gPort For A Specific Camera

gPort is used for mounting a variety of cameras like Pixy F (Flir Duo Pro R camera), Pixy WS (Workswell Wiris Security) on M300/M200 V2 series. Users need to configure and flash the firmware again if using gPort for another camera. Preconditions: Follow the instructions above to mount the gPort and Gimbal.

SoM (System-on-Modules)

Configure HDMI Camera Input Resolution

1. Download and extract the GremsyFlashTools_v1.1.5. 2. Plug the interface cable for gPort into the USB port of the PC. Reserved Port connects to gPort. (Note: Switch the button to S) 3. Power on the Aircraft. 4. Start the GremsyFlashTools. In the MainWindow. Select the COM port, then press Connect. 5. Press Login button (1) -> Select HDMI resolution (4) then press Set Video Input (5) ->press Reboot button (6).

NOTE: The HDMI resolution is set to gPort. It must be the same with the camera HDMI setting.

Upgrading new firmware for SoM

1. Copy the firmware file 'upgrade’ in the HDIM_Ethernet_M300 folder to SD card. 2. Insert SD card and power on the aircraft. 3. Plug the interface cable for gPort into the USB port of the PC and Reserved Port connects to gPort. (Note: Switch the button to S) 4. Power on the Aircraft. 5. Start the GremsyFlashTools. In the MainWindow. Select the COM port then press Connect. 6. Press Login button (1) -> Press Flash button (2). Waiting for process -> Press Factory Setup (3)-> press Reboot button (6).

gPort firmware upgrade by ST-Link Utility

1. Mounting gPort to the Aircraft 2. Power on the aircraft. Connect the gPort to a PC with the interface cable for gPort. 3. Run the STM32 ST-Link Utility HERE Download the STM32 ST-Link Utility from Web-Link and install it on your machine. (This is the recommended option for Windows users). 4. Download the firmware for your camera PixyF, PixyWS. 5. Launch the ST-Link Utility that you’ve just installed and connect to the gPort with a Debug Module. • Load the firmware file and hit the “Program and Verify button” (CTRL + P) • Set Start Address: 0x08010000

• Press Start button and wait a second. 6. Disconnect when upgrading completely.

gPort firmware upgrade by DJI Assistant 2

NOTE: Only Matrice 300 RTK 1. Mounting gPort to the Aircraft. 2. Power on the aircraft. Connect the aircraft to a PC with a Type-C USB cable 3. Download the firmware for your camera PixyF, PixyWS. 4. Run the DJI Assistant 2. Click your gimbal device. Choose the new firmware and press the upgrade button. NOTE: Choose the new firmware upgrade to the gPORT with the specific camera.

Flir Duo Pro R

Checking Camera Operation

Firmware latest version LED Indicator

When power is applied to the camera, the Status LED blinks red for approximately 15 seconds, then changes to solid blue. When this happens, Bluetooth becomes enabled. FLIR Duo Pro R beeps three times and the Record LED goes from off to solid green. (If the FLIR Duo Pro R is connected to a computer, or if no SD card is inserted, the Record LED blinks yellow). Camera Status and Record LED Description:

Status LED at power-up	Blinking RED
Record LED at power-up	OFF
Status LED at ready	Solid BLUE, Bluetooth is enabled; Solid GREEN, Bluetooth disabled
Record LED at ready	Solid GREEN
Record LED	Blinking RED during recording Blinking YELLOW if recording alert (microSD card not present, is full, or is in use by PC)
Status LED during firmware update	Blinking PURPLE
Press the Record button to initiate recording	The Record LED will blink RED when recording video or still imagery

Configure Mavlink Connection

The Duo Pro R can be configured to use the MAvlink serial protocol by using the UAS. Interfacing with gPort, FLIR uses this bus to capture available telemetry data provided by gPort like (GPS, Altimeter, Gimbal Data, …). Suggested mapping application. The FLIR UAS App is the primary control interface available for the Duo Pro R camera. It is compatible with many mobile devices equipped with Bluetooth LE running iOS 9.0 or later and Android v4.3 or above. The Duo Pro R can be configured to capture available telemetry data provided by GPS, altimeter, accelerometers, etc. Step 1: Install FLIR UAS App · IOS APP store (Web Link) · Android APP store (Web Link) · Android APK file direct DL (Web Link)

Step 2: To (re)enable Bluetooth Press the Bluetooth button on the top of the camera Step 3: Set Serial Protocol and Serial Data Rate

Camera View

[1]. Floating Window Display the status of the gPort system (Including Camera and Gimbal)

[2]. Gimbal Orientation Adjustment Tab to select the Gimbal Orientation Adjustment as Gimbal Recenter, Recenter Gimbal Yaw, Gimbal Yaw Downward or Gimbal Downward.

[3]. Beacon Tab to turn on/off the beacons, then the Discreet Mode icon will change.

[4]. View Mode Select Video Mode: Selection of the display video mode toggles between a Visible stream only, thermal infrared (IR) stream only, and a Picture-In-Picture (Pip) stream that shows a full-screen visible stream with a thermal stream display in an inset window.

[5]. FFC To maintain optimum performance, thermal imaging cameras occasionally must perform an internal calibration of Flat Field correction (FFC). During re-calibration, an audible “click” can be heard and live video is momentarily frozen.

[6]. MSX Multi-Spectral Dynamic Imaging (MSX). It provides extraordinary detail in real-time thermal images by embossing visible camera image information onto thermal video and stills. [7]. MSX Length.

[7]. MSX Length Select the degree of fusion

[8]. Zoom Settings

[9]. Payload Settings FLIR DUO PRO Camera Parameters Gimbal Tuning [10]. Camera Settings

[11]. T: Zoom Tele Tab to zoom increases [12]. Photo / Video Toggle Tab to switch between photo and video recording modes. [13]. Shutter / Record Button Tab to shoot photos or start/stop recording. Users can also press the Shutter or Record button on the remote controller to shoot photos or record video. [14]. W: Zoom Wide Tab to zoom decreases [15]. R: Zoom Resets

Payload Settings

· Thermal Palette: The Duo Pro R detects and images long-wave infrared radiation. · Scene Each Scene preset provides a combination of automatic gain control (AGC) settings optimized by FLIR system to provide the best image for a specific application. · File Format JPEC & TIFF or FFF · Video Type H264 or TIFF · Spot Meter Turns on or off the spot meter (fixed 4x4 pixel array) in the center of the image, the on-screen thermometer on the left edge.

· Temp Unit Temperature Unit: Units of measure displayed on the analog video stream. Select between Celsius and Fahrenheit

· Sky Condition Measure of the cloud over above the operating site. This affects the background radiation incident on the scene. Clear, Scattered and Cloudy.

· Humidity Relative moisture content of the air. Three settings are available; Low (<30%), Medium (~45%), High (>60%).

· Air Temp Ambient temperature of the operating environment. Values from 0 to 40 C (32 to 104 F) can be configured.

· Emissivity Measure of the target surface ability to emit thermal energy. Values from 50 – 100% can be configured.

· Subject Distance Distance from the camera to the target in the scene. Values from 0 – 200m (0 – 218 yards) can be configured.

Workswell Wiris Security

Firmware Version: V1.5.4 or above GPORT only supports Workswell Wiris Security with the firmware Version V1.5.4 or above. Camera View

[1]. Floating Window Display the status of the gPort system (Including Camera and Gimbal)

[2]. Gimbal Orientation Adjustment Tab to select the Gimbal Orientation Adjustment as Gimbal Recenter, Recenter Gimbal Yaw, Gimbal Yaw Downward or Gimbal Downward.

[3]. Beacon Tab to turn on / off the beacons, then the Discreet Mode icon will change.

[4]. Layouts WIRIS SECURITY implements several different Layouts – different arrangement of elements on the screen. Each layout is best suited for a particular situation or a use case. The selection of the layout is up to the preference of the user. The underlying functionality of the camera remains mostly the same in all layouts.

· Security The SECURITY layout aims to make camera screens as large as possible simultaneously. It’s primarily intended for situations when it’s desired to view both camera streams simultaneously but not in the PIP mode.

· Fullscreen The FULLSCREEN layout shows only one of the camera streams at a time over the entire screen.

· PIP The Picture-In-Picture Fusion layout is the most advanced, presenting a superimposed view that displays both cameras simultaneously across the entire screen.

[5]. Main Camera Camera for main display: Thermal or Visible

[6]. Thermal Camera Transparency Thermal camera transparency in PIP Fusion layout.

[7]. Zoom Settings Select the degree of fusion

[8]. Payload Settings FLIR DUO PRO Camera Parameters Gimbal Tuning

[9]. Camera Settings [10]. T: Zoom Tele Tab to zoom increases

[11]. Photo / Video Toggle Tab to switch between photo and video recording modes.

[12]. Shutter / Record Button Tab to shoot photos or start/stop recording. Users can also press the Shutter or Record button on the remote controller to shoot photos or record video.

[13]. W: Zoom Wide Tab to zoom decreases

[14]. R: Zoom Resets

Payload Settings

· Thermal Palette Color palettes that can be applied to the infrared image.

· Range The WIRIS SECURITY camera is a non-radiometric device and relies on a fully automated range setting (so virtually visual brightness and contrast) for the thermal image. The automatic thermal image processing allows the user to adjust the functioning of the automatic value range setting algorithm in two ways.

Range menu consists of the following items: - Time Stabilization Apply a lag filter on the minimal and maximal edges of the value mapping function, leading to less intense reaction on rapid changes in extreme values within the scene. - Hot & Cold Rejection Use a histogram mapping of all the pixel values found in the frame and then culls some amount of the outlier extremes before determining the value range to map the data.

· Alarms ALARMS allows the user to further specify the ALARMS display's appearance as defined and invoked within the MEASURE menu. o Alarm Mode: OFF, ABOVE, BELOW, BETWEEN, or OUTSIDE o Alarm Above & Below: Threshold values o Alarm Color: ABOVE, BETWEEN, BELOW. Possible colors are RED, GREEN, BLUE. Cycles through the color options will be used to mark areas with temperatures below the upper and above the lower threshold.