GUIDANCE User Manual 2015.10 V1.
Disclaimer Thank you for purchasing the Guidance. Read this disclaimer carefully before using this product. By using this product, you hereby agree to this disclaimer and signify that you have read it fully. Please strictly install and use this product in accordance with the manual. DJI assumes no liability for damage(s) or injuries incurred directly or indirectly from using, installing or refitting this product improperly, including but not limited to using accessories not designated.
Contents Disclaimer 2 Cautions 2 Legends 2 Contents 3 Product Profile 5 In the Box 5 Preparing for Use 7 Product Introduction 7 Supported Intelligent Systems 8 Supported Carriers 8 Installing the Guidance System Mounting the Guidance Core Mounting the Guidance Sensors Cable Connection 9 9 11 13 Port Description 13 Connecting the Guidance System 15 Connecting the Intelligent System 16 Connecting the Battery 16 DJI Guidance Assistant 17 Installation 17 Configuration 17 Cal
Testing 4 22 Pre-Flight Inspection 22 Test Environment 24 Basic Flight Tests 25 Safety and Maintenance 26 Product Specifications 27 © 2015 DJI. All Rights Reserved.
Product Profile The Guidance system is a sensor-based navigation aid that can be installed on flying platforms or other carriers. The system uses ultrasonic sensors and cameras to gather real-time information about its surroundings, and sends data such as velocity, position and obstacle clearance to the intelligent system of the carrier. Aircrafts equipped with the Guidance system are able to perform hovering and obstacle sensing functions in GPS-denied environments.
Guidance User Manual Micro-USB Cable ×1 Connects the Guidance Core to other intelligent systems. Supports PC connection. Micro-USB Cable Extender ×1 Use this extension cable if the Micro-USB cable is not long enough. UART Cable ×1 Connects the Guidance Core to other intelligent systems. Screw Pack M2x5 screw ×25 6 © 2015 DJI. All Rights Reserved.
Preparing for Use Product Introduction The Guidance system is mainly composed of the Guidance Core and Guidance Sensors, which are installed on the carrier (an aircraft or other robotic platforms) to serve as a positioning guide.
Guidance User Manual Supported Intelligent Systems The Guidance system processes image and ultrasound data which is converted into useful feedback for the intelligent system. Therefore, a suitable intelligent system is required to work with the Guidance system. Below are the supported intelligent systems. DJI Flight Control Systems The Guidance system is fully compatible with DJI flight control systems*.
Guidance User Manual Other Robotic Platforms Installing the Guidance system to other robotic platforms requires a customized mount. Refer to the dimensions in the figure below to build your own mount. 130 12 4×M2 5 φ1.6 6 78.5 14 53.5 Unit: mm Installing the Guidance System Once the intelligent system and carrier are chosen, start installing the Guidance system. This section provides instructions on mounting and connecting the Guidance modules. Read these instructions carefully.
Guidance User Manual 2. Mount the Guidance Core where it will be parallel to the carrier platform, and with the least vibration. Usually, the carrier’s center of gravity experiences the fewest vibrations. 3. To prevent overheating, mount the Guidance Core in places with good ventilation. Mounting Procedures The following figures use the DJI MATRICE to illustrate the mounting procedures. 1. Ensure the arrow on the Guidance Core points to the front of the carrier. 2.
Guidance User Manual If you are using other intelligent systems, set the position offset between the Guidance Core and the intelligent system in the DJI Guidance Assistant software. Check the Guidance Core regularly to ensure it is not loose. The Guidance system is not waterproof or oil-proof. Mounting the Guidance Sensors Mounting Requirements Guidance Sensors should be mounted on the front, rear, left, right and bottom of the carrier.
Guidance User Manual 2. Mounting the Guidance Sensors on all four sides of the carrier: Fix the Guidance brackets to the Guidance Sensor. Then mount the brackets onto the extension bay of the DJI MATRICE. Ensure the VBUS port on the Guidance Sensor is facing upwards. Failure to do so may lead to critical system errors and unintended flight behavior. 3. Check that all the parts are correctly installed and securely attached to the carrier.
Guidance User Manual × √ Use threadlocker to secure the screws where needed. Ensure the VBUS port of the downward facing Guidance Sensor points to the front of the carrier, and the VBUS ports on the other Guidance Sensors are facing upwards. Failure to do so may lead to critical system errors and unintended flight behavior. Refer to the previous steps to install the Guidance system on other carriers, ensuring that all the Guidance Sensors are unobstructed.
Guidance User Manual Guidance Core Port Description [2] VBUS ⑤ VBUS ① [1] VBUS ② [3] [1]. VBUS1 Port Connects to a Guidance Sensor. The Guidance Core can support up to five Guidance Sensors. [2]. XT60 Cable Supplies power to the Guidance system. Can be connected to an 11.1V~25V battery. Connects to the XT60 port when used with the DJI MATRICE. [3]. USB Port Connects to a PC or other intelligent systems for communication.
Guidance User Manual Connecting the Guidance System Follow the instructions below to complete the connections between the Guidance Sensors and the Guidance Core: 1. Connect the VBUS port of the front facing Guidance Sensor to the VBUS1 port of the Guidance Core. 2. Connect the VBUS port of the right facing Guidance Sensor to the VBUS2 port of the Guidance Core. 3. Connect the VBUS port of the rear facing Guidance Sensor to the VBUS3 port of the Guidance Core. 4.
Guidance User Manual Connecting the Intelligent System Connection for DJI MATRICE Use the CAN-Bus cable to connect the Guidance Core to one of the CAN-Bus ports on the DJI MATRICE. Connections for Other Intelligent Systems If you are using other intelligent systems, access position and velocity data through the Guidance SDK API functions. The pin descriptions of the UART cable are shown in the figure below. Refer to the intelligent system’s user manual for details on connecting the cables. 2. GND 4.
Guidance User Manual Battery Connection for Non-DJI Control Systems Choose a suitable 11.1V~25V battery and connect it to the XT60 port. Complete all the other connections before connecting the power cable of the Guidance system. DJI Guidance Assistant This section shows you how to configure the Guidance system through the DJI Guidance Assistant software. Complete the “Standard” or “DIY” settings before using the system for the first time. Standard: Used for DJI flight control systems.
Guidance User Manual Configuration Configuration Guidelines Adjust the settings according to the type of intelligent system that you are using. 1. Standard: Standard parameters for DJI flight control systems, with default settings set for the DJI MATRICE. The position offset parameters do not need to be modified if you are using the DJI MATRICE with standard mounting positions.
Guidance User Manual 2). If you are using other robotic platforms (with a DJI flight control system), or the DJI MATRICE with non-standard mounting positions, adjust the position offset values of the Guidance Sensors. 2. DIY Settings If you are using other intelligent systems, configure the parameters under “DIY”, including Guidance Sensor Parameters, API Parameters, and Advanced Parameters. 1). Guidance Sensor parameters: Exposure type: Set the exposure type for the cameras. a.
Guidance User Manual -z x -y y -x z b. Guidance Sensor Measure and fill in the position offset (X, Y, Z) and angle offset (Roll, Pitch, Yaw) between the Guidance Sensor and the intelligent system. -y x z -z y -x You may choose another reference point for the Guidance system other than the intelligent system’s center of gravity. However, all the measurements must be taken relative to that same point. Calibration Always calibrate the system on the first time of use.
Guidance User Manual Calibration Procedures Use the following procedures to complete the calibration process. 1. Select one of the calibration directions - front (VBUS1), right (VBUS2), rear (VBUS3), left (VBUS4) or down (VBUS5). 2. Click Start to begin, and a large ring will appear on the calibration board. 3. Pick up the carrier and point the Guidance Sensor of the selected direction at the calibration board. A crossed circle will appear once the camera captures the board.
Guidance User Manual speeds and movement paths do not affect the calibration result. 5. Q: The crossed circle does not move. A: Check that the cameras are unobstructed and pointing within the boundaries of the calibration board. If the crossed circle falls within three grids from the sides of the calibration board, move the camera in the opposite direction or aim it at the center of the calibration board.
Guidance User Manual LED Indicators LED indicators tell the status of the Guidance system. See the description below. Guidance Core LED Indicator LED Indicator Description Blinking Red Self-test after power on. Blinking Green Self-tested successfully (aircraft can hover without GPS) and velocity measurement function is enabled, but the obstacle sensing function is disabled. —— Solid Green Velocity measurement and obstacle sensing functions are enabled. —— Solid Red Failed hardware self-test.
Guidance User Manual 3. Q:The Guidance Core LED indicator stays Blinking Green after power on. A:Check the LED indicators of the forward, backward, left and right Guidance Sensors. There are two possible cases: If the Guidance Sensor LED indicator is Solid Red, redo the calibration. If the Guidance Sensor LED indicator is Blinking Red, lift the aircraft 50cm above the ground for several seconds, ensuring the Guidance Sensor is unobstructed.
Guidance User Manual a. Flying over inclined surfaces (> 30°) that will deflect sound waves away from the aircraft (e.g. spherical surfaces). b. Flying over surfaces that can absorb sound waves (e.g. thick carpets). c. Flying over thin railing or grid fences. Basic Flight Tests Hovering Function Take the following procedures to do the hovering test: 1. Select an open area (up to 20m viewing distance) without any GPS signal. 2. Let the aircraft take off, and gently move the aircraft in all four directions.
Guidance User Manual The obstacle sensing function is only supported when the Guidance system is used with a DJI flight control system, and should be enabled in the DJI Guidance Assistant. When the aircraft altitude reaches 0.5 meters, the Aircraft Status Indicator will blink blue once to indicate that the Obstacle Sensing Function is working normally. Do NOT fly in crowded areas. It is recommended to use the default parameters for the obstacle sensing function in the DJI Guidance Assistant.
Guidance User Manual humid or dusty areas. 4. Check that every part of the Guidance system is working properly if it is involved in a violent impact. If you have any questions or problems, please contact a DJI authorized dealer.
Download the latest version from https://dev.dji.com/products/devices/guidance If you have any questions about this document, please contact DJI by sending a message to DocSupport@dji.com. © 2015 DJI. All Rights Reserved. Printed in China The content is subject to change.