FlyCore Dual-Sensor Gimbal Accessory Instructions

Document Purpose: This manual is intended to guide users in using the gimbal and performing hardware operations.

Safety and Precautions

Operational Safety: Avoid use in environments with extreme temperatures, high humidity, or strong magnetic fields; prevent liquids from entering the device.

Electrical Safety: Use a standard ultra-fine coaxial cable for the connection, and do not supply more than 12V.

Storage Safety: When not in use, the product should be stored in a dry, dust-free environment.

Package Contents

• Gimbal pod
• Gimbal power adapter board

Installation and Connection Guide

Connect the power cable (the one with the thinner wire harness) to the power adapter board, and solder the 12V and GND interfaces on the power adapter board to a 12V power supply.

Then connect the video cable to the gimbal interface on FlyCore, which is interface 2 in the figure below:

Usage

Gimbal Motor Control Method

The gimbal protocol format is as follows:

The fields in the v1 communication format shown in the table above are defined as follows:
    SOF:          1-byte, frame header, fixed at 0xAA;
    VER_LEN:      2-byte, protocol version number and frame length, where:
    bit9~bit0:    Frame length, the number of bytes in the entire frame;
    bit15~bit10:  Protocol version number, currently fixed at 1;
    CHECKSUM:     1-byte, checksum byte; performs a sum check on the “SOF+VER&LEN” data;
    SEQ:          2-byte, command sequence number; numbers commands to prevent duplicate command execution;
    STS:          1-byte, status word, where:
    bit3~bit0:    Reserved;
    bit4:         0 - The DATA field is not encrypted, 1 - The DATA field is encrypted;
    bit7~bit5:    Reserved;
    SENDER:       1-byte, sender number, where:
    bit2~bit0:    Index;
    bit7~bit3:    Device;
    RECEIVER:     1-byte, receiver number, where:
    bit2~bit0:    Index;
    bit7~bit3:    Device;
    CMD_SET:      1-byte, command set indicating which command set the current command belongs to, where:
    0x00:         General command set;
    0x01:         Gimbal command set;
    0x02:         Flight controller command set;
    0xff~0x03:    Reserved;
    CMD_ID:       1-byte, the command ID in the corresponding command set; the specific command to execute
    DATA:         N-byte, command data;
    CRC16:        2-byte checksum byte; performs a CRC16 check on the “SOF+VER_LEN+CRC8+SEQ+STS+SEND+RECEIVE+CMD_SET+CMD_ID+DATA” data;

We also provide corresponding gimbal control sample code: https://gitee.com/cxjiuxiaoxiaotiancai/gimbol_-hq.git

Gimbal Image Stream Publishing and Playback:

• First, access the RK3588 at IP address 192.168.1.66, and then publish the stream as follows.

1. Run mediamtx

cd workspace/
./mediamtx &

2. Publish the streams

Publish the infrared camera stream:

gst-launch-1.0 v4l2src device=/dev/video20 io-mode=4 ! video/x-raw,width=1280,height=512 ! mpph265enc ! rtspclientsink protocols=udp latency=0 location=rtsp://127.0.0.1:8554/1;

Publish the IMX586 camera stream:

gst-launch-1.0 v4l2src device=/dev/video11 io-mode=4 ! video/x-raw,width=1920,height=1080 ! mpph265enc ! rtspclientsink protocols=udp latency=0 location=rtsp://127.0.0.1:8554/1;

• Display the video streams

Install VLC on a Windows system and enter the network stream URL.

Infrared camera stream URL: rtsp://192.168.1.66:8554/1

IMX586 camera stream URL: rtsp://192.168.1.66:8554/2

Structure and Installation

All dimensions in the figure below are in mm.

User Resources Download

FlyCore Gimbal Power Adapter Board Resources