> For the complete documentation index, see [llms.txt](https://docs.gremsy.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.gremsy.com/payloads/general/advanced-configuration/mapping.md).

# MAPPING

#### Current Flight Setup

* Platform: Quadcopter running ArduPilot 4.5.7
* Equipped with RTK positioning

***

## 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.)

***

## 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.


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://docs.gremsy.com/payloads/general/advanced-configuration/mapping.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.