# 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FVZH0b2iQbJQkAurTWitr%2Fee_manual.gif?alt=media&#x26;token=21ff4660-2ede-4ba0-8052-686e10b59c72" alt=""><figcaption></figcaption></figure>

* Step 1: Install and open PayloadAssistant App

{% content-ref url="payload-assistant-app" %}
[payload-assistant-app](https://docs.gremsy.com/tiny-gimbal/g-hadron/payload-assistant-app)
{% 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FXjKozzzwp4QPERSnJIzR%2Fimage.png?alt=media&#x26;token=ba37b78a-0d03-4f7e-a53d-e5f4847a607a" 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FweSgmPDjm3CkREqiBoyq%2Fimage.png?alt=media&#x26;token=510eb6c6-3a70-4562-8b63-8ccae42cf4c8" 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F1IeANDWnkCiLjdbTx9v2%2Fdetection_enable.gif?alt=media&#x26;token=b063b18b-b907-40d8-95ff-edd01090f2d7" alt=""><figcaption></figcaption></figure>

**Trigger:**

* Camera settings menu&#x20;

{% content-ref url="camera-setting-menu" %}
[camera-setting-menu](https://docs.gremsy.com/tiny-gimbal/g-hadron/camera-setting-menu)
{% endcontent-ref %}

* PayloadSDK

{% content-ref url="gremsy-payloadsdk" %}
[gremsy-payloadsdk](https://docs.gremsy.com/tiny-gimbal/g-hadron/gremsy-payloadsdk)
{% 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FvOs483Y7PfEaWcclEH0o%2Ftracking_enable.gif?alt=media&#x26;token=5a062d3e-8a48-4292-805c-4504f5cb8772" 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FIWZK2YPXANx7kvOvq9nX%2Ftracking_ee.gif?alt=media&#x26;token=988260e4-a072-4db8-b239-3c17d275e9ab" 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F266bhVAoUvDQjXzNwuIt%2Ftracking_with_detection.gif?alt=media&#x26;token=c836dff8-7942-4d72-b571-b0a0e699dce3" alt=""><figcaption></figcaption></figure>

* PayloadSDK&#x20;

{% content-ref url="payload-assistant-app" %}
[payload-assistant-app](https://docs.gremsy.com/tiny-gimbal/g-hadron/payload-assistant-app)
{% endcontent-ref %}

* SBUS channel&#x20;

{% content-ref url="control-by-sbus-remote-controller" %}
[control-by-sbus-remote-controller](https://docs.gremsy.com/tiny-gimbal/g-hadron/control-by-sbus-remote-controller)
{% endcontent-ref %}

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

* Disable

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FviBMxuSUtwkH2As7hxsb%2FTracking_disable_motion_predict.gif?alt=media&#x26;token=d71191d1-87f0-4ce7-9d35-4b0c78a5abb6" 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FI7ACl4kYpscQzAuM2E0n%2FTracking_with_motion_predict.gif?alt=media&#x26;token=fa5a3449-46c7-4afc-b459-6f25f33c63ee" 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FTXhESVr7h5xkQRBHF4ee%2Fimage.png?alt=media&#x26;token=a2a07c52-4963-4ac4-b8f3-306f134d4089" alt=""><figcaption></figcaption></figure>

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

{% content-ref url="payload-web-server" %}
[payload-web-server](https://docs.gremsy.com/tiny-gimbal/g-hadron/payload-web-server)
{% 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="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FAmMmOEQkA0VZDakb5eAM%2Fisotherms_enable.gif?alt=media&#x26;token=9c35bde8-83ce-41b3-bc9c-05f18f280ba9" 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;