LR1 Payload Hardware Overview

Astro + LR1 Payload is designed to fill the needs of enterprise mapping and inspection workflows.

• Learn more about the Astro aircraft here.

• The LR1 Payload consists of a Freefly gimbal with an integrated Sony ILX - LR1 camera. It is developed for use with Astro and other vehicles that use the Freefly Smart Dovetail and the Pixhawk Payload Bus standard.

Installing the Isolator

Installing/Removing the Gimbal from Astro

Updating Gimbal Firmware

Updating Astro and AMC

Mapping Workflow

Inspection Workflow

Video Workflow

The LR1 Payload was primary designed for photography applications (mapping, inspection, scenic photography), but can shoot video as well.

Video Settings

The camera is capable of shooting up to 4K, 60 fps footage in 8 bit or 10 bit, with normal and Slog profiles

The External USB drive isn't fast enough to record high quality video, so videos will save the camera's SD card.

You can switch between taking images and video footage using this button in Photo Mode:

#Protips

• We have been getting good video results with the Sigma 24mm, Sony 35mm lenses, and Sony 50mm. The Samyang 75mm can sometimes have issues with stability during acceleration and deceleration.

• If you are seeing any vibrations in the footage, check:

  • You are using the right vibration isolator

  • The gimbal is balanced properly

Major changes and improvements from A7R4 Payload to the LR1 Payload:

• Decreased weight and increased flight times!

  • At 2cm GSD, Astro + A7R4 can cover 220 acres, Astro + LR1 can cover about 250 acres.

  • We are seeing an increase of 3-5 minutes of flight time

• Easier lens swaps/adjustment

• Better/faster autofocus

• Expansion ports for addition cameras and sensors

• Improved gimbal stabilization

• Improved video quality, video setting controls, color profiles, and frame rates

• Fold-flat design for better storage/travel

Distance Sensor

Mounting

Software Setup

Install the Distance Sensor App on your Astro, which can be found here. Version 1.0.1 is needed to work with the Distance Sensor Module

To install the app:

Turn on Astro with LR1 and the Distance Sensor module. Once connected, in AMC > Settings > Enable 'Show Distance Sensor App Output'. The distance readout should now be displayed on the Fly screen in AMC

Features

• Live distance readout (in meters) in AMC at ~5Hz

• Range up to 100m on objects with >70% reflectivity at +/-10cm

  • Below 10m, we have found the error to be within +/-4cm

  • When mounted, the front of the LRF is 44mm forward the LR1 sensor, which should be accounted for when sizing objects in frame based on the distance sensor data.

• Distance sensor value saved in LR1 image metadata (in meters)

To add additional functionality in a small package, Freefly has worked to develop a Thermal Module and a Distance Sensor module that can be attached to the LR1 payload to supercharge your workflow

Have another module you want to see added? Reach out to us at support@freeflysystems.com

Mounting

Software

Switching between cameras views can be done by tapping the camera name, or by mapping 'Next Camera' to a button on the controller

Features

• Contrast - Auto, Custom

• Color pallet selection - White hot, Black hot, Ironbow, Rainbow, Rainbow HC, Lava, Arctic, Glowbow, Graded Fire, Hottest

• Zoom - digital up to 8x

• Image capture - Jpeg, Radiometric Tiff, both

• Spot temperature readout

  • Mix/max temperatures of region

  • Adjustable region size

  • Selectable Fahrenheit, Celsius, Kelvin

• Togglable settings - Radiometric settings, Spot Metering, Isotherms

• Auto and manual Flat-Field-Correction (FFC)

• Geotagged photos

Example Data:

Variants

We have shipped two variants of the thermal module. Despite the difference in lens markings, the field of view of the lenses are the same and the image quality/sensor performance is also the same. The mass is different between the two variants, which means a matching counterweight should be used to ensure good gimbal balance and stabilization.

Changing Lenses/External Modules

If you change the lens or add/remove an external module to the gimbal, go through the following steps to make sure the gimbal is configured to work with the new setup.

1. To balance the gimbal, first remove the lens cap from the lens.

2. Loosen the two finger screws on either side of the payload.

3. Move the camera forward and backward within the gimbal to achieve the correct balance. In general, you'll want to move the camera back for heavier/longer lenses and forward for lighter/shorter lenses. Shift camera foward and backward in the gimbal until the camera does not tip up or down when it is positioned horizontally and released.

4. To ensure the camera is very well balanced, test pointing the camera ~30 deg up/down; a well-balanced camera will not move in either of these two positions.

5. Once you achieve a good balance, tighten the finger screws so your camera stays firmly in place.

1. With the gimbal already connected, power on Astro

2. The gimbal may have weak motor power for up to 30s on bootup, before the gimbal is reconfigured by Astro with different tuning based on the lens.

Performance

The LR1 Payload's high pixel count allows you to cover a large amount of area quickly at low resolution, or collect very high-resolution imagery at lower altitudes. Approximate GSD, coverage per flight, and expected altitude are listed below for reference. This is based on a 70% forward and 65% side overlap, single pass (no crosshatch).

A single Astro flight with the LR1 Payload is typically 25-29 minutes. The exact time depends on the survey area's geometry, the number of turns required, and the flight speed, as well as environmental factors such as wind speed and direction. Note that the time presented in AMC is an estimate, and not adding return or transit waypoints may affect its calculation. A good rule of thumb is to aim for an AMC-calculated flight duration of <23 minutes. This should allow the flight to complete and return before hitting the battery reserve.

Camera Body

Sony ILX-LR1

Weight

Astro's maximum payload weight is 1500 grams.

Ingress

The LR1 Payload is not IP ingress rated, as the ILX-LR1 camera itself is not IP rated. We do not recommend flying in rain or very dusty enviroments.

Gimbal

Lenses

These are the lenses we have tested with, but other lenses and additional modules can work as well. Learn more about configuring the gimbal here:

Lens selection in AMC only matters for mission planning calculations (overlap, photo trigger, etc) and for infinity focus to work properly.

If you plan a mission with a non-standard lens, make sure that the correct lens is selected in the Survey section of the Plan screen. If your lens isn't on the dropdown, you can enter the details manually by selecting Custom Camera instead of a specific lens.

When changing lenses, select your lens from the Focal Length dropdown in Camera Settings found in the camera settings.

Default Tuning

When power is on, the gimbal wakes in a low-tuning state. The gimbal polls Astro for the lens information about the camera. Then, the gimbal selects the correct tuning parameters for the installed lens. Most uses will not need to change the gimbal settings from this default.

Custom

Users can run Autotune or set custom tuning parameters using AMC.

First, the user must enter Advanced mode by quickly tapping on the triangle icon in the upper-left corner of AMC. Then, the user selects Advanced > Parameters. Scrolling down to the bottom of the parameter groups, the user will find Component 154. Tapping the group expands the gimbal parameters labeled GMBL.

Autotune

GMBL_TUNE_% sets the autotune backoff percentage; 50 is a good starting point. The user starts Autotune by setting GMBL_TUNE_START to 0.

Custom Values

Stiffness, hold strength, and motor filters may be set as required.

Saving Parameters

1. Set GMBL_LENS_ON to turn off lens-based tuning.

2. Set GMBL_PRMS_SAVE to 1 to write parameters to memory.

Reset Parameters

1. Set GMBL_PRMS_RESET to 1 to default all gimbal parameters.

2. Set GMBL_PRMS_SAVE to 1 to write parameters to memory.

3. Reboot Astro.

The reset procedure restores lens-based tuning.

If you have issues tuning your gimbal, reach out to support and we can help!

Default Configuration

By default, the LR1 Payload comes balanced and tuned with the Sigma 24mm F3.5 lens, which covers most mapping applications. However, the gimbal can be re-configured with other lenses and external modules for other use cases!

Supported Lenses

Supported External Modules

The LR1 Payload currently supports two external modules from Freefly:

If you would like to integrate your own module, check out this section below:

The two 4-pin GH connectors are expansion ports for adding thermal cameras, wide cameras, laser range finders, and other custom modules. They are both USB 2.0 connections. Connector: JST GH 3-pin

The 3-pin GH connector provides 5v and 12v power out.

The LR1 Payload is a next generation high resolution payload using the Sony ILX-LR1 camera, integrated into a Freefly mini gimbal.

The 61 megapixel image resolution is ideal for mapping and inspections, and the gimbal provides expansion ports for other sensors, allowing the payload to work for a wide range of use-cases. It ships with a 24 mm lens, and several other lenses are supported.