Introduction

MAVLink is a very lightweight messaging protocol for communicating with drones, as well as between onboard drone components. It is a very commonly used protocol in the open source drone community.

6X OEM

6X supports image metadata tagging and sensor triggering using MAVLink V1 messages. The required serial port configuration for the MAVLink controller is 460800, 8-N-1, and it must be connected to 6X connector J2, pins 1/2 (UART2 TX/RX) with 3.3v signal levels.

6X Gimbal

The gimbaled 6X supports image metadata tagging and sensor triggering using MAVlink V2 messages. The MAVlink messages are ingested into the gimbal hardware and automatically forwarded to the 6X.

A custom camera configuration is generally required for MAVlink implementation with a gimbal. Contact support@sentera.com for more information.

Messages

Image Metadata Messages

• MAVLINK_MSG_ID_SYSTEM_TIME

• MAVLINK_MSG_ID_GPS_RAW_INT

• MAVLINK_MSG_ID_ATTITUDE

• MAVLINK_MSG_ID_GLOBAL_POSITION_INT

Sensor Triggering Messages

• MAVLINK_MSG_ID_COMMAND_LONG::MAV_CMD_DO_DIGICAM_CONTROL

Integrate Platforms

Please see the compatibility settings if you are using a fully integrated platform:

Generic Settings

These are generic MAVlink settings for use with the 6X Series sensors.

PX4 Settings

Ardupilot Settings

Intro

Current Astro firmware and 6X firmware requires two parameters to be set for seamless operation. This requirement will be removed in an upcoming firmware release. Please use the page linked below for instructions on how to set the parameters.

Instructions

1. Power on Astro and hand controller & connect

2. Open AMC
3. Enter advanced mode by rapidly tap on the Auterion logo in the upper left hand corner until a dialog box appears.
4. Press Switch to Advanced
5. Press the Auterion logo in the upper left hand corner and press Advanced
6. Scroll down to Parameters on the left hand menu
7. In the search bar search "baud"
8. Change SER_EXT2_BAUD to 115200 8N1 and press Save
9. In the search bar search "MAV"
10. Change the MAV_2_MODE from GIMBAL to Normal and press Save
11. Turn the aircraft off

12. Connect the sensor to the aircraft

13. Power on aircraft

14. Restart AMC

15. Verify the lights on the 6X turn solid green

Introduction

For inspired flight systems that were not purchased through or configured by Inspired Flight or Sentera use the following instructions to configure your aircraft for Sentera sensors.

Instructions

1. Power on aircraft and hand controller

2. Open IGC/QGC and verify connection to aircraft
3. Tap the IGC Icon in the upper left hand corner and enter the vehicle setup menu
4. Scroll down in the left hand menu and select Parameters
5. In the search bar search "CAM2_TYPE"
6. Set CAM2_TYPE = 5 and press Save
7. Repeat this process for the following parameters listed in the table below

8. Once all of the parameters are set power down the aircraft

9. Connect the sensor to the aircraft

10. Power on the aircraft

11. Wait for the lights on the sensor to turn solid green (requires a GPS fix)

The shoulder wheel on the hand controller should now also control the gimbal pitch of the camera.