Zingto INYYO Q102 User Manual

Zingto INYYO Q102 2 1 - Zingto INYYO Q102 User Manual

Table of Contents

Product Introduction

Overview

  • The SONY motion camera, specially designed for the Zingto INYYO Q102, has 4K visible light resolution and uses a unique motion vision focusing algorithm and real-time HDR processing technology to maintain accurate focus at high speeds and capture and restore the natural gorgeous colors of different scenes.
  • Made of aircraft aluminum alloy CNC precision machining, high strength, rapid heat dissipation, can be started under the conditions of -20℃~60℃, with good vibration absorption, rain resistance, dust resistance, corrosion resistance, can adapt to harsh field working environment.
  • The advanced dip angle triaxial stabilization PTZ works closely with the mechanical platform, and the high-speed processor controls the precise operation of the motor, with a steady-state frequency of up to 1250Hz to compensate for every subtle movement and maintain a stable shooting angle.
  • The original intelligent mechanical design structure realizes 360 ° no blind angle rotation, can free access to unrestrained omnidirectional vision.
  • 25mm large focal length infrared uncooled thermal camera can easily detect more distant target details, support thermal image switching, provide black heat, white heat color palettes, adjust the color according to the scene, obtain more recognizable thermal image pictures.
  • Infrared uncooled thermal imaging detector adopts military high density ceramic package, the internal metallurgical connection has stable chemical properties, up to 100 layers LTCC wiring, high mechanical strength, strong sealing, high thermal conductivity, high insulation impedance, thermal expansion coefficient and chip have extremely high compatibility, greatly increasing the service life and reliability.
  • Electro-optical pod can fuse thermal imaging with visible light image to provide more detailed images; Through the efficient and convenient infrared temperature measure technology, it can real-time monitor and display the highest temperature, lowest temperature, center temperature and average temperature of the video picture, and automatically point out the high temperature position, accurately grasp the temperature condition of the equipment.
  • Zingto INYYO Q102 adopts a 22nm advanced technology quad-core 2.0GHZ AI chip with built-in NPU computing power up to about 1.0 Tops, and has automatic detection and recognition functions for typical targets such as vehicles and personnel. Multiple targets can be detected at the same time, the target detection probability is better than 85%, the target recognition probability is better than 80%, and the false alarm rate is less than 15%.
  • The telephoto lens can perform high-precision real-time detection tracking or feature tracking of ground targets within visual range. During the tracking process, it can resist light changes, and target scale changes, occlusion, rotation, blur, deformation and rapid movement. It has tracking auto zoom and auto tracking based on target recognition results, it’s easy to perform reconnaissance, surveillance and other tasks.
  • The original 3D visual positioning system can calculate the longitude and latitude coordinates, elevation information, and distance information of the screen center point target in real-time, and transmit real-time data back through the serial port and net mouth; It has good application value in remote distance.
  • The special control module has multiple optimization one-click function, which makes the control experience more comfortable.
  • The military three-proof aviation connector is used between the quick-release bracket and control module, which has safety characteristics such as high temperature resistance, corrosion resistance, vibration resistance, waterproof, electric shock resistance, anti-interference, long service life, and not easy to loosen. It can effectively prevent current leakage and short circuit, ensuring the reliability of the electrical connection.
  • The special control module has multiple optimized one-click functions to make the control experience more comfortable.
  • Q102 electro-optical pod can be compatible with all kinds of mechanical platforms, and a variety of peripheral connection schemes can make your use free from any restriction.

Technical Index

Main parameters
MaterialAircraft aluminum alloy
Pod Size103.7(L)*92(W)*156.2(H)mm
Pod weight615g±10g (Without controller)
Work range-20℃~60℃
Storage range-30℃~70℃
Protection rankIP43
Number of axisTriaxial (Yaw/Pitch/Roll)
Installation methodLower PTZ (factory default) /Upper PTZ (optional)
Quick-release methodTrigger quick-release locking structure
Control angle range360°×N(Yaw); -120°~30°(Pitch); ±55° (Roll)
Stable precision0.52 Mrad
Stable frequency1250 Hz
Control accuracy2.09 Mrad
Attitude correctionAuto
Working modelFollow yaw;Lock yaw;90°overlook

Control mode

Speed control; Angle control; Point to move; Target tracking

Controllable rotation speed

(default)

Min: 0.18°/s , Max: 45°/s

Visible light module
Sensor1/2.8 ” SONY CMOS

Focal length

4.9~49.0mm(10x)

40x Equivalent focal length:196mm

Zoom factor10x Optical zoom/40x Max hybrid zoom
Zoom control modeSpeed control, multiple control
Focus speed<1S Real time focusing
Focus ModeAuto/Manual
FOVH: 61.1-7.65°,V: 35.2-4.12°
F-numberF=1.6 ~ 3.8
M.O.D.1m(W)-20m(T)
SNR120 dB
MEGA OISAuto
White balanceAuto

Color mode

Colorful /Standard (default) /Brown /Black   and

white

Visible light resolution4K
Photo formatJPG
Video storage formatMP4
Video output format1920*1080@30fps
Storage methodsMirco SD: 32GB
Manual recognition distance (person)

1700m

Manual recognition distance (vehicle)

4400m

AI recognition distance (person)

500m

AI recognition distance (vehicle)

3400m

Thermal Imager
SensorUncooled infrared focal plane of vanadium oxide
Packaging methodHigh density ceramic packaging
Focal length25mm
Resolution640*512
Pixel pitch12μm
Wavelength range8~14μm
FOV10°X7.9°
NETD≤50mK@25℃, F#1.0(≤40mK optional)
Digital zoom1.0~8.0X
Frame rate50Hz
Color palettesBlack heat/ White heat
Thermometric range-20℃~150℃(default)、0℃~550℃(switchable)
Thermometric accuracy±2℃(Under constant conditions)
Manual recognition distance (person)

200m

Manual recognition distance (vehicle)

600m

AI recognition distance (person)

100m

AI recognition distance (vehicle)

500m

AI tracker
Auto-detect target typesTypical targets like vehicles and people
Multi-target detection number

≥20

Min target size36×36 pixel
Target detection rate≥85%
Target recognition rate≥80%
Target capture time≤5frame
FAR≤15%
Image tracking accuracy≤1pixel
Anti occlusion time3s
Max target tracking field of view

≤ 1/3 field of view

Processing speed≥30fps(@1080P)
Anti target deformation/occlusion

Auto

Target switching trackingSupport
Target tracking modeRecognition tracking, Feature tracking
Tracking target selection method

Point tracking

Tracking autozoomSupport
Neural network computing power

≈1.0 TOPS

Physical shock absorption structure of PTZ
Longitudinal shock absorption distributionDown pressure type 8 shock-absorbing balls double layer physical shock absorption
Effective image stabilization amplitude

1.5mm@30~500Hz

Effective working amplitude3mm@25Hz,6mm@5Hz
Controller12V network port version (Default) HDMI+network port wide voltage version (Optional) 
Size51.8(L)*50(W)*17(H)mm100.7(L)*64(W)*27.2(H)mm
Weight46±5g120±5g
Input voltage12V16V-60V
Working currentStatic:0.8A Dynamic:4.0AStatic:0.7A@16V,0.2A@60V Dynamic:3.5A@16V,1.0A@60V

Power

Static:9.6W Peak:48WStatic: 11.2W@16V,12W@60V Peak: 56W@16V,60W@60V
Control signal

S.BUS, TTL UART, TCP,UDP

Video interface

Network

Network×2, HDMI

The factory default controller is the 12V network port version, if select the HDMI+ network port wide voltage version should be clearly noted before purchase.

The factory default installation method is lower PTZ (hoisting), if select the upper PTZ (inverted) should be clearly noted before purchase; To ensure a more scientific distribution of force on the center of gravity, it’s strongly recommended to use lower PTZ.

Description of PTZ working mode

  1. Follow yaw (default mode): The yaw axis of PTZ moves in real time along the horizontal direction of the current attached equipment. After the horizontal rotation of the attached equipment, PTZ will slowly correct the position of the current yaw axis in real time for about 6s, and stop after confirming the complete reset.
  2. Lock yaw: Lock the plane position of the current PTZ yaw axis and no longer follow the horizontal direction of the current attached equipment. This mode have temperature drift is normal phenomenon, which is generally used for surround shooting.
  3. 90°overlook: The pitch axis of the PTZ moved to -90°.It is used to collect orthophoto images. This function is prohibited for the upper PTZ.

Description of PTZ control mode

  1. Speed control: Control the PTZ to move in a certain direction at an adjustable speed.
  2. Angle control: Control the PTZ to rotate to a fixed angle, this function is limited to Instruction control.
  3. Pointing movement: control the PTZ to rotate to the specified visual position based on the XY coordinates of the screen, this function is limited to Instruction control.
  4. Target tracking: The automatic control PTZ stabilizes the selected target at the center point of the screen in real time. During the tracking process, the user cannot manually control it, and can exit the tracking mode after canceling the tracking.

Camera zoom mode description

1~10X is optical zoom, 10~12X is internal COMS optical enlarge (lossless zoom), and 12~40X is electronic zoom based on original pixel; The factory default is to turn on the 40x maximum hybrid zoom mode, which can be turned on or off through the UART/TCP command (with power off memory). After turning off the hybrid zoom mode, it will be limited to 10x optical zoom.

Camera zoom control mode description

  1. Speed control: Control the visible light camera to zoom at an adjustable speed.
  2. Factor control: Control the zoom of the visible light camera to a fixed multiple, this function is limited to Instruction control.

Description of thermal imaging target recognition parameters

The above line of sight distance parameters are the Absolute theory values calculated under constant conditions based on the lens focal length.

Different use environments and object temperature differences will affect the line of sight distance and thermal imaging effect. Please refer to the actual test results of the respective application scenarios.

Recognition: Refers to recognize the target type of the corresponding heating object in the screen (6×6 pixel).

Target tracking mode description

  1. Recognition tracking: The PTZ performs high-precision automatic tracking based on the detection/recognition results of typical targets already supported by AI (typical target models are trained based on the aircraft’s overhead view angle, and the detection rate cannot be guaranteed under other views), and can automatically zoom according to the size of the identified target.
  2. Feature tracking: The PTZ performs image feature tracking based on the user’s selected non-AI recognition target.

Target location function description

After entering the specified receiving protocol, the photoelectric pod will automatically locate the center point target on the screen (required to be used below the pitch axis of -30°), and output the longitude and latitude coordinates of the target in the reply data.

Main Part Description

Pod body:

① Quick-release lug

② Yaw arm 

③ Yaw electric machinery

④ Roll electric machinery

⑤ Roll arm

⑥ Pitch electric machinery

⑦ Thermal imager

⑧ Visible light camera

⑨ Card slot

 

Packing List

Product body packing box example:

Packing type: Heaven and earth box
Inner liner: Sponge
Packing size: 264(L)×192(W)×157(H)mm
Packing weight: 1393±20g

  • The pod body contains a 32G Mirco SD card.
  • Due to the different user’s usage environment and mechanical platforms interfaces, please equip other wire rod according to the electrical interface definition in this article. Thanks for understanding!

Mechanical Dimensions (unit: mm)

Pod body:
Quick-release bracket:
12V Network port version controller(Default):
HDMI+ network port wide voltage version controller(Optional):

Interface Definition

12V Network port version controller (Default):
HDMI+network port wide voltage version controller (optional):

Note 

SYS_BUS

System bus, connecting quick-release bracket.

 

DC

12V power interface, do not input voltage beyond the supported range.

 

RJ45 Network Port (1)

Connection graph/data transmission for reading video or TCP command control.

RJ45 Network Port (2)

Same as RJ45 (1), can be used at the same time.

SBUS

Connect the remote receiver for SBUS stick control.

 

COM(1)

(UART Serial Port)

Connect graph/data transmission or flight control, used for serial port command control and read data, default TTL.

 

 

COM(2)

Reserved serial port, does not have control function,  can only receive the “data receiving protocol” of this paper.

 

HDMI

Standard HDMI interface, can be connected to the graph transmission, for reading video.

Installation Method

Control module and quick-release bracket:
Pod body:

General Note

  • Please confirm the power supply voltage in strict according to the electrical interface definition in this article. Do not input voltage beyond the supported range, otherwise the device will burn out;
  • Before supplying power to the module, please confirm the positive and negative poles of the power supply;
  • When using battery power, please check to make sure the battery can supply power normally;
  • When you need to control the pod through serial port, please do not input voltage through serial port, otherwise it will damage the control board;
  • When installing the vibration damping balls, please check whether the vibration damping mode is down pressure type, and cannot be changed to pull type, otherwise it will cause serious consequences such as falling;
  • Ensure that the PTZ remains free from obstacles at all times. Obstructions within the PTZ operating range can impair normal functionality and may lead to serious repercussions, such as burning out the PTZ;
  • Do not increase the hood, counterweight and other items, otherwise the PTZ will be underperforming, and even result in burning and other serious consequences;
  • Do not use thermal imaging equipment to photograph the sun, otherwise it will burn the heat sensor;
  • Do not look directly at the laser beam in the backlight with your eyes, or use an optical instrument to observe the laser beam in the backlight. No flammable objects are blocked within 20cm in front of the laser device;
  • The quick-release interface does not support hot swapping;
  • Do not use in vibration environments that exceed the effective working amplitude, as this may cause serious consequences such as damaging;
  • Do not remove the SD card during shooting or video recording, otherwise the images obtained during the photo shooting may be lost;
  • A single working time shall not exceed 12 hours, After more than 12 hours, wait for the device to recover to normal temperature before powering on;
  • Please keep the lens clean and wipe it with a dust-free glasses cloth. Too dirty lens will result in slow focusing speed and even cannot focus and other consequences;
  • Do not disassemble or repair by yourself, otherwise you will not be able to enjoy the warranty service.

Product Use

SBUS Channel description

Channel (Default)

Function

 

RC_CH1 – Pitch

Up – Up

Mid – Standby

Down – Low 

 

RC_CH2 – Zoom

Up – Enlarge

Mid – Standby

Down – Narrow

 

RC_CH3 – Yaw 

Up – Towards the right

Mid – Standby

Down – Towards the left

 

RC_CH4 – PTZ Mode switch

Up – 90° overlook

Mid – Follow yaw (Default mode)

Down – Lock yaw

 

RC_CH5 – Photography

Up – Take a photo

Down – Start / stop recording

RC_CH6 – Reset

Up – One-click reset

 

RC_CH7–Screen mode switch

Up –black hot, white hot switch

Down –Screen mode (PIP) switch

 

RC_CH8– Target tracking

Up – Target detection switch

Down –Target tracking switch

 

Connect your receiver or other link transmission equipment to the SBUS interface of the pod (conventional remote controls typically use a DuPont plug), and set up your remote control channels as needed;

The rotation speed of PTZ is linear with the gear value, When the channel gear value is less than 50, PTZ will not act. It is normal that some remote controllers with lower accuracy cannot stop the movement of PTZ after the rocker returns to the center. When operating the rocker, the movement needs to slowly return to the center to avoid effectively.

The camera can take pictures during recording.

The pitch axis is self-stable, and the pitch angle relative to the plane position is maintained in real time.

The working status of the yaw axis depends on the “Yaw Follow” and “Yaw Lock” modes.

The horizontal roller is self-stabilizing and keeps the horizontal attitude in real time.

SBUS channel setting instruction:

No.

Function

Byte

Note

1

Header

0xEE

 

2

Message ID

0x82

 

3

Frame length

0x1C

The length of all messages is 28 bytes

4

Pitch

 

The corresponding byte for each function represents the corresponding channel number, such as the pitch byte is

PTZ Mode switch, 90°overlook

 

0x01, and the yaw byte is  0x03, which represent channel  1 controlling pitch and  channel 3 controlling yaw. The channel number range is 1-16. If it exceeds the range, it cannot be set successfully,  and “0” represents not activating this function.

One-click reset

  

10 

Photography

  

11 

Target detection and tracking

  

12 

PIP, black, white hot

  

13 

Thermography electronic zoom  

  

14 

Laser ranging(none)

  

15 

Laser night vision (none)

  

16 

OSD-switch

  

17 

Reserve

  

18 

Reserve

  

19 

Reserve

  

20 

Reserve

  

21 

Reserve

  

22 

Reserve

  

23 

Reserve

  

24 

Reserve

  

25 

Reserve

  

26 

Reserve

  

27 

Reserve

  

28 

Sum check

 

1-27 byte sum, take the lower eight bits

 

				
					Example:
0xEE,0x82,0x1C,0x01,0x03,0x02,0x04,0x05,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xA1
(Pitch is CH1, yaw is CH3, zoom is CH2, manual focus is CH4, mode switch is CH5, one click reset is CH6, and other functions are not mapped)。

To set the SBUS channel, you need to connect the serial port. Send the setting instruction in the above format or use the software client to set it. The Baud of the serial port is 115200. To use the PC terminal for operation, you need to provide your own USB to TTL serial port module for connection.
				
			

Network Port Setting

Take the PC as an example (you can flexibly connect other link devices based on your requirements), connect the cable to the network port of the PC, and disable the firewall.

Open the “network” on your computer, select the “network and Internet settings” then select the “change adapter option”, and finally select “IPv4” in “Ethernet” to modify the computer website. Please make sure that the computer and pod are in the same network segment, as shown in the figure.

After setting the network segment of the computer, enter the url (default) 192.168.144.119:8554 into the configuration interface, and you can set the video pull flow address, url, port number, compressed format (H.264/265) and bit rate.

Open VLC media player(Download software by yourself), Enter the pod RTSP video (default) address:
□ rtsp://192.168.144.119/554
“Caching” input “300ms” for better video effect.
5. TCP default control port: 2000

Modify IP address and video encoder configuration:

Power up the photoelectric pod normally, connect the network port to the computer, and log in to 192.168.144.119:8554 on the browser (192.168.144.119 is the current IP address of photoelectric pod) for coding configuration.

Enter the coding configuration page, and the basic information on the configuration page is as follows:

System Info: System information

Soft Version: Tracker current version.

Camera IP: The IP address of this product is 192.168.144.119 by default, and the port number is 2000.

Users can freely change the address (remember not to forget), the address should be the same as the IP address network segment on the computer, if different, you need to use the computer’s Ethernet address setting.

Remote IP: The remote control address of this product.

Camera UDP Control Port: The default is 14551.

Compression Quality: Optional high, medium, and low, default to high.

HDMI Output FPS: You can choose between 30 and 60, and the default is 30.

Stream Type: H.264 and H.265 can be selected, with H.264 recording as the default.

Encoder Bitrate: The encoding rate size defaults to 2048.

Rtmp Server Name: default to rtmp://192.168.2.117/live.

Web Port: Enter the webpage port number of this webpage.

RTSP Output for image transmission: RTSP output for image transmission can be selected from “Default”, “Real time Priority” and “Low fps”.

After changing the device configuration, click Submit. The page displays that after the change is successful, restart.

Remote download of photos/videos from web pages:

Click to download videos and photos.

Open photos or videos according to your needs.

When opening a photo, double-click to view it.

Open video recording: Open the video you want to download, right-click on the screen interface ->Save As, select a location, and click Save. After the browser displays that the download is complete, you can view the recorded video in the saved location.

Serial Port Instruction

Protocol format:

byte1

byte 2

byte 3

byte 4

byte 5

byte 6

byte 7

Sync byte

Address code

Instruction code1

Instruction code2

Data code1

Data code2

Check code

  • Serial port or network port can be used for command control, and the serial port version controller baud rate 115200bps; The network IP address (default) is 192.168.144.119, and the port number is 2000;
  • All the values in the protocol are hexadecimal;
  • The instruction sync byte is always 0xFF;
  • “Address code” is the logical address of the controlled equipment, address range: 0x01-0xFF;
  • Instruction code” indicates different actions;
  • Data codes” 1 and 2 represent the parameters corresponding to the pod command;
  • “Check code”= byte 2 + byte 3 + byte 4 + byte 5 + byte 6;
  • The “Data receiving protocol” and “SBUS channel configuration” are only valid on the serial port.
Control instruction:
				
					·Pitch up(instruction code 1 is 0x00, instruction code 2 is 0x08, data code 2 is motion speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x08,0x00,0xFF,0x08 (in upward movement speed 0xFF)
·Pitch down(instruction code 1 is 0x00, instruction code 2 is 0x10, data code 2 is motion speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x10,0x00,0xFF,0x10 (in downward movement speed 0xFF)
·Yaw left (instruction code 1 is 0x00, instruction code 2 is 0x04, data code 1 is motion speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x04,0xFF,0x00,0x04 (to speed 0xFF movement to the left)
·Yaw right (instruction code 1 is 0x00, instruction code 2 is 0x02, data code 1 is motion speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x02,0xFF (to speed 0xFF movement to the right)
·PTZ left and up (instruction code 1 is 0x00, instruction code 2 is 0x0C, data code 1 is left motion speed, data code 2 is up motion speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x0C,0xFF,0xFF,0x0B (in speed 0xFF movement on the left)
·PTZ left and down (instruction code 1 is 0x00, instruction code 2 is 0x14, data code 1 is left motion speed, data code 2 is down motion speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x14,0xFF,0xFF,0x13 (in speed 0xFF movement under the left)
·PTZ right and up (instruction code 1 is 0x00, instruction code 2 is 0x0A, data code 1 is the right movement speed, data code 2 is the up movement speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x0A,0xFF,0xFF,0x09 (to upper right movement with speed 0xFF)
·PTZ right and down (instruction code 1 is 0x00, instruction code 2 is 0x12, data code 1 is the right movement speed, data code 2 is the down movement speed, speed range 0x00-0xFF)
Example: 0xFF,0x01,0x00,0x12,0xFF,0xFF,0x11 (to lower right movement with speed 0xFF)
·Motion stop(instruction code 1 is 0x00, instruction code 2 is 0x00)
Example: 0xFF,0x01,0x00,0x00,0x00,0x00,0x01(Stop all commands in speed control mode)
·Pitch angle control (instruction code 1 is 0x10, instruction code 2 is 0x01,(data code 1+ data code 2)÷50 are angle values (signed int16))
Example: 0xFF,0x01,0x10,0x01, 0x01, 0xF4,0x07 (Pitch rotated to 10 degrees)
·Yaw angle control (instruction code 1 is 0x10, instruction code 2 is 0x02,(data code 1+ data code 2)÷50 are angle values (signed int16))
Example 1: 0xFF,0x01,0x10,0x02,0x13,0x88,0xAE (Yaw rotation to 100 degrees)
Example 2: 0xFF,0x01,0x10,0x02,0xEE,0x6C,0x6D (Yaw rotation to -90 degrees)
·Point to move (screen XY coordinates) (instruction code 1 is 0x10, instruction code 2 is 0x00, data code 1 is X value (↔), data code 2 is Y value (↕), speed range 0x00-0ff, INYYO 46W does not support this function)
Example: 0xFF,0x01,0x10,0x00,0x40,0x40,0x91 (Point to move to the top-left 1/4 of the screen)
·Point tracking (screen XY coordinates) (instruction code 1 is 0x11, instruction code 2 is 0x00, data code 1 is X value (↔), data code 2 is Y value (↕), speed range 0x00-0FF)
Example 1: 0xFF,0x01,0x11,0x00,0x40,0x40,0x92 (Lock the top left quarter of the screen for tracking)
Example 2: 0xFF,0x01,0x11,0x00,0x7F,0x7F,0x10 (Lock the center of the screen for tracking)
·Stop tracking (instruction code 1 is 0x11, instruction code 2 is 0x01)
Example: 0xff,0x01,0x11,0x01,0x00,0x00,0x13 (Stop target tracking)
·Follow yaw mode (instruction code 1 is 0x13, instruction code 2 is 0x00)
Example: 0xFF,0x01,0x13,0x00,0x00,0x00,0x14 (Switch to yaw follow mode)
·Lock yaw mode (instruction code 1 is 0x13, instruction code 2 is 0x01)
Example: 0xFF,0x01,0x13,0x01,0x00,0x00,0x15 (Switch to yaw lock mode)
·90°overlook (instruction code 1 is 0x13, instruction code 2 is 0x02, used to collect ortho image, this function is disabled when PTZ is mounted)
Example: 0xFF,0x01,0x13,0x02,0x00,0x00,0x16 (PTZ pitch axis turned to -90°, maintain vertical looking posture)
·One-click reset (instruction code 1 is 0x13, instruction code 2 is 0x03)
Example: 0xFF,0x01,0x13,0x03,0x00,0x00,0x17 (Yaw axis and pitch axis return to the middle position)
·Take a picture (instruction code 1 is 0x12, instruction code 2 is 0x00)
Example: 0xFF,0x01,0x12,0x00,0x00,0x00,0x13 (Take a picture)
·Start recording (instruction code 1 is 0x12, instruction code 2 is 0x02)
Example: 0xFF,0x01,0x12,0x02,0x00,0x00,0x15 (Start recording)
·Stop recording (instruction code 1 is 0x12, instruction code 2 is 0x01)
Example: 0xFF,0x01,0x12,0x01,0x00,0x00,0x14 (Stop recording)
·Visible light zoom+ (instruction code 1 is 0x00, instruction code 2 is 0x40, data code 1 is zoom speed, speed range 0x00-0x08)
Example: 0xFF,0x01,0x00,0x40,0x04,0x00,0x45 (Visible light is zoomed out to the far end at speed 0x04)
·Visible light zoom- (instruction code 1 is 0x00, instruction code 2 is 0x20, data code 1 is zoom speed, speed range 0x00-0x08)
Example: 0xFF,0x01,0x00,0x20,0x04,0x00,0x25 (Visible light zooms to the near end at speed 0x04)
·Visible light zoom stop (instruction code 1 is 0x00, instruction code 2 is 0x60, data code 1 is 0x00)
Example: 0xFF,0x01,0x00,0x60,0x00,0x00,0x61 (Visible light zoom stop)
·Visible light specify optical zoom (instruction code 1 is 0x1F, instruction code 2 is 0x00, data code 1-1 is multiple)
Example: 0xFF,0x01,0x1F,0x00,0x02,0x00,0x22 (Visible light zoom up to 3x)
·Turn on visible light manual focus (instruction code 1 is 0x1D, instruction code 2 is 0x00)
Example: 0xFF,0x01,0x1D,0x00,0x00,0x00,0x1F (Turn on visible light manual focus)
·Turn off visible light manual focus (instruction code 1 is 0x1D, instruction code 2 is 0x01)
Example: 0xFF,0x01,0x1D,0x01,0x00,0x00,0x1F (Turn off visible light manual focus)
·Visible light manual focusing+ (instruction code 1 is 0x1D, instruction code 2 is 0x03)
Example: 0xFF,0x01,0x1D,0x03,0x00,0x00,0x21 (Visible to the remote focusing)
·Visible light manual focusing- (instruction code 1 is 0x1D, instruction code 2 is 0x02)
Example: 0xFF,0x01,0x1D,0x02,0x00,0x00,0x20 (Visible light is focused proximally)
·Picture-in-picture mode switching (instruction code 1 is 0x14, instruction code 2 is 0x00, data code 1 is picture mode,0x00: visible light embedded thermal imaging,0x01: thermal imaging embedded visible light,0x02: visible light,0x03: thermal imaging, only the photoelectric pod containing a variety of optical camera modules has this function)
Example: 0xFF,0x01,0x14,0x00,0x02,0x00,0x17 (Switch to visible light)
·Thermal imaging black, white hot switching(instruction code 1 is 0x15, instruction code 2 is 0x00, data code 1 is black hot and white hot switching,0x00: white hot,0x01: black hot, only the photoelectric pod containing the thermal imaging module has this function)
Example: 0xFF,0x01,0x15,0x00,0x01,0x00,0x18 (Thermal imaging mode switch to black hot)
·Thermal imaging electronic zoom (instruction code 1 is 0x17, instruction code 2 is 0x00, data code 1 is electronic zoom multiple (1/2/4/8 times), 0x00:1 times,0x01:2 times,0x03:4 times,0x07:8 times, only the photoelectric pod containing the thermal imaging module has this function)
Example: 0xFF,0x01,0x17,0x00,0x01,0x00,0x19 (Thermal imaging zoom to 2x)
·Single ranging/Triggered Location (instruction code 1 is 0x16, instruction code 2 is 0x00, Only optical Pods containing laser ranging modules have this function. (Laser ranging pods can automatically locate targets after entering the specified protocol and ranging at the same time.))
Example: 0xFF,0x01,0x16,0x00,0x00,0x00,0x17 (Distance once and target location)
·Turn on continuous ranging (instruction code 1 is 0x16, instruction code 2 is 0x01, Only the photonics pod containing the laser ranging module has this function)
Example: 0xFF,0x01,0x16,0x01,0x00,0x00,0x18 (Turn on continuous ranging)
·Turn off continuous ranging (instruction code 1 is 0x16, instruction code 2 is 0x02, Only the photonics pod containing the laser ranging module has this function)
Example: 0xFF,0x01,0x16,0x02,0x00,0x00,0x19 (Turn on continuous ranging)
·Turn on OSD (instruction code 1 is 0x19, instruction code 2 is 0x00)
Example: 0xFF,0x01,0x19,0x00,0x00,0x00,0x20 (Open screen OSD information)
·Turn off OSD(instruction code 1 is 0x19, instruction code 2 is 0x01)
Example: 0xFF,0x01,0x19,0x01,0x00,0x00,0x21(Close screen OSD information)
·Open the target detection (instruction code 1 is 0x11, instruction code 2 is 0x02, Only the photoelectric pod with AI detection, identification and tracking function supports this function)
Example: 0xFF,0x01,0x11,0x02,0x00,0x00,0x14 (Open the target detection identification)
·Close the target detection (instruction code 1 is 0x11, instruction code 2 is 0x03, Only the photoelectric pod with AI detection, identification and tracking function supports this function)
Example: 0xFF,0x01,0x11,0x03,0x00,0x00,0x15 (Close the target detection identification)
·Open test aided tracking (instruction code 1 is 0x11, instruction code 2 is 0x04, the auxiliary detection function is to use the detection ability to prevent the loss of the target when the target tracking is blocked, and only the photoelectric pod with AI detection, recognition and tracking function supports this function)
Example: 0xFF,0x01,0x11,0x02,0x00,0x00,0x14 (Open test aided tracking)
·Close test aided tracking (instruction code 1 is 0x11, instruction code 2 is 0x05, only the photoelectric pod with AI detection, recognition and tracking function supports this function)
Example: 0xFF,0x01,0x11,0x03,0x00,0x00,0x14 (Close test aided tracking)
·Turn on electronic image stabilization (instruction code 1 is 0x18, instruction code 2 is 0x00, only the photoelectric pod with AI detection, identification and tracking function supports this function)
Example: 0xFF,0x01,0x18,0x00,0x00,0x00,0x19 (Turn on electronic image stabilization)
·Turn off electronic image stabilization (instruction code 1 is 0x18, instruction code 2 is 0x01, only the photoelectric pod with AI detection, identification and tracking function supports this function)
Example: 0xFF,0x01,0x18,0x01,0x00,0x00,0x1A (Turn off electronic image stabilization)
·Query SBUS channel configuration (instruction code 1 is 0x1E, instruction code 2 is 0x00, the current SBUS channel configuration will be returned after sending)
Example: 0xFF,0x01,0x1E,0x00,0x00,0x00,0x1F (Query SBUS channel configuration)
·Set data reply frequency (instruction code 1 is 0x20, instruction code 2 is 0x00, data code 1 is frequency, support 1-10Hz)
Example: 0xFF,0x01,0x20,0x00,0x0A,0x00,0x2B (Set data reply frequency to 10Hz)
·Restore default video streaming address (instruction code 1 is 0x21, instruction code 2 is 0x00)
Example: 0xFF,0x01,0x21,0x00,0x00,0x00,0x22 (Restore default video streaming address)
·The initial movement speed of the in PTZ speed control mode is 0-45 °/s;
·The initial movement speed of the One-click reset/90°overlook, angle control, point to move function is about 300 °/s. When approaching the specified angle, the speed will gradually decrease to complete the action;
·The angle control Instruction cannot input the angle value exceeding the working range of the PTZ;
·The default data reply frequency is 2Hz;
·Data receive frequency is ≤5Hz;
·After entering the specified receiving protocol, the photoelectric pod will automatically conduct target positioning.
				
			
Response data@2Hz:

No.

Function

Byte

Note

Header

0xEE

 

Message ID

0x01

 

Frame length

0x18

The length of all messages is 29 bytes

Laser ranging distance

(decimeter)

Low eight

Product data without laser ranging function is 0

High eight

PTZ roll angle (@0.1°)

Low eight

Two bytes are signed int16

High eight

PTZ pitch angle (@0.1°)

Low eight

Two bytes are signed int16

High eight

10 

PTZ yaw angle (@0.1°)

Low eight

Two bytes are signed int16

11 

High eight

12 

Visible light zoom

multiple (integer)

  

13 

Track status

 

0x00: Not tracked 0x01: Tracking 

14 

Target latitude*10000000

Low byte

Example: The actual latitude is 38.1234567, and the four

15 

 

16 

  

byte data is 381234567

17 

 

High byte

 

18 

longitude*10000000

Low byte

Example: The actual longitude is114.1234567, and the data of these four bytes is 1141234567

19 

   

20 

   

21 

 

High byte

 

22 

Target height

(decimeter)

Low eight

 

23 

 

High eight

 

24 

Visible light zoom multiple information (Visca Protocol)

0p

The pars is the focal length information, which corresponds to POs in Viscaprotocol. For example, p=0,0=1, r=4s=0, then pars corresponds to 0140 in POS, and the focal length is 4.40 (In Visca protocol, the maximum focal length is 30x), models that do not support  this protocol will reply with 0.

25 

 

0q

 

26 

 

0r

 

27 

 

0s

 

28 

PTZ working mode

 

0x00: Follow yaw, 0x01: Lock yaw, 0x02: 90°overlook

29 

Sum check

 

1-28 byte sum, take the lower eight bits

 

				
					Example:0xEE,0x01,0x1D,0xB8,0x0B,0x32,0x00,0x3E,0xFE,0xE8,0x03,0x05,0x01,0x87,0x2D,0xB9,0x16,0x87,0xDB,0x05,0x44,0x7B,0x00,0x00,0x00,0x00,0x00,0x01,0xD8
(Laser ranging is 300m, roll angle is 5°, pitch angle is -45°, yaw angle is 100°, visible light zoom is 5x, tracking is underway, target latitude is 38.1234567, target longitude is 114.1234567, target altitude is 12.3m, and PTZ working mode is follow yaw.)
				
			
Response data@2Hz:

No. 

Function 

Byte 

Note 

1

Header

0xEE

 

2

Message ID

0x81

 

 

3

 

Frame length

 

0x22

The length of all messages is 34 bytes

4

Aircraft (mechanical platforms) roll angle (@0.1°) 

Low eight

Tilting left is negative, tilting right is positive

 

5

 

 

High eight

 

6

Aircraft (mechanical platforms) pitch angle (@0.1°)

Low eight

 

Head down is negative, head up is positive

 

7

 

 

High eight

 

8

Aircraft (mechanical platforms) yaw angle (@0.1°)

Low eight

 

Clockwise:0~180 Counterclockwise:0~-180

 

 

 

High eight

 

10

 

 

Aircraft (mechanical

platforms) latitude*10000000

Low byte

Example: The actual latitude is 38.1234567, and the four byte data is 381234567

11

 

 

 

12

 

 

 

13

 

High byte

 

14

 

 

Aircraft (mechanical platforms) longitude*10000000

Low byte

Example: The actual longitude is  114.1234567, and the  data of these four bytes is 1141234567

15

 

 

 

16

 

 

 

 

17

 

 

High byte

 

18

Aircraft (mechanical platforms) altitude (decimeter)

Low eight

 

 

 

 

19

 

 

High eight

 

20

Aircraft (mechanical platforms) relative height (decimeter)

Low eight

 

 

 

 

21 

 

 

High eight

 

22

GPS time

Year

Example: This byte will

 

 

 

be 21 in 2021

23 

 

Month

 

24 

 

Day

 

25 

 

Hour

24-hour  

26 

 

Minute

 

27 

 

Second

 

28 

Aircraft (mechanical platforms) eastward speed(cm/s)

Low eight

 

East direction is positive

 

29 

 

 

High eight

 

30 

Aircraft (mechanical platforms) northbound speed(cm/s)

Low eight

 

North direction is positive

 

31 

 

 

High eight

 

32 

Aircraft (mechanical platforms) ascent speed(cm/s)

Low eight

 

Sky direction is positive

 

33 

 

 

High eight

 

 

34 

 

Sum check

 

 

1-33 byte sum, take the lower eight bits

				
					Example:
0xEE,0x81,0x22,0x32,0x00,0x3E,0xFE,0xE8,0x03,0x87,0x2D,0xB9,0x16,0x87,0xDB,0x05,0x44,0xD0,0x07,0x7B,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x6A
(The aircraft (mechanical platforms) roll angle is 5°, pitch angle is -45°, yaw angle is 100°, latitude is 38.1234567, longitude is 114.1234567, altitude is 200, relative height is 12.3)
				
			
Current SBUS channel configuration reply:

No.

Function

Byte

Note

1

Header

0xEE

 

2

Message ID

0x04

 

 

3

 

Frame length

 

0x1C

The length of all messages is 28 bytes

4

Pitch  

 

 

Yaw

 

 

 

 

 

 

 

 

 

 

 

 

 

 

The corresponding byte for  each function represents the corresponding channel number, such as the pitch byte is  0x01, and the yaw byte is  0x03, which represent channel 1 controlling pitch and  channel 3 controlling yaw. The channel number range is 1-16. If it exceeds the range, it cannot be set successfully,  and “0” represents not activating this function.

Visible light zoom

 

 

 

Visible light manual focus

 

 

 

 

PTZ Mode switch,90°overlook

 

 

 

One-click reset

 

 

10 

Photography

 

 

 

11 

Target detection and tracking  

 

 

 

12 

PIP, black, white hot

 

 

 

13 

Thermography electronic zoom

 

 

 

14 

Laser ranging(none)

 

 

 

15 

Laser night

vision(none)

 

 

 

16 

OSD-switch

 

 

17 

Reserve

 

 

18 

Reserve

 

 

19 

Reserve

 

 

20 

Reserve

 

 

21 

Reserve

 

 

22 

Reserve

 

 

23 

Reserve

 

 

24 

Reserve

 

 

25 

Reserve

 

 

26 

Reserve

 

 

27 

Reserve

 

 

 

28 

 

Sum check

 

 

1-27 byte sum, take the lower eight bits

				
					Example:
0xEE,0x04,0x1C,0x01,0x03,0x02,0x04,0x05,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x23
(Pitch is CH1, yaw is CH3, zoom is CH2, manual focus is CH4, mode switch is CH5, one click reset is CH6, and other functions are not mapped)
·The instructions for setting the SBUS channel can be found in "SBUS Channel Settings" in this article.
				
			

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