# Freefly

## Getting Started

To ensure the gimbal steering for the 6X Series Sensors will work for Freefly aircraft two things need to be checked:

* [ ] Verify sensor firmware is v3.16.1 or greater. 
* [ ] Verify Freefly compatibility settings have been applied to the aircraft.

{% content-ref url="../../firmware-update" %}
[firmware-update](https://support.senterasensors.com/home/6x-series-sensors-user-guide/6x-series-sensors/firmware-update)
{% endcontent-ref %}

{% content-ref url="../../installation/freefly/freefly-compatibility-settings" %}
[freefly-compatibility-settings](https://support.senterasensors.com/home/6x-series-sensors-user-guide/6x-series-sensors/installation/freefly/freefly-compatibility-settings)
{% endcontent-ref %}

### IMPORTANT!

When the aircraft, sensor, and hand controller are all connected and booted the gimbal will automatically point forward (90 degrees from NADIR) by default. 

The default gimbal angle for survey mission types is -90 degrees (NADIR). The gimbal will automatically point NADIR at the beginning of the survey mission item unless the gimbal angle is set otherwise.

The gimbal will automatically point forward again when return mode is activated. 

{% hint style="info" %}
Astro Firmware  2.0.22 and greater will display the gimbal angle indicator. 
{% endhint %}

***

## Manual Gimbal Control 

To manually control the gimbal use the rocker wheel on the left hand side of the hand controller.

Pushing the wheel to the right will point the gimbal downwards (NADIR).

Pushing the wheel to the left will point the gimbal forward.

***

## Automated Gimbal Control for Survey

{% stepper %}
{% step %}

### Navigate To Plan Screen 

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FfNrFLr8PuMiKrDiDMICo%2Fimage.png?alt=media&#x26;token=56e7558b-d0ba-4b11-8440-c686430020ea" alt=""><figcaption></figcaption></figure>

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FJ5mlsIvtbmAWYw3i2cS4%2Fimage.png?alt=media&#x26;token=792485fe-081a-487c-851c-b9a09af4d8cf" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Place Survey&#x20;

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FASRjA58r2AEogq9zyrF3%2Fimage.png?alt=media&#x26;token=e9f4f0db-b790-47e5-81f1-d58483a09388" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Select Camera

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FFV79w0ooH9EOUo6IMGHh%2Fimage.png?alt=media&#x26;token=1732c847-5852-46c1-808b-934902dd638c" alt=""><figcaption></figcaption></figure>

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2Fl0uRx8GS44KVYgi3SXfT%2Fimage.png?alt=media&#x26;token=f5fba67f-87e7-4350-ba76-5f28b3ddf889" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Expand Camera Orientation Settings Menu

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FHsJqVkrEkluYE9PSi3ku%2Fimage.png?alt=media&#x26;token=437bb4ce-3a1b-4f1f-a26a-48177d930023" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Set Desired Gimbal Angle

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2F17h2fXqthfmRHcZunpOj%2Fimage.png?alt=media&#x26;token=bce00ce1-2811-40f0-b27c-b9926608c307" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Upload Mission

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FEKRVFhO8qQp0P90zHmS8%2Fimage.png?alt=media&#x26;token=878c3bb3-f160-461a-8b11-8020bc7c78c6" alt=""><figcaption></figcaption></figure>
{% endstep %}
{% endstepper %}

***

## Automated Gimbal Control for Waypoints

{% stepper %}
{% step %}

### Navigate To Plan Screen&#x20;

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FmekRGgem0ERzIETe38JI%2Fimage.png?alt=media&#x26;token=e2fc48db-fac4-487d-b30e-d801ac4bd569" alt=""><figcaption></figcaption></figure>

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FmtPecRFT89TOYtReA8xD%2Fimage.png?alt=media&#x26;token=18494947-1b0c-4012-a00f-449dbc92a192" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Place Waypoint&#x20;

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FiLWSNw4FGyjdlrKg33zy%2Fimage.png?alt=media&#x26;token=1655afd8-38c7-46c0-9b54-31d77ab9fcc0" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Scroll Down to Camera Actions

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2Fp5qYXYZsAAH1r1gB3Ixl%2Fimage.png?alt=media&#x26;token=05f80f4b-c4fc-45b1-a480-f5b0707fcbcc" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Check Gimbal & Set Desired Gimbal Angle

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2F1je6jJ23lW8gb6EHFV2u%2Fimage.png?alt=media&#x26;token=0fa532fb-1108-4b9b-b6f4-a2f3346b4029" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Finish Planning the Mission & Upload Mission

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2FUrFwsYTBJk0GIUTyVrJK%2Fimage.png?alt=media&#x26;token=02e695b1-c6b4-42e0-bdfe-6283b2f10e2e" alt=""><figcaption></figcaption></figure>
{% endstep %}
{% endstepper %}

***

## Gimbal Angle Orientation Reference

<figure><img src="https://816013970-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F5Jgm6jwRCbkoXyPerUfI%2Fuploads%2F8KFbrzFdGJUj7UNekVGT%2Fimage.png?alt=media&#x26;token=75048390-4948-49ec-82b6-3fb58454174d" alt=""><figcaption></figcaption></figure>