Product overview
Prometheus 450 (P450 for short) is a medium wheelbase UAV based on the F410 basic flight platform and is suitable for indoor LiDAR based localization flight . Building on the ad…
5 min read · English documentationIntroduction
Prometheus 450 (P450 for short) is a medium-wheelbase UAV based on the F410 basic flight platform and is suitable for indoor LiDAR-based localization flight. Building on the advanced-version UAV, this product adds perception devices such as a LiDAR, a binocular depth camera, and an electro-optical gimbal camera. It works with the SpireCV vision library to implement target recognition and tracking, and with the Prometheus autonomous UAV system to implement EGO-Planner path planning and target tracking. The Prometheus professional ground control station provides visual displays and controls for these functions, helping users get started quickly and carry out application development.
Feature highlights
UAV frame
The frame uses the F410 basic flight platform. Its rugged and reliable structure provides high stability and the stability assurance of an industrial-grade UAV, while offering high compatibility with different components. The aircraft provides abundant internal power connections and 5 external voltage outputs, making it easy to install additional sensors. Details
Onboard computer
Allspark2Super NX is a high-performance, compact AI edge computer developed by AMOVLAB specifically for small robots. It incorporates an NVIDIA Jetson Orin NX module and provides up to 157TOPS of floating-point computing performance. It is suitable for edge systems that require real-time AI processing, including intelligent tracking and recognition, behavior analysis and prediction, video and image analysis, 3D map modeling, and edge-service computing.
Features:
- Lightweight
- Compact
- Highly portable system
- High-performance GPU computing acceleration
3D LiDAR
The Mid-360, Livox's latest-generation 3D LiDAR, is a hybrid solid-state LiDAR that provides 360° three-dimensional perception. Its compact size allows flexible installation. Designed for indoor LiDAR-based localization flight scenarios, the Mid-360 supports enhanced perception for applications such as robot navigation and obstacle avoidance, enabling spatially intelligent perception for mobile robots.
Open-source PX4 flight controller
PX4 is open-source flight control software for UAVs and other unmanned vehicles, such as unmanned ground vehicles and unmanned boats. It provides UAV developers with a flexible set of tools for sharing technologies and creating tailored solutions for UAV applications. PX4 provides a standard for UAV hardware support and software stacks, allowing the ecosystem to build and maintain hardware and software in a scalable manner.
Features:
- Open source and supports application development
- Stable flight and high reliability
- Supports software-in-the-loop and hardware-in-the-loop simulation
Indoor LiDAR-based localization flight
The P450 is equipped with a mid360 3D LiDAR and is suitable for indoor LiDAR-based localization flight. Together with Prometheus and the ground control station, it provides capabilities such as position control, obstacle avoidance, mapping, and application development. For positioning-source switching and environmental requirements, see Positioning source switching and LiDAR-based localization environment requirements in the Quick Start Guide.
Intelligent gimbal control
The three-axis anti-shake gimbal camera module uses the OV OS12D40 color image sensor, a high-performance CMOS 1/2.49” image sensor capable of delivering image signals containing 1130 × 10,000 pixels (4512x2512) at up to 60fps. Each pixel measures 1.404μm x 1.404μm. It supports capturing 11M-pixel high-definition images, with support for up to 4K@60fps (interpolated) and 4K@30fps video recording. An intelligent gimbal consists of a gimbal, camera, AI chip, human-machine interaction software, and deep learning.
Features:
- Supports ROS drivers
- Supports automatic rotating search mode
- Supports 3-axis hybrid control
- Supports video recording and photo capture
- Supports data feedback
- Supports gimbal tracking
PrometheusGroundStation system
The Prometheus ground control station is a Prometheus-based human-machine interface developed using Qt. It uses TCP/UDP communication, avoiding the cumbersome configuration required for ROS1 multi-UAV communication. The ground control station enables users to reproduce the various functions of the Prometheus system more quickly, provides real-time UAV status monitoring, and offers command operations such as one-click takeoff, landing, and position control.
Features:
- New ground control station system based on Prometheus V3
- Data monitoring and control-command transmission
- Simple interactive interface
- Supports custom buttons
- Supports ground control station application development
- Video streaming
- Parameter reading and modification
Prometheus V3 software system
The development platform is based on ROS and the open-source Prometheus framework. It provides extensive functionality and numerous interfaces for application development. The platform provides interfaces for UAV status and sensor data, including positioning information, flight mode, battery status, and IMU data, as well as control interfaces and supporting examples for position, velocity, acceleration, and attitude. For example, UAV battery status can be obtained through the ROS topic /uav*/mavros/battery (sensor_msgs/BatteryState), and desired attitude control values can be published through /uav*/mavros/setpoint_raw/attitude (mavros_msgs/AttitudeTarget). The UAV also includes a built-in flight safety check function (not obstacle avoidance) that can land automatically under abnormal conditions, reducing the risk of a crash and making application development safer.
Features:
- Open interfaces and support for application development
- Supporting software simulation
- Supports the Prometheus V3 system
- Safety protection mechanisms
SpireCVPro vision library
This is an onboard real-time image-processing SDK designed specifically for intelligent unmanned systems. Its primary functions include gimbal/camera control, video recording, streaming, and target detection, recognition, and tracking. It is intended to provide developers of intelligent unmanned systems with high-performance, highly reliable, easy-to-use, and feature-rich vision-processing capabilities. The P450 integrates its different perception sensors with the SpireCVPro vision library to implement feature demos including QR-code tracking, circular-frame detection, click-to-track, video streaming, and autonomous landing through takeoff and landing marker detection.
Features:
- Provides unified, high-performance, and versatile perception algorithms
- Provides stable, cross-platform video reading and writing
- Integrates interfaces for typical hardware ecosystems and is easy to use
- Provides a UDP communication protocol
- Provides ROS interfaces
EGO-Planner path planning
Supports the EGO-Planner path-planning algorithm and provides the Octomap mapping algorithm, enabling autonomous path planning when used with the professional ground control station.
Features:
- Octomap mapping
- Supports point-designated planning and route planning
- Integrates interfaces for typical hardware ecosystems and is easy to use
- Intuitive, stable, and reliable trajectory generation
- Suitable for indoor environment search scenarios
