Herelink HD Video Transmission System V1.1 Product Picture 1 1 1024x1024 - Herelink V1.1 Manual

Herelink V1.1 Manual

Table of Contents

Herelink Overview

Herelink Overview - Herelink V1.1 Manual

Herelink is an integrated remote controller, ground station and wireless digital transmission system designed to be used with the Cube Autopilot, Autopilot or PX4. Herelink allows RC control, HD video and telemetry data to be transmitted upto 20 km between the ground station and air unit, the Herelink remote controller features custom Solex TX and QGC applications and both air unit and ground station feature an integrated 8 core SOC for custom application development.

Herelink 1.1 is based on the original platform and functions of Herelink 1.0. The controller improved the display brightness up to 1000 nits. Moreover, an additional Ethernet interface is available on air unit 1.1 to support more peripheral devices and adapt to more applications, a SD card slot is available on the air unit 1.1.

Note: Please use the latest version of flasher_win to upgrade your HereLink1.1 controller and HereLink1.1 air unit firmware. (https://docs.cubepilot.org/user-guides/herelink/herelink-user-guides/upgrading-firmware#download-firmware-upgrade-application)

Herelink / Herelink 1.1 Technical specifications

Air unit and Controller

ProcessorSoC – Pinecone S1
SOC4 *Cortex A53, 2.2GHz / 4 * Cortex A53, 1.4GHz
GPU4 Core, Mali-T860
SDRA7 + DSP
MenoryAir unit LPDDR3 1 GB | Controller LPDDR3 2 GB
StorageAir unit eMMC: 4 GB|Controller EMMC:8G
Transmission DistanceFCC 20 km | CE / SRRC / MIC 12 km
Video Delay110 ms
Image resolution720p@30fps | 1080p@30/60fps
Frequency Band2.4GHz ISM
Receive sensitivity-99dBm@20MHz BW
Recovery< 1s

Controller

Herelink Overview 2 - Herelink V1.1 Manual

Case MaterialPlastic
Weight(Herelink1.0) 516g(Including 2 antennas) | Herelink 1.1: 536g
Size217*106.5*31 mm (not include external antennas and joy-sticks)
Screen5.46 inch,1080P,16 million colors, capacitive touch screen
Screen brightnessHerelink1.0 :600nit | Herelink 1.1 :1000nit
AudioBuilt-in speaker × 1, built-in microphone × 2
RemoterHall effect gimbals with removable sticks x 2, scroll wheel × 1, bottom button × 6 with backlight, top button × 1 (right)
Wireless CommunicationBluetooth / Wi-Fi / GPS / 2.4G map transmission ground
Indicator lightTricolor LED *2 (Up right and left corner)
InterfaceMicro USB × 1, Micro SD × 1 (supports maximum 64 GB)
External AntennaDirectional antenna (5dBi) *1 detachable omnidirectional antenna(2dBi) *1 detachable
Build-in Antennabuilt-in Wi-Fi antenna, built-in GPS antenna, external GPS antenna interface x 1
PowerBuild-in 4950 mAh Lipo Battery
ChargingSupport micro USB port 5v 2A current charging
Power ConsumptionThe average power consumption does not exceed 4W (only picture transmission work, medium screen brightness, Wi-Fi off, GPS off)

Air unit

Air unit 1.0

Air unit 1.0 - Herelink V1.1 Manual

Case MaterialAluminum Alloy
Weight (antenna included)Herlink 1.0 :95g
Size78.5 * 30 * 15 mm
Signal Bandwidth20MHz / 10MHz
Power ConsumptionThe average power consumption does not exceed 4W
Micro HDMI 1Camera video signal input (Recommend)
Micro HDMI 2Camera video signal input
Power InputRecommended supply voltage 7V: minimum 6V, maximum 12V and avoid sharing BEC with servos
UART Interface3.3V UART
S.bus InterfaceDual RC out , S.bus1 and S.bus2
Micro USBUsed for debugging and upgrading, support OTG mode(need external power for USB device)
ButtonUsed for pairing and state reset
Indicator light 1 ,2Used to indicate state for pairing and video transmission
MMCX antenna jack 1,2Used for signal transmission and ground communication

Airunit1.1

Airunit1.1 - Herelink V1.1 Manual

Case MaterialAluminum Alloy
Weight(antenna included)Herelink 1.1: 98g
Size78.5*30*15 mm
Signal Bandwidth20MHz / 10MHz
Power ConsumptionThe average power consumption does not exceed 4W
Micro HDMI 1Camera video signal input (Recommend)
Micro HDMI 2Camera video signal input
Power InputRecommended supply voltage ~7V: minimum 6V, maximum 12V and avoid sharing BEC with servos
UART Interface3.3V UART
S.bus InterfaceDual RC out , S.bus1 and S.bus2
Micro USBUsed for debugging and upgrading, support OTG mode ( no need external power for USB device )
ButtonUsed for pairing and state reset
Indicator light 1 ,2Used to indicate state for pairing and video transmission
MMCX antenna jack 1,2Used for signal transmission and ground communication
SD Slot ( only supported by Air unit 1.1)For future usage
ETH Interface ( only supported by Air unit 1.1)Network protocol device access

Air unit Interface Specification

(Airunit1.0 & Air unit 1.1)

Airunit1.0 Air unit 1.1 - Herelink V1.1 Manual

Power:

power - Herelink V1.1 Manual

Pin #NameDescription
1PowerPower IN,7V – 12.6V max(3s Lipo supported )
2GNDGround pin

UART:

uart - Herelink V1.1 Manual

Pin #NameDescription
1RXDRX of air module,3.3V TTL
2TXDTX of air module,3.3V TTL
3GNDGround pin

S.bus :

s bus - Herelink V1.1 Manual

Pin #NameDescription
1S.bus out 1RX for control signal
2GNDGround pin
3S.bus out 2RX for Gimbal signal
4GNDGround pin

ETH( only supported by Herelink 1.1):

ETH only supported by Herelink 1.1 - Herelink V1.1 Manual

eth - Herelink V1.1 Manual

Pin #NameDescription
1TX+AUTO MDIX
2TX-AUTO MDIX
3GNDGround pin
4RX+AUTO MDIX
5RX-AUTO MDIX

Accessories

  1. HereLink Air unit *1
  2. HereLink Controller *1
  3. Omnidirectional antenna *1
  4. Directional antenna *1
  5. Air unit antenna *2
  6. Joy-stick *2
  7. HDMI cable *1
  8. Power cable *1
  9. Telemetry cable *1
  10. S.bus cable *1
  11. USB cable *1
  12. Back board *1
  13. M1.6x16mm(Fan screw )*5
  14. M1.6(Fan Nut )*5
  15. Washer ( Fan washer )*5
  16. O-ring ( Fan O-ring )*20
  17. M1.6x3mm(Airunit case screw )*5
  18. M3x10mm(Back board mounting screw )*3
  19. M3 Nut ( Back board mounting nut )*3
  20. Fan*1(available in Herelink1.1)

Air Unit LEDs

Air Unit LEDs - Herelink V1.1 Manual

LED1:

Solid Green Light : Receiving HDMI 1 Signal

Solid Red Light : Receiving HDMI 2 Signal

Solid Yellow Light : Receiving flight control data signal

Green and Red light flickered alternately : Receive 2 video stream signal

Green Yellow, and Red light flickered alternately : Receive 2 video stream signal and flight control signal

No Light : Receiving no valid video signal or flight controller signal

LED2:

Green light flickered : Pairing

Solid green light : Receiving valid control signal and power is normal

Solid Yellow light : Unpaired/no valid signal received

Red light flickered : Unstable power

No Light : Air unit is not powered

Pair / Reset Button :

Controller pairing and Enter upgrade mode

Button and LEDs

Button and LEDs - Herelink V1.1 Manual

Button :

Upper Left WheelControl gimbal  (configurable)
Upper Right ButtonTake photo (configurable)
Upper Right ButtonConfigurable
Button BConfigurable
Power ButtonPower on/off and unlock screen
Home ButtonReturn to Land options (configurable)
Button CConfigurable
Button DConfigurable

LEDs ( Left ):

Flashing RedCritical battery power
Solid RedLow battery power
Solid YellowMedium battery power
Solid GreenSufficient battery power
 

Herelink User Guides

Assembly and Connection

Install Controller Antenna

1. To assemble the antenna, plug the omni-directional antenna into the top left hole of the controller.

2. Align the antenna pointer and mounting hole with the pointer and mounting hole of the controller.

3. Then slightly press and rotate clockwise lock.

Note: The rotation angle of both antenna is a fixed angle of 90 degrees. Do not forcibly rotate the antenna Angle.

Air unit connection

install controller antenna - Herelink V1.1 Manual

1. Mount the Rover Unit securely to the drone.(Choose best install position according to cable length)

2. Choose the best position to attach the rover unit antennas. Air unit antenna should no attached to metal parts or any conductor ,which will affect the signal transmit distance. The antenna should be installed vertically and keep an Angle of about 15 degrees to obtain better gain.

Please refer to Figure 1 and Figure 2 below. (Note that carbon fiber is also conductive material.)

3. Connect S.bus on Air unit to the RCIN  on the Flight Controller.

4. Connect UART on the Air unit to the TELEM 1 or TELEM 2 on the Flight Controller.

5. Connect 5V – 12.6V max (3s Lipo supported) battery to the power input on the Rover Unit.

6. Connect camera to HDMI 1 (preferred) on the Air unit. If you are using two video stream, please connect the second camera to HDMI 2. You may switch from Stream 1 and Stream 2 on controller to display the corresponding video stream.

air copter - Herelink V1.1 Manual

air rover - Herelink V1.1 Manual

Air unit back board assembly

1. Use M16 * 3 mm screw to mount Air unit on back board.

2. Use M3x10mm screw and M3 nut to mount Air unit to Rover.

Air unit back board assembly - Herelink V1.1 Manual

Air unit cooling fan installation procedure

Air unit cooling fan installation procedure - Herelink V1.1 Manual

1. Take out the fan from air unit package and use M1.6*16 mm screw, M1.6 nut and washer.

2. Snap M1.6*16 mm screw in 4 mounting hole on top of the air unit ,and install washers and o-rings, finally tighten the nut according to diagram above.

3. Connect the positive and negative terminals of the fan to the 5-12 V power supply.

How To Update Firmware

Herelink can be updated on PC, Mac and Linux as per the below process. Newer firmware versions allow you to update the Herelink remote via wifi from with-in the settings app, this is only available if you have the Solex TX app installed.

Please choose the correct method to upgrade your device.

Please refer to the following method to determine

Determine Controller upgrade method : If the controller open QGC directly right after controlled been turned on, and Solex is not installed. Please upgrade with PC. For other cases, see OTA Online Upgrade below.

Determine Airunit upgrade method : If your airunit is unable to pair with controller, or did not show airunit firmware version like below or no such page. Please upgrade with PC. For other cases, please check OTA Online Upgrade below.

How To Update Firmware - Herelink V1.1 Manual

Upgrade Via PC

*Please use the following link to download the latest version of flasher_win.

Download firmware upgrade application

Controller Upgrade

  1. Connect controller to PC via USB.

  2. Put the Herelink Remote Unit into Fastboot mode by pressing Power and D button simultaneously while turning on.

    (at least one antenna needs to be connected)

  3. Extract and Run the application packaged inside the zip file.After Remote Unit upgrade is complete the Unit will automatically restart once finished.

  4. Herelink Remote Unit will boot up with Activation window, follow the Activation steps below to continue.

Airunit Upgrade

  1. Extract and Run the application packaged inside the zip file
  2. Power Airunit with 7-12v power supply ,Connect Airunit to PC via USB. At least one antenna needs to be connected,UART and SBUS cables are no need to connect.
  3. The program identifies the device and downloads the firmware, requiring the PC to be connected to the Internet during upgrade.
  4. After the download is complete, it will automatically start to write and restart after the writing is complete.

In some Windows systems it’s been found that due to incorrect Driver setup, Herelink units fail to be detected. In such cases please power up by pressing Power+D button until “Fastboot” screen shows up. Install driver from here https://developer.android.com/studio/run/win-usb. In cases where driver was already installed, Uninstall Device from Device manager (Ensure to check the “also uninstall driver” option), and then reconnect and install the correct driver from Google. OR use https://herelinkfw.cubepilot.org/driver.msi

Herelink Activate

After upgrading the Herelink firmware you may be required to activate your device, you will be presented with the ‘Update Device’ Screen

Note: Herelink must be connected to an internet connection via 5G WiFi to activate.

  • Connect Herelink to your WiFi connection from the settings menu

Herelink Activate - Herelink V1.1 Manual

  • Select your region then click ‘Proceed’

Herelink Activate 2 - Herelink V1.1 Manual

  • You will then be prompted to input your 16 digit software activation key.

Note: On later Herelink versions your key will be located on the back of the controller, for earlier(before April 20th 2020) Herelink versions you should contact your original reseller to obtain a valid licence key.

Herelink Activate3 - Herelink V1.1 Manualfw up4 - Herelink V1.1 Manual

  • Once input click ‘done’ the ‘Register’ and your device will then download the latest software and update automatically.

OTA Online Firmware upgrade(Via Wifi)

If Solex is installed. Please upgarde with OTA (Via Wifi)

Controller upgrade

  • Make sure you Herelink is connected to 5G wifi

    -Wi-Fi 5.8GHz

    -IP Address Not in range 192.168.0.x

    -Region Select the correct region and within 5mins difference

  • Pull down from the top and select the settings cog in the top corner.

OTA Online Firmware upgrade Via Wifi - Herelink V1.1 Manual

  • Scroll to the bottom and click the ‘About phone’ option

OTA Online Firmware upgrade Via Wifi 2 - Herelink V1.1 Manual

  • Select ‘System Update’

OTA Online Firmware upgrade Via Wifi 3 - Herelink V1.1 Manual

  • Select ‘CHECK FOR UPDATE’ in the bottom corner

OTA Online Firmware upgrade Via Wifi 5 - Herelink V1.1 Manual

  • The system will now check for latest update firmware and install it automatically

OTA Online Firmware upgrade Via Wifi 6 - Herelink V1.1 Manual

There are 4 things the need to be checked if you receive an error

1.You are connected to stable 5G wifi.

2.The device time is correct.

2.The IP address is correct.

4.You entered the correct Key

Airunit upgrade

If you can view the airunit firmware version from controller, you can upgrade it through OTA Online Firmware upgrade(Via Wifi).

  • Connect your controller to a 5G WIFI and make sure an internet connection is available
  • Pair your Airunit with controller.
  • From App Launcher slide down the notification drawer from the top.
  • Select Herelink Settings

Airunit upgrade - Herelink V1.1 Manual

  • select AIRUNIT tab

Airunit upgrade 2 - Herelink V1.1 Manual

  • After the update screen is displayed, determine whether the current version needs to be updated.

Airunit upgrade 3 - Herelink V1.1 Manual

  • If there is a new online version, perform the following three steps in order to complete the upgrade.

Airunit upgrade 4 - Herelink V1.1 Manual

1 Click DOWNLOAD AIR FIRMWARE to download firmware.The Air Unit Firmware will start downloading to the Ground Station.

(wait the progress bar until the download is 100%)

2 Once downloading is complete,click TRANSFER TO AIRUNIT .The downloaded firmware will start to transfer to the Air Unit.

(wait the progress bar until the transfer is 100%)

3 Once the transfer is complete,click UPDATE AIRUNIT.The new Air Unit firmware will be installed on the Air Unit.

(wait the progress bar until the installation complete)

Airunit upgrade 5 - Herelink V1.1 Manual

Pairing, RC Calibration & Setup

Note: Before set Sbus button (button is default to Sbus channel),please pay special attention to the flight mode settings on the Mavlink button page, i.e. button settings in Solex TX and QGC

Controller calibration

  • From App Launcher slide down the notification drawer from the top

Pairing RC Calibration Setup - Herelink V1.1 Manual

Airunit upgrade 1 - Herelink V1.1 Manual

Click ‘HW JS CAL’

Pairing RC Calibration Setup 2 - Herelink V1.1 Manual

Here are some comtroller calibration and function settings.

  • SAVE (after modified controller configuration must click save to take effect)
  • Calibrated (Calibration state, If the indicator is red,calibration for roller hardware, rocker hardware and SBUS output is necessary. If the indicator is green, it is normal and no calibration is required )
  • HW WHEEL CAL
  • HW JS CAL
  • SBUS OUT CAL SBUS
  • AXIS
  • INPUT
  • REV
  • DZ
  • EXPO
  • CH#
  • Wheel Acc
  • Throt Cent 0
  • Mode
  • Dual Cont
  • MAIN
  • IP

First time use requires three calibration steps

1. Calibrate the hardware wheel

  • Select “ HW WHEEL CAL”

Pairing RC Calibration Setup 3 - Herelink V1.1 Manual

  • Click Start rollwheel and follow the calibration steps.

    Note once complete you can check its correct functioning by looking at the values change,

  • Click Pass to return to joystick screen.

Pairing RC Calibration Setup 4 - Herelink V1.1 Manual

Pairing RC Calibration Setup 5 - Herelink V1.1 Manual

  • After the rollwheel calibration is complete, proceed to the next step.

Calibrate the joysticks

  • Click HW JS CAL

Calibrate the joysticks - Herelink V1.1 Manual

  • Click Start Calibration to begin the process and follow the instructions in the green box ,and the sick movement arrows located around the sticks on the remote as highlighted in red below.

    Note: At the beginning of the calibration process, the stroke of the joystick on the screen will not change with the actual joystick. You only need to calibrate according to the instruction.

Calibrate the joysticks 2 - Herelink V1.1 Manual

Calibrate the joysticks 3 - Herelink V1.1 Manual

  • At the end of this process if you are happy with the input behavior you can click Pass and the calibration will be stored, if you’re experiencing any issues click Fail and start the calibration process again using a little more pressure in the corners.

Calibrate the joysticks 4 - Herelink V1.1 Manual

  • After the Joy-Stick calibration is complete, proceed to the next step.

Calibrate SBUS Output

Calibrate SBUS Output - Herelink V1.1 Manual

  • Follow the RC stock movement steps as shown in the highlight section moving the stick through each position. Finally move the wheel then the calibration is done.

Calibrate SBUS Output 2 - Herelink V1.1 Manual

  • Once all calibrations have been completed the **Calibrated ** status will turn green ,which indicate that all remote calibrations have been completed.

Calibrate SBUS Output 3 - Herelink V1.1 Manual

Controller setting

RC Transmitter Modes

RC Transmitter Modes can be setted selected using the Mode option at the bottom,click SAVE to save the modification.

Controller setting - Herelink V1.1 Manual

Controller setting 2 - Herelink V1.1 Manual

For some special models that cannot use the mid-throttle, you can select Throt Cent 0 to set the mid-throttle to throttle 0, then click SAVE to save the modification.

Controller setting 3 - Herelink V1.1 Manual

Wheel setting

The wheel is set as W axis input, you can click REV to reverse the input.

CH# is used to configure the output channels, SBUS1 for channel 1-16 ,SBUS2 for channel 17-32 .

Click Wheel Acc to make oupput stack and not return to the middle, then click SAVE to save the modification.

Wheel setting - Herelink V1.1 Manual

Dual control mode

Herelink can use 2 controller to control 1 Airunit indorder to meet more requirement. This function requires connecting the wifi hotspot of the secondary controller to the master controller or connecting the master controller and the secondary controller to the same WIFI to access the LAN.

  • Master switch setting, Click Dual Cont and MAIN then click SAVE to save the modification.

Wheel setting 2 - Herelink V1.1 Manual

Secondary controller’s RC channel will show up after connect, you can assigned secondary controller’s Joystick and Wheel channel to any channel of the mater control, then click SAVE to save the modification.

Dual control mode - Herelink V1.1 Manual

  • Secondary controller setting, click Dual Cont ans select the corresponding IP address. If master and secondary controller connect with wifi hotspot, then set the IP address to 192.168.43.1.
  • If connect access the LAN, please follow the steps below to check the master IP address , then click SAVE to save the modification.

Dual control mode 2 - Herelink V1.1 Manual

To check the master IP , you can open the WIFI interface and then click the Settings icon in the upper right corner, then you can check the IP in it.

Dual control mode 3 - Herelink V1.1 Manual

Dual control mode 4 - Herelink V1.1 Manual

The master image can be displayed on the secondary controller, and the image and data can be connected to the QGroundControl ground station according to the data sharing procedure later.

Trainer Mode

Dual control can also be used as a trainer mode for teaching.

  • Turn on and connect master and secondary control
  • Set the X2, Y2, Z2 R2 channels of the secondary controller on the main control as channels 1, 2, 3, and 4 respectively, corresponding to the main control channel. Click SAVE to SAVE the Settings after completion.

Trainer Mode - Herelink V1.1 Manual

After setting, press the CAM button in the upper right corner of the main control to make channel 1, 2, 3 and 4 of the secondary control. Release the button to make channel 1, 2, 3 and 4 of the main control normal.

Configure Modes & Mavlink Buttons

Herelink is fitted with six programmable buttons and one hardware wheel. These can be configured to control sbus channel outputs from the Rover Unit’s dual sbus connector and to send Mavlink commands to the autopilot via Solex or QGC. For examples ,flight mode selection, servo output and control GCS.

You Can configure buttons A, B, C, D, Cam, Home and HW Wheel as Mavlink commands in Solex and QGC. These commands include

  • Vehicle Mode
  • Home Mode Prompt
  • Take Picture
  • Toggle Video
  • Camera Switch
  • Map/Video toggle
  • Toggle HUD
  • Set Servo
  • Non-Latch Servo
  • Set Relay
  • MAVLink command
  • Arm
  • Disarm
  • Toggle Arm
  • Wheel Settings
  • Clear Wheel Settings

In Ardupilot and PX4, Solex TX and QGC have on-screen switching control for selecting and changing flight modes If you want to set one or more buttons to change flight mode, it must be set only to Mavlink button commands, i.e. set button control in Solex or QGC, not thej Sbus signal in Channel 5.

Mavlink provides a secure command link for flight mode changes, immune to system restarts and signal loss.

After the configuration flight mode is selected, the user should confirm that the Fail Safe been setted correctly and test before using it.

Note: Ardupilot set Sbus channel 5 as the default flight mode selection, which should be disabled when using Herelink by setting the “FLTMODE_CH” parameter in all parameters to 0.

Home button: You are advised to use the RTL command by long or short pressing the Home button.

Configure Buttons

Solex TX

Button Mapping

  • Open Solex

Solex TX - Herelink V1.1 Manual

  • Click the menu in the top left corner

Select Button Mapping

Solex TX 2 - Herelink V1.1 Manual

  • Choose desired button

Solex TX 3 - Herelink V1.1 Manual

  • Select either Click or Long Click (Note this allows you to set two functions to each button)

Solex TX 4 - Herelink V1.1 Manual

  • For example, if you want to set Button A, click Button A and then click the option box on the right to select the desired function.

Solex TX 5 - Herelink V1.1 Manual

  • For example, if you want to set the button as flight mode switch, click the gear icon and choose the desired flight mode for chosen button.

Solex TX 6 - Herelink V1.1 Manual

  • select desired flight mode

Solex TX 7 - Herelink V1.1 Manual

  • For other BUTTONS that need to be set, please use procedure above to set corresponding function. Then click “SAVE BUTTONS” at the bottom to SAVE the Settings

Solex TX 8 - Herelink V1.1 Manual

Hardware Wheel

Wheel configuration in Solex TX to Servo output channels 1-16 on the Autopilot, you also have the ability to switch the servo output via a button in Solex.

  • Open Solex
  • Click the hamburger menu icon in top left corner
  • Select Button Mapping as above
  • Click WHEEL SETTINGS in the bottom right corner

Solex TX 9 - Herelink V1.1 Manual

  • Select the desired servo channel from 1- to 16

Solex TX 10 - Herelink V1.1 Manual

  • Set the PWM output range suitable for your application.

Solex TX 11 - Herelink V1.1 Manual

  • Click on the Enabled to activate the output,
  • Finish by clicking OK and click SAVE BUTTONS in bottom corner.

Solex TX 12 - Herelink V1.1 Manual

  • To configure a button to change the wheel servo output configure the button to WHEEL SETTINGS.

Solex TX 13 - Herelink V1.1 Manual

  • Click the gear icon and set new channel and PWM values and click OK and then SAVE BUTTONS in bottom right corner.

Solex TX 14 - Herelink V1.1 Manual

  • Once changed the wheel will output on the new selected channel, to return to its original servo output you will need to program one button function to Clear Wheel Settings as shown above.

QGroundControl

  • Open QGC
  • Click gear icon on top left corner.

QGC - Herelink V1.1 Manual

  • Select Button
  • Select the box on left for desired button.
  • Click the drop-down menu to select features.
  • Repeat the procedure for each button and select desired flight mode.QGC 2 - Herelink V1.1 Manual

Configure Sbus Buttons & Wheel

Herelink is fitted with six programmable buttons and one hardware wheel. These can be configured to control sbus channel outputs from the Rover Unit’s dual sbus connector and to send Mavlink commands to the autopilot via UR/Solex TX.

Autopilot mode selection must not be programmed to sbus channels. Mode selection should be configured to Mavlink commands within Solex or QGC to ensure predictable behavior in the event of signal loss or system reboot.

Important Note: Ardupilot sets Sbus channel 5 to flight mode selection as default, this should be disabled with Herelink by setting the parameter FLTMODE_CH: to 0.

Sbus Output: The Herelink settings allows you to program buttons A,B,C,D,Cam & Wheel to control sbus outputs on the air unit. HereLink has dual independent sbus outputs on bus 1 and bus 2. Buttons can be configured on channels 5 – 16 on bus 1 and channels 1-16 on bus 2.

Channels 1-4 on Sbus 1 are reserved for RC control.

Each button can be programmed in one of 3 modes with long press and short press actions in Toggle and Multi modes.

Button Modes

  • Toggle (T) = Output latches between two pwm values with a short or long press option.
  • Momenty (M)= Output changes to active value when pressed and held, returns to default when released.
  • Multi = Sends command for channel to go to preset pwm value. Multi buttons can be stacked on both short and long press as well as multiple buttons configurations to allow channel outputs to range in values.

To select the mode either press T for Toggle, M for Momantry, when neither T or M is selected the button is in Multi mode

Sbus Button Configuration

You can set Sbus button configuration in Herelink Settings>button

Sbus Button Configuration - Herelink V1.1 Manual

  • Click NEW and type name for your new profile and press OK.
    Sbus Button Configuration 2 - Herelink V1.1 Manual
  • Select the first button you want to configure from the drop down menu then click ADD .Sbus Button Configuration 3 - Herelink V1.1 Manual
  • Select desired button mode by tapping the letter, ie: Toggle, Maintain or leave blank for MultiSbus Button Configuration 4 - Herelink V1.1 Manual
  • Tip: To move to the top end of the range you can scroll backwards, also ‘Flicking’ the numbers will scroll faster though the range.

Sbus Button Configuration 5 - Herelink V1.1 Manual

  • If setting a Multi mode button set desired active pwm output.

Sbus Button Configuration 6 - Herelink V1.1 Manual

  • Set sbus channel output and bus.

Sbus Button Configuration 7 - Herelink V1.1 Manual

  • Once configured you must click SAVE to store settings.
  • Next continue to add more buttons via the above process.

Sbus Button Configuration 8 - Herelink V1.1 Manual

  • To remove a button config simply click the bin icon next to the name.

Multi Buttons

  • Multi button config allows you to set short and long press options as well as other buttons to set stages outputs on a sbus channel, below is an example of two buttons changing a channel to 4 different pwm values.
  • When setting up Multi mode buttons at least one on each channel must be selected as default value, this sets the default output pwm the system will default to on power on.

Sbus Button Configuration 9 - Herelink V1.1 Manual

Wireless Communication

Pairing

  • From the “App Launcher” screen, slide down the notification drawer from the top of the screen.

Wireless Communication - Herelink V1.1 Manual

  • Select Herelink Setting .

Wireless Communication 2 - Herelink V1.1 Manual

  • Click Pair button and then hold the Pair/Reset button on Air Unit until LED2 blinks.

Wireless Communication 3 - Herelink V1.1 Manual

Wireless Communication 4 - Herelink V1.1 Manual

Wireless Communication 5 - Herelink V1.1 Manual

Selecting FCC/CE settings

Select the region you are residing in or matches closest to your locations policy from Country Under Herelink Settings” main screen.

Selecting FCC and CE settings - Herelink V1.1 Manual

Frequency setting

Click FREQUENCY in Herelink Settings screen to adjust frequency range.

Frequency setting - Herelink V1.1 Manual

  • Freq (Fixed frequency selection, used to set frequency manually)

  • DL BW

    (Downlink bandwidth: select DL_10M / DL_20M for less interference, 20M for long diatance control. 1.4M is preferred in multiple interference scenarios)

  • Uplink bandwidth: select UL_1.4M / UL_10M / UL_20M for less interference, 20M for long diatance control. 1.4M is preferred in multiple interference scenarios

  • Hopping

    (downlink signal hopping switch, You are advised to enable this mode to automatically select the best working frequency)

  • Tx Ant (Antenna select)

  • PAIR (Pair buttom)

  • GET STATE (upload setting)

  • FREQ SCAN (Scan the current optimal frequency)

Video and Data Sharing

Switch between video stream

Solex dual video switch

Click the icon in the red circle below to select Camera 1 and Camera 2, and click OK to switch.

Solex dual video switch - Herelink V1.1 Manual

QGroundControl dual video switch

Click the icon in the red circle below to select Stream1 or Stream2 to switch video stream.

QGroundControl dual video switch - Herelink V1.1 Manual

Stream 1 is HDMI 1 ,Stream 2 is HDMI 2.

QGroundControl dual video switch 2 - Herelink V1.1 Manual

Share Video Stream

Enable video sharing on Herelink

  • From App Launcher slide down the notification drawer from the top,click “ herelink Settings”.

Share Video Stream - Herelink V1.1 Manual

  • Enable “Video Sharing”

Share Video Stream 2 - Herelink V1.1 Manual

Note that the video stream is not available until the GCS application is enabled, so make sure that at least one GCS application is running in the background and that the correct video stream is selected.

Share with USB OTG

Go to Settings > Developer Options > OPEN USB debugging, use USB to HDMI conversion cable (with power supply) connection to achieve wired screen projection, connect to use.

Connect over WIFI Hot spot

  • From App Launcher slide down the notification drawer from the top.

Connect over WIFI Hot spot - Herelink V1.1 Manual

  • Press and hold Wi-Fi option in Notification drawer and select settings.

Connect over WIFI Hot spot 2 - Herelink V1.1 Manual

  • Then under Set up Wi-Fi hotspot configure name and password for the hotspot.

Connect over WIFI Hot spot 3 - Herelink V1.1 Manual

  • The video stream will be available at rtsp://192.168.43.1:8554/fpv_stream to connected devices.

Can be played through a player that supports playing video streams

  • Connect PC to HereLink hotspot,then open Mission planner. Normally , it will connect automatically after open GSC,if not, please process following step.
  • Set port to“UDP”.
  • Click “Connect”
  • Enter Local port “14550”.

Connect over WIFI Hot spot 4 - Herelink V1.1 Manual

Connect over WIFI Hot spot 5 - Herelink V1.1 Manual

  • Right click on HUD screen to enter Video menu, choose HereLink Video, then an IP input window will pop up.

Connect over WIFI Hot spot 6 - Herelink V1.1 Manual

  • Enter 192.168.43.1 , then the video will be showed on HUD screen.

Connect over WIFI Hot spot 7 - Herelink V1.1 Manual

First use of HereLink Video may require to download components

Connect with QGroundControl

  • Connect PC to HereLink hotspot, it will connect automatically after open QGC.
  • Click Application Settings

Connect over WIFI Hot spot 8 - Herelink V1.1 Manual

  • In Video Settings changes Source to RTSP Video Stream and enter “RTSP URL” which mentioned above to get video stream.

Connect over WIFI Hot spot 9 - Herelink V1.1 Manual

Connect over USB tethering:

  • Press and hold the Hotspot button under the notification logo.

Connect over USB tethering - Herelink V1.1 Manual

Press and hold the Hotspot button under notification logo, turn it on.

Connect over USB tethering 2 - Herelink V1.1 Manual

  • The video stream will be available to connected devices over USB via rtsp://192.168.42.129:8554/fpv_stream

Connect with Mission Planner

  • Connect PC to HereLink USB,then open Mission planner.
  • Set port to“UDPCL”.
  • Click “connect”
  • Enter Herelink IP address : 192.168.42.129
  • Enter Local port “14552”.
  • Click “connect”

Now,Mission Planner able to use mavlink telemetry data.

Connect over USB tethering 3 - Herelink V1.1 Manual

Connect over USB tethering 4 - Herelink V1.1 Manual

  • Right click on HUD screen to enter Video menu, choose HereLink Video, then an IP input window will pop up.
  • Enter 192.168.42.129, then the video will be showed on HUD screen.

Connect over USB tethering 5 - Herelink V1.1 Manual

First use of HereLink Video may require to download components

Connect with QGroundControl

  • Connect PC and HereLink with USB cable. Then it will connect automatically after open QGC.
  • Click Application Settings

Connect over USB tethering 6 - Herelink V1.1 Manual

  • In Video Settings changes Source to RTSP Video Stream and enter “RTSP URL” which mentioned above to get video stream.

Connect over USB tethering 7 - Herelink V1.1 Manual

Connect via Wi-Fi Connection

  • Herelink can obtain video stream via 5G Wi-Fi.
  • From App Launcher slide down the notification drawer from the top. Press and hold Wi-Fi option in Notification drawer and select settings.

Connect via 5G Wifi Connection - Herelink V1.1 Manual

  • Slide down till find IP address.

Connect via 5G Wifi Connection 2 - Herelink V1.1 Manual

  • Video stream sharing is : rtsp://<“enter herelink Wi-Fi ip adddress”>:8554/fpv_stream
  • Connect with Mission Planner
  • Connect the computer network to HereLink’s LAN and open Mission planner.
  • Set port to“UDPCL”.
  • Click “connect”
  • Enter the IP address obtained in the previous step
  • Enter Local port “14552”.
  • Click “connect”

Now,Mission Planner able to use mavlink telemetry data.

Connect via 5G Wifi Connection 3 - Herelink V1.1 Manual

Connect via 5G Wifi Connection 4 - Herelink V1.1 Manual

  • Right click on HUD screen to enter Video menu, choose HereLink Video, then an IP input window will pop up.
  • Enter the IP address obtained in the previous step,then the video will be showed on HUD screen.

Connect via 5G Wifi Connection 5 - Herelink V1.1 Manual

Connect via 5G Wifi Connection 6 - Herelink V1.1 Manual

First use of HereLink Video may require to download components

Connect with QGroundControl

  • Connect PC to HereLink Wi-Fi will connect automatically after open QGC.
  • Click Application Setting
  • In Video Settings changes Source to RTSP Video Stream and enter “RTSP URL” which mentioned above to get video stream.

Connect via 5G Wifi Connection 7 - Herelink V1.1 Manual

Play video stream

In this example, we use VLC player

  • Open VLC player and click Media>>Open network stream
  • Enter IP address provide by HereLink,Then click “Play”

Connect via 5G Wifi Connection 8 - Herelink V1.1 Manual

Connecting to Mission Planner

Connecting to Mission Planner

For enabling video stream in Herelink settings please refer Share video Stream

You are now connected to the Herelink HotSpot Wi-Fi.

Mavlink

  • Open Mission Planner
  • Set the port to ‘UDP’ (top right)
  • Click ‘Connect’
  • Enter port ‘14550’

Connecting to Mission Planner - Herelink V1.1 Manual

Connecting to Mission Planner 2 - Herelink V1.1 Manual

You are now connected to the same Wi-Fi network as the Herelink is.

Mavlink

  • Open Mission Planner
  • Set the port to ‘UDPCL’ (top right)
  • Click ‘Connect’
  • Enter the IP of the Herelink controller Find your IP
  • Enter port ‘14552’

You will now have Mavlink working into Mission Planner

*This configuration applies when we connect using USB TETHER or any other interface that is not Wi-Fi. The Mavlink traffic being broadcast from the Wi-Fi Access Point by default, when connecting with USB or Ethernet, it is necessary to specify IP address of HereLink station, so it can access the UDP port 14552.

To view live Herelink video in Mission Planner

Note: Video requires Mission Planner 1.3.70 beta or above

  • Start Solex or QGC to ensure your video is working (this is required to start the streaming process)
  • Right-click the HUD
  • Select ‘Video’
  • Select ‘Herelink Video’
  • The first time you do this, Mission Planner may need to download the files required to play the video. Your device will require and internet connection to be able to do this, you may need to disconnect from the Herelink hotspot to perform this step
  • A popup window will open, enter the same IP as you did in the mavlink step and click OK

Connecting to Mission Planner 3 - Herelink V1.1 Manual

Connecting to Mission Planner 4 - Herelink V1.1 Manual

Herelink 1.0 AirUnit to AirUnit instruction

Device required:
Airunit x 2 (*firmware minimum 20211229 and above)
Ethernet adapter
Installing a fan on both airunits to achieve better performance
https://docs.cubepilot.org/user-guides/herelink/herelink-faq#herelink-airunit-fan-installation
usb otg+power cable if ethernet adapter doesn’t include a method to power it

USB OTApower cable - Herelink V1.1 Manual

Ground Unit video out can be accessed via ethernet and MavLink is available as well. Compatible ethernet adapters are shown below:

AX88772 – Ground (not tested Air side)
PLUGABLE – directly connect to OTG. Nice for the ground side.

AX88179 – Ground and Air
UGREEN Ethernet Adapter for Chromecast has an additional standard USB to power on airside, cables are quite long however.

R8152 / R8153 – Airside only
Cable Matters

Anker USB 3.0 – no blinky lights on the Ethernet port, maybe annoying for debugging

Note:
-Upgrade both units to the latest firmware before toggling the switches.
-Toggle switches both down position as default Air Unit function, firmware only can be upgraded when switches both at down position.

Ground Unit and Air Unit Setup

Ground Unit setup

  1. Upgrade Air Units to the latest firmware.(Make sure toggle both switches at down position)
  2. Power off the Ground Unit by disconnecting the power cable (7v-12v).
  3. Remove the screws from the chassis.
  4. Toggle the switches as shown below to activate Ground Unit. (1 up, 2 down)
  5. Power on Ground Unit by reconnecting the power cable (7v-12v).

1A GoundUnit and AirUnit Setup - Herelink V1.1 Manual

Air Unit setup

Upgrade Air Units to latest firmware.(Make sure toggle both switches down position)

Pairing

Press and hold the pairing button for 3s on both Air Unit and Ground Unit within 30s

Once pairing is completed, LED will turn solid GREEN.

AirUnit 1.0 Switches 1 and 2 - Herelink V1.1 Manual

Air Unit HDMI functionality

Once Air Unit and Ground Unit are paired, connect the 1080p/720p video source to Air Unit.

There is only 1 HDMI port available for communication between Air Unit and Ground Unit, it is marked #3 in the picture below.

AirUnit HDMI functionality - Herelink V1.1 Manual

PC setup

1. Please switch off PC’s Wi-Fi

2. Go to control panel > Network & Internet > Network connection

3. Right click and choose properties

4. Choose “internet (TCP/IPv4)”,then click properties

5. Click “use the following IP address” and enter 192.168.144.3”

6. Click “Subnet mask” and it will give you a Subnet mask.

PC setup - Herelink V1.1 Manual

PC video setup

AirUnit video stream can be obtained through VLC, MissionPlanner or QGC

VLC setup

Go to Media > Open Steaming > Communication Protocol

Copy and paste : “rtsp://192.168.144.10:8554/H264Video”

Click “Play”.Click “Play”.

VLC setu - Herelink V1.1 Manual

Mission Planner

Video

  1. Right-click the HUD
  2. Select ‘Video’
  3. Select ‘Set GStreamer Source’
  4. Enter “rtspsrc location=rtsp://192.168.144.10:8554/H264Video latency=1 udp-reconnect=1 timeout=0 do-retransmission=false ! application/x-rtp ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRx ! appsink name=outsink”
  5. Press OK

Mavlink

  1. Open Mission Planner
  2. Set the port to ‘UDPCL’ (top right)
  3. Click ‘Connect’
  4. Enter the IP 192.168.144.11
  5. Enter port ‘14552’

QGroundControl

Setup(QGC icon in the top-left corner) > Application Settings > General > Fly View > Video Settings > Source > RTSP Video Stream

RTSP URL “rtsp://192.168.144.10:8554/H264Video”

Go back to the main screen and video input will come out.

Herelink 1.0 AirUnit to AirUnit instruction - Herelink V1.1 Manual

VLC Video Latency Setup

VLC latency can be adjusted via below:

Media > Open Network Stream > Network > Click “Show more options” > adjust “caching” time

VLC Video Latency Setup - Herelink V1.1 Manual

Tool > Preferences > Input / Codecs > Network > Default caching policy > select “Lowest latency”

VLC Video Latency Setup 2 - Herelink V1.1 Manual

System setting

Language setting

Click the icon in the bottom right corner to enter the secondary menu

System setting - Herelink V1.1 Manual

Click “Settings” to enter system setting.

System setting 2 - Herelink V1.1 Manual

Enter “Settings” the slide down to “Languages & input “

System setting 3 - Herelink V1.1 Manual

Click “Languages” to enter language setting.

System setting4 - Herelink V1.1 Manual

Click Add a Language to Add more languages and scroll down to select the language you want

System setting 5 - Herelink V1.1 Manual

After the addition, move the required language up through the icon on the right to set it as the system language

System setting 6 - Herelink V1.1 Manual

Screen brightness adjustment

Controller screen brightness does not support automatic adjustment, you need to enter the Settings to adjust

Enter “Settings” slide down to “Display”

System setting 7 - Herelink V1.1 Manual

Tun off Adaptive brightness,click Brightness level will show brightness window,drag to adjust brightness

System setting 8 - Herelink V1.1 Manual

Network port setting

Before using a network port device, you need to change its IP address to 192.168.144.X.(because Air unit and Controller occupy the address “192.168.144.10” and “192.168.144.11”, so the IP address can not be changed to these 2)

Install a custom application

Make sure you have the latest platform tools installed

https://developer.android.com/studio/releases/platform-tools

  • Enable Developer Mode by tapping Settings⇒About Phone⇒Build Number multiple times.
  • Enable Settings⇒Developer options⇒USB debugging
  • Check if the unit is connected

$ adb devices List of devices attached 66c4bfea device

  • Install app using adb install .apk

$ adb install myapp.apk Performing Streamed Install Success

  • Your app should show up in the app launcher’s list.

System setting 9 - Herelink V1.1 Manual

  • To remove the app do: adb remove org.myorg.appname

$ adb remove org.myorg.appname Success

Installing a custom app

Ensure you have latest platform-tools installed in the system.

  • Enable Developer Mode by tapping Settings->About Phone->Build Number multiple times.
  • Enable Settings->Developer options->USB debugging
  • Check if the unit is connected
$ adb devices
List of devices attached
66c4bfea    device
  • Install app using adb install <app_name>.apk
$ adb install myapp.apk
Performing Streamed Install
Success
  • Your app should show up in the app launcher’s list.

Installing a custom app - Herelink V1.1 Manual

  • To remove the app do adb remove org.myorg.appname
$ adb remove org.myorg.appname
Success

OEM Image Setup

Linux

Prerequisites:

Android-tools:https://developer.android.com/studio/releases/platform-tools

Step

  • Download and unzip following files:
  • simg2img](https://herelinkfw.cubepilot.org/tools/simg2img\_linux.zip)
  • img2simg](https://herelinkfw.cubepilot.org/tools/img2simg\_linux.zip)
  • Remote Unit: oem_ru_base.img
  • Air Unit: oem_au_base.img
  • Ensure that you select the base image depending upon which unit you are modifying.
  • Download and extract zips into same directory.
  • Now to generate ext4fs image from the sparse image (.img) downloaded above do ./simg2img_mac oem_au_base.img raw_oem_au_base.img
  • Create a mount point directory using mkdir oem
  • Mount the image using mount raw_oem_au_base.img oem
  • Now you should be able to modify files inside the mount directory.
  • You need to use sudo to be able to do any writes the files inside the mount point.
  • Once you have made your changes, you need to unmount your drive using command sudo umount oem
  • Afterwards convert the ext4fs image back to android sparse image using command ./img2simg raw_oem_au_base.img oem_au.img
  • Now you may flash this image into Herelink Air Unit, by putting it under bootloader using command adb reboot bootloader
  • And finally to flash to image run command fastboot flash oem oem_au.img
  • Check example below for a sample modification.

MacOS

Prerequisites:

Homebrew:https://brew.sh/

Android:https://developer.android.com/studio/releases/platform-tools

Step

  • Setup osxfuse in your system using brew cask install osxfuse, this will require rebooting your system proceed and do that。

  • Follow the steps here to install fuse-ext2. This will allow you to mount ext4fs we will be generating.

    https://github.com/alperakcan/fuse-ext2#macos

  • Download and unzip following files:

  • Ensure that you select the base image depending upon which unit you are modifying.

  • Download and extract zips into same directory.

  • Now to generate ext4fs image from the sparse image (.img) downloaded above do

    ./simg2img_mac oem_au_base.img raw_oem_au_base.img

  • Create a mount point directory using

    mkdir oem

  • Mount the image using

  • fuse-ext2 raw_oem_au_base.img oem -o rw+

  • Now you should be able to modify files inside the mount directory.

  • You need to use sudo to be able to do any writes the files inside the mount point.

  • Once you have made your changes, you need to unmount your drive using command

    sudo umount oem

  • Afterwards convert the ext4fs image back to android sparse image using command

    ./img2simg raw_oem_au_base.img oem_au.img

  • Now you may flash this image into Herelink Air Unit, by putting it under bootloader using command

adb reboot bootloader

  • And finally to flash to image run command:

    fastboot flash oem oem_au.img

Example:

  • In the following example we change the system_id used by herelink air unit for board specific messages.
  • Most config files are located in you unit at /system/etcin the following example we will pull config using command adb pull /system/etc/system-control.telepathy-air.conf
  • Once pulled the file will contain information like bellow:

# module on/off

board_control_enabled = true

d2d_tracker_enabled = true

camera_control_enabled = true

# board control

board_system_id = 42

# camera control

video_stream_ip_address = 192.168.0.10

camera_system_id = 42

support_multiple_camera = true

support_camera_capture = false

  • You can change the value of board_system_id and camera_system_id fields as per your requirement in your favourite editor.
  • Once done save this file and exit editor.
  • Create a folder inside oem image called etc using command sudo mkdir oem/etc
  • Copy file using command sudo cp system-control.telepathy-air.conf oem/etc/
  • Continue to unmount the image and flashing into the unit as described in above steps.

Example App Change

  • In the following example we override the installed QGroundcontrol App.
  • A new OEM app can be installed under /oem/app//.apk
  • For installing your custom version of QGroundcontrol, ensure that you started with https://github.com/cubepilot/qgroundcontrol-herelink as your base.
  • After building the project, create a folder QgroundControl
  • Copy .apk file cp -r build-qgroundcontrol-Android_for_armeabi_v7a_Clang_Qt_5_11_0_for_Android_armv72_fd6ff4-Debug/android-build/build/outputs/apk/android-build-debug.apk QGroundControl/QGroundControl.apk
  • Also create a lib directory QGroundControl/lib
  • Copy libraries cp -r build-qgroundcontrol-Android_for_armeabi_v7a_Clang_Qt_5_11_0_for_Android_armv72_fd6ff4-Debug/android-build/libs/armeabi-v7a/ QGroundControl/lib/arm/
  • Finally move QgroundControl directory to oem image sudo cp -r QGroundControl oem/app/QGroundControl
  • Do ensure you have already created app directory inside oem image if not already done sudo mkdir oem/app
  • Continue to unmount the image and flashing into the unit as described in above steps.

Extra OEM Files:

  • On boot several files are setup for use, and you can override these files
  • These files can exist in (searched in this order)

/data/oem/etc - user default - wiped on factory reset

/oem/etc - oem default

/system/etc - system default

  • files that can be overridden (optimus is the internal GCS name, telepathy-air is the air unit (ro.product.device))

lampsignal-telepathy-air.json

rc_service_config_optimus.ini

mavlink-router.optimus.conf

system-control.optimus.conf

Generate a bug report

Install ADB and Google driver

Download SDK Platform Tools and Google USB Drivers:

SDK Platform Tools :https://developer.android.com/studio/releases/platform-tools

Google USB Drivers :https://developer.android.com/studio/run/win-usb

2. Set up the device for ADB:

Enable the Developper option on the Herelink device

1.From the main screen, tap on the Android app menu to open it (bottom right of the screen).Installing a custom app - Herelink V1.1 Manual

  1. Go to “Settings” > “About Phone” >> “Build Number”
  2. Tap seven times on the “Build Number” case, it will activate the developper mode. A pop-up message will confirm that the device is now in developper mode.
  3. Go back by tapping on the triangle (black colomn on the left) >> Go into “developer options” >> then activate ” USB debugging”
  4. The device is now ready to generate the bug report

Generate the bug report

  1. Connect the Herelink remote to your computer with an USB cable.
  2. Open the terminal of you computer then enter the command : adb bugreport > press enter The above command will generate the bureport and save zip file on the device, the path will be mentioned in the output of command (copy the path to use it in step 3)
  3. Send the zip file to you computer by using the command : adb pull
  4. Contact your reseller or Hex / Proficnc to send the bug report zip file. The bug report must be accompanied by detailed information on what happened: which application is causing the problem, the description of the issue, under which conditions, specific settings you made, video, photos, etc…., and all informations that could help staff to reproduce or understand the issue.

Herelink FAQ

Herelink – Register Failure

-Wi-Fi
5.8GHz
-IP Address
Not in range 192.168.0.x
-Region
Select the correct region and within 5mins difference
__
* Please check and fulfil three requirements, otherwise register failure as a result

Herelink – Solex as Autostarting App

Solex as autostarting app

Herelink – Screenshot

Open-Source Scrcpy To Control Android Via Windows & macOS

Herelink – Video / Camera

Herelink – Compatible camera list

*Latest update please check the URL above, thank you!

Below the list of the cameras which have been tested and reported working or not working with the Herelink
Any help to grow the list is welcome. If there is any specific settings to use, please tell it.

**************** Working ************************************

Canon EOS M3_________Stock/out of the box settings
GoPro 3_______________Stock/out of the box settings
GoPro 4_______________Stock/out of the box settings
GoPro 5_______________Stock/out of the box settings
GoPro 7_______________Stock/out of the box settings
GoPro 8_______________Stock/out of the box settings (with its Media Module)
ZCam E1______________Stock/out of the box settings
Foxeer Box2___________Specific settings (search for @UlrichC message for full infos)
Flir Duo Pro____________Stock/out of the box settings
Sony AS200V___________Stock/out of the box settings
Sony NEX-3N___________Stock/out of the box settings
Sony a5100____________Stock/out of the box settings
Sony A6000____________Stock/out of the box settings
Sony A6300____________Stock/out of the box settings
Sony A7R______________Stock/out of the box settings
Sony A7Rii_____________Stock/out of the box settings
Sony RX1Rii____________Stock/out of the box settings
Sony RX0 mki___________Stock/out of the box settings
Sony RX100VI___________Stock/out of the box settings
Sony HX50_____________Stock/out of the box settings
SONY HDR-CX450_______Stock/out of the box settings
SONY HDR-PJ620_______Stock/out of the box settings
SONY HDR-CX440_______Stock/out of the box settings
Foxeer HS1223__________Set resolution to 1080p 30fps with Foxeer app
Foxtech Seeker 30 max___Stock/out of the box settings
Waltter move 500________Stock/out of the box settings
Hawkeye Firefly split 4k___Stock/out of the box settings (firmware 20190926 works better than others)
Firefly Q6______________Stock/out of the box settings
Optris PI-Series_________Stock/out of the box settings (via companion computer with MS Windows)
EKEN H9R_____________Stock/out of the box settings
Black Magic micro cinema_Stock/out of the box settings
NextVision cameras with TRIP2 accessory_Stock/out of the box settings
Workswell Wiris Mini
Workswell Wiris and Wiris 2nd Generation

************ Not Working ****************************************
Xiaomi Yi

Herelink – Connection

Flight mode turn off to maintain connection stability

Airplane mode is designed to manually disconnect the air unit and controller. Connection breaks when you turn it on.

Herelink – Antenna

Herelink controller antenna plug

Mini BNC

Herelink – Calibration

Refer to – Herelink User Guides – Pairing, RC Calibration & Setup

Herelink – Encryption

Herelink encryption

Herelink encrypt over the air uses aes-128-ctr

Herelink – Ethernet

Herelink Ethernet
I’m trying to get ethernet passthrough working. I’m running on the Beta Channel, SRU01200616 on the ground unit and the corresponding version on the airside.

I understand an ethernet adapter with a R8152/8153 chip is required, I have an ANKER A7610011 and a Cable Matters 202023-BLK for testing. Both use the correct chip according to the Amazon comments, although it’s very hard to get the information directly from the manufactures.

On the ground side, I have a generic OTG adapter and have tested it with a USB stick. On the airside I have an OTG charging passthrough cable, this allows to power the adapter (and the airside, and cube, I’m not sure if that is a good idea).

I understand with an adapter on both ends it should be a transparent link but I can’t seem to get it working.

It does have to be said that I am a complete beginner with regard to networking stuff such as this.

The next trick is getting ADB access to confirm (GCS)

Here is a new bootimage for the GCS unit to make the R8152/53 detect. https://drive.google.com/file/d/1MGFAqC1zXrdnO2yEGhaigW-xktIx2cHj/view?usp=sharing 2 (GCS unit bootimage with R8152)
the stock image includes
AX8817X
AX88179_178A
NET1080

to update the boot image via USB (i assume you have ADB access already/developer mode)

adb reboot bootloader
fastboot flash boot boot.img
fastboot reboot

Next, we enable ADB via TCPIP, but first, we need to enable this via USB

adb shell
setprop persist.adb.tcp.port 5555
reboot

then after the reboot, get the IP of the GCS unit (eg 10.0.0.99)

adb connect 10.0.0.99
adb shell

you should get the shell again
do a

ifconfig

and check if eth0 exists

Now verify we can ADB into the air unit
once you have ADB to the GCS unit, power on the air unit and do a

adb shell (gets you into the gcs unit)
adb connect 192.168.0.10
adb -s 192.168.0.10:5555 shell

this should now get you into the air unit.

Next
try running a

/bin/busybox brctl show

under interfaces, you should see vxlan1 and eth0

optimus:/ $ /bin/busybox brctl show
bridge name bridge id STP enabled interfaces
br-vxlan 8000.00e04c360345 no vxlan1
eth0

also, run

ping 192.168.144.10
ping 192.168.144.11

these are the bridge endpoint IP’s

during testing, make sure the screen stays on there GCS unit, otherwise, power-saving features limit background data flow (A most likely setting I have not found yet)

I’ve just confirmed that this is working ok. one possible caveat. if your home network is using 192.168.0.x, things may not work.

Herelink – Power output

The power outputs by selecting region are :

  • USA : 23dB = 200mW
  • Europe : 20dB = 100mW
  • China : 20dB = 100mW
  • Japan : 20dB = 100mW

Herelink air unit fan installation

When using Dual Streaming mode, the Herelink can get quite warm, for best results, please install a fan on the top using the provided screws, rubber rings, washers and nuts in the installation pack.

*Fan is not provided The fan showing in the video obtained from Digi-Key URL: https://www.digikey.hk/product-detail/en/mechatronics-fan-group/MR3010E12B-RSR/1570-1346-ND/7606131

*Please prepare a pair of tweezers and a M1.6 not driver for installation.

https://www.youtube.com/watch?v=n-0xik3lVfE

Herelink flasher update error

Q: When connecting the Herelink to a computer to update it with flasher, the following message pops up:

Looking for DeviceTraceback (most recent call last):
File “flasher.py”, line 260, in
File “flasher.py”, line 142, in detectuntilfound
File “flasher.py”, line 238, in detectunit
File “site-packages\adb-1.3.0-py3.8.egg\adb\adbcommands.py”, line 138, in ConnectDevice
File “site-packages\adb-1.3.0-py3.8.egg\adb\common.py”, line 221, in FindAndOpen
File “site-packages\adb-1.3.0-py3.8.egg\adb\common.py”, line 117, in Open
File “site-packages\usb1_init_.py”, line 2168, in open
File “site-packages\usb1__init.py”, line 133, in mayRaiseUSBError
File “site-packages\usb1__init.py”, line 125, in raiseUSBError
usb1.USBErrorAccess: LIBUSB_ERROR_ACCESS [-3]
[11936] Failed to execute script flasher

A: The error message tells that the adb is running already. It can be fixed with the following command:
adb kill-server

Herelink Dual Video Instruction

Enabling this feature will get Herelink very hot. Please install *cooling fan* on Herelink otherwise it will be overheated soon.

Prerequisite

  1. Install ADB and Google drivers
  2. Then Setting-up the device for ADB

Steps are same as step 1 and 2 in Generate a bug report instruction:

https://docs.cubepilot.org/user-guides/herelink/herelink-user-guides/generate-a-bug-report

Enable Multiple Video Stream via ADB

Connect controller unit to computer via ADB and run

adb shell setprop persist.multiple.videostream true

adb reboot

Then repeat on air unit. Both of them need the set prop set.

The video stream will be available at these 2 addresses

rtsp://(wifiIPongcs):8554/fpv_stream
rtsp://(wifiIPongcs):8554/fpv_stream1

Notice

  1. Ensure something valid is connected to HDMI1 also, otherwise HDMI2 will not work.
  2. Ensure cooling fan is connected, else the air unit will be overheated.

Disable Multiple Video Stream

To disable and restore the setting, connect the unit to a computer via ADB and run

adb shell setprop persist.multiple.videostream false

adb reboot

Why aren’t the LEDs lit, even though the rover unit are correctly connected?

Check the power input. It should be 7V – 12.6V max (3s Lipo supported) and the battery should be charged.

Why can’t I connect to 2.4GHz WIFI?

Currently, the Datalink only enables 5.8GHz WIFI for internet connection. Therefore, to load maps, you will need to connect to a 5.8GHz WIFI network.
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