# ADVANCED FEATURES

**Advanced Features**

* Mainboard Software Version: 

{% embed url="<https://github.com/Gremsy/GHadron-Payload-Bin/releases/latest>" %}

* Gimbal Firmware Version:&#x20;

{% embed url="<https://github.com/Gremsy/G-Hadron-Firmware/releases/latest>" %}

### **1. Eagle Eye**

Click anywhere on the Herelink screen, and the gimbal will move quickly and accurately to the clicked object

<figure><img src="/files/AUfpUSVuua8vCeXYbslu" alt=""><figcaption></figcaption></figure>

* Step 1: Install and open PayloadAssistant App

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/ymg0qTNn6RrkLWyD85I9" %}
[PAYLOAD ASSISTANT APP](/tiny-gimbal/g-hadron/payload-assistant-app.md)
{% endcontent-ref %}

* Step 2: Enable Eagle eye mode by touching icon
* Step 3: Touch anywhere on the screen to move the gimbal

*Note: make sure to un-tick "Enable on Screen Camera Control" on QGC*&#x20;

<figure><img src="/files/h6oeg3dnWKKTyfGCz6UI" alt=""><figcaption></figcaption></figure>

#### **Compatible:**

* Gimbal: LOCK, FOLLOW
* Camera setting: 64MP, 8MP
* View:  EO, IR
* All zoom levels

**Gtune Setting**

Gimbal speed depends on Mavlink Control Setting for Pan and Tilt axis

* SPEED: Speed setting for Eagle eye
* SMOOTH: Set value to 20 or less for accuracy at high zoom level

<figure><img src="/files/WqHNcQ9MBxKUOWi4XAUo" alt=""><figcaption></figcaption></figure>

### **2. Detection**

Object detection is a technique that uses neural networks to localize and classify objects in images.

* FPS: 10
* Max of objects: 10

<figure><img src="/files/bP5KMsvoHbRZ1Q3h49cE" alt=""><figcaption></figcaption></figure>

**Trigger:**

* Camera settings menu&#x20;

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/DQIiu3tg3dQ9naZFvk4G" %}
[CAMERA SETTING MENU](/tiny-gimbal/g-hadron/camera-setting-menu.md)
{% endcontent-ref %}

* PayloadSDK

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/4RfjiDUODwgbQCFc20O0" %}
[GREMSY PAYLOADSDK](/tiny-gimbal/g-hadron/gremsy-payloadsdk.md)
{% endcontent-ref %}

### **3. Tracking**

The tracking feature will control the gimbal moving following the object to keep the object always in the center of the view.

* FPS: 45

**Trigger:**

* Tracking mode button on PayloadAssistant: initial tracking with bounding box 216 pixel x 216 pixel in center

<figure><img src="/files/jGovIG404r0wy5WURjHA" alt=""><figcaption></figcaption></figure>

* Enable Eagle eye mode: initial tracking with bounding box 216 pixel x 216 pixel on touch's position

<figure><img src="/files/KAddX1nft8zxGk1uHxae" alt=""><figcaption></figcaption></figure>

* Choose the detected object

**Step 1:** Enable Detection

**Step 2:** Enable Tracking and Eagle eye

**Step 3:** Touch the object to track.

<figure><img src="/files/ScSFkwnn3BGkrfafREcd" alt=""><figcaption></figcaption></figure>

* PayloadSDK&#x20;

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/ymg0qTNn6RrkLWyD85I9" %}
[PAYLOAD ASSISTANT APP](/tiny-gimbal/g-hadron/payload-assistant-app.md)
{% endcontent-ref %}

* SBUS channel&#x20;

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/HOajdZ2XquFVwGDtrBQP" %}
[CONTROL BY SBUS REMOTE CONTROLLER](/tiny-gimbal/g-hadron/control-by-sbus-remote-controller.md)
{% endcontent-ref %}

Motion prediction: Continuously move the gimbal while losing object tracking.

* Disable

<figure><img src="/files/3cURVocxAl62MEDdoowe" alt=""><figcaption></figcaption></figure>

* Enable

**Step 1:** Open camera settings in QGC

**Step 2:** Setting Target to Advanced Features

**Step 3:** Motion Prediction -> Enable

* Cancel the prediction process by disabling tracking or by manually controlling the gimbal

<figure><img src="/files/ySYiy9ao1rRL7MZ0PNyp" alt=""><figcaption></figcaption></figure>

### **4. IR ISOTHERMS**

#### **4.1 Isotherms Regions**

* Isotherms allows configuration of ranges of temperatures or % to have customized colorization.
* This can be used for highlighting objects of certain temperatures with radiometric cameras, while still using the 8-bit colorized output

<figure><img src="/files/Bq0sZt4X5jNcLwufsP83" alt=""><figcaption></figcaption></figure>

**Step 1:** Access to IR Radiometric on Payload Web Server

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/1OnJsNY2owsv8UVQDb48" %}
[PAYLOAD WEB SERVER](/tiny-gimbal/g-hadron/payload-web-server.md)
{% endcontent-ref %}

**Step 2:** Set regions of temperatures with customized colorization.

* At below video: set 2 regions
  * Less than 30 degrees Celsius for the Trees with Green color
  * 30 to 40 degrees Celsius for the People with Red color

**Step 3:** Enable through the Payload Web Server or by selecting "Isotherms Enable" in the camera settings on QGC or PayloadSDK

<figure><img src="/files/6POGncfYPMVWLH0FYu9K" alt=""><figcaption></figcaption></figure>

**4.2 Isotherms Gain**

* Isotherm options set to proper temperature units and the gain mode:
  * Low gain is for high temperature measurement.
  * High gain is for low temperature measurement.

**Trigger:** Using Payload Web Server or by selecting **"Isotherms Gain"** in the camera settings on QGC or PayloadSDK.&#x20;


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