A wire clipper/cutter

• Tweezers or paperclip

Process:

(Video link for visual assistance with the process)

1. Purchase a Pilot Pro Controller (Herelink RF)

2. Make sure Astro is on Software v1.4 or above

3. Software Update for Herelink

   • Download the Herelink software update package.

   • Remove the Herelink Cover and Seal.

   • 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

4. 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.

5. 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.

6. Close up the Herelink Cover and Seal.

7. You're done! Perform your preflight checks as usual and enjoy your flight.

Herelink Binding

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.

Reinstall the Herelink cover and seal.

Removing the Herelink Cover

Invert Astro. Remove 3x M2.5 x 5 BHCS and remove Herelink Cover with Seal from the Astro Chassis underside.

Reinstalling the Herelink Cover

1. 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).

RTK

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.

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)

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.

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.

Managing App Updates with Freefly Updater

Use the Freefly Updater app for managing app updates on your Herelink controllers. If the Freefly Updater app is not installed, follow . 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.

1. Connect your controller to the internet.

2. Open the Freefly Updater app.

3. Either refresh the Your Apps page or wait for it to auto-refresh.

4. 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.

5. To update or install apps, simply tap on the desired app and follow the prompts to INSTALL or UPDATE, granting any necessary permissions.

6. Revisit this page anytime to confirm you have the latest versions of your apps.

Android OTA Updates

1. Connect your Herelink to the internet through WiFi.

2. Swipe down from the top of the screen to pull down the Android quick menu.

3. 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.

Checking the Herelink Software Version

Checking Auterion Mission Control Version

Checking Skyway Version

Intro

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.)

How to switch to the new system?

Following is a one time process for switching to the Freefly Updater Workflow on Herelink.

Step 1: OTA Update

• 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.

Step 2: Install Apps

• 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

1. 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.

2. 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.

3. 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.

4. Herelink controller is now ready for use.

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 M3x6 BHCS to attach the safety cable to the aircraft, applying Loctite 222 or similar to the fastener.
2. Use 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 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.

Integrator Isolator

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

2. To increase isolator stiffness try the following;
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

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