MAPPING

Current Flight Setup

• Platform: Quadcopter running ArduPilot 4.5.7

• Equipped with RTK positioning

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1. QGroundControl Configuration

Camera: (Custom Camera)

Because the camera parameters are not available in the system yet, a custom camera profile needs to be created.

• Landscape & Portrait: Select Landscape mode for mapping flight operations.

Sensor size: 5.76 mm × 4.29 mm
Image resolution: 3840 px × 2160 px
Focal length: 9 mm
/This is example/

• Option: Enable “Images in Turnaround”

Flight altitude: ~40 m, depending on your desired GSD (Ground Sampling Distance)

Product	Sensor Size	Photo Size	Focal Length
VIO	5.76 mm × 4.29 mm	3840 px × 2160 px	4mm
Orus-L	5.76 mm × 4.29 mm	3840 px × 2160 px	9 mm
LYNX	6.17 mm x 4.55 mm	3840 px × 2160 px	5.4 mm

2. Drone Configuration

Please note the following parameter:

• CAM_TYPE = 5 or 6 (we recommend 5)

Before flight:

• The LRF (Laser Range Finder) must be turned OFF.

• Open Camera Settings → select the LRF device → set LRF = OFF

• Set the payload to Mapping Mode. (Currently, during autonomous missions, the ORUS L does not automatically tilt down to 90°, so you need to switch to Mapping Mode manually before starting the mission.)

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3. Data Processing

After the flight, metadata is embedded in each captured image, so you can directly process the raw data using third-party photogrammetry software such as Pix4D or Agisoft Metashape.