3DR SOLO with REACH

Reach Module / M+ / M2 Hardware integration
21

mmmmh like it a Sony rx100 suport wifi will be a good solution too. we have on stock and we plan an alpha 7r too

so ready for the beta testing too

22

Hello. I am using the Samsung NX300 camera on my project: photogrametric plane with the BORMATEC MAJA airframe, PIXHAWK controler and REACH.
I am finishing the wiring process to put all together and waiting for the firmware to integrate REACH.

The NX300 camera can be trigged by wifi - but I donĀ“t know if the frequency could couse any problemā€¦ But it coud be interesting for trying!

23

nx300 and a7r sound good, as they have a hotshoe adapter.

Even if it is able to store the shutter release time, relative to what clock? Reach will store time stamps in GPS time, so they will be absolute. Canon timestamps will have bias.

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24

The S100 has built in GPS and auto updates the time using the GPS clock. So should it not in theory be synced with the Reach clock? I admit I have not had the time to check how precise the sync is, but in principle I donā€™t see why it shouldnā€™t have a useful level of accuracy? Although hotshoe is obviously preferable, especially with the upcoming integration of hotshoe triggered cam messages in the apm logs, S100 running chdk and kap script does still seem a good option in the ~200g payload range. Certainly a lot of people already using the camera, when Reach/Apm integration is complete it could potentially be very simple for anyone using an S100/apm for mapping to upgrade to RTK geotagging accuracy?

25

Our agenda right now is to release Pixhawk integration for real-time navigation. Next step would be the mapping workflow. The ETA on this is about 4 weeks.

I know that there is confusion when trying to separate Pixhawk integration from precise georeferencing, so I feel like there is a need to provide further explanation that these two are very different things. This post is more for future reference, than a direct reply.

###Pixhawk integration

includes a custom binary protocol which is used to transfer calculated coordinates from Reach to Pixhawk and RTCM3 corrections all the way from Mission Planner, through the telemetry link and Pixhawk to Reach.

Used for:

  • Precision navigation
  • Precision landing
  • Repeatable day to day missions

This method assumes:

  • constant communication between base and rover Reach
  • APM based autopilot with latest firmware

Camera timestamp integration

The main issue with precision georeferencing is that there is a random shutter delay and discretization of coordinates. Letā€™s assume that we have perfect RTK solution in flight and are logging camera positions in Pixhawk as usual. After you have triggered the picture you do not know when the camera actually took it and you know a new coordinate at 5Hz rate. Assume that we are flying at 10m/s. 10/5 = 2 meters, between coordinate updates. Combined these two effect result in meters of errors even with RTK onboard. And if communication was lost in flight, that is another source of errors.

What Emlid proposes based on vast mapping experience?

There is only one way to know when shutter was actually opened, it is when camera attempts to fire the flash. This is why a hotshoe adapter (or internal modification for cameras with integrated flash) is required. You will need to connect Reach to the pin on the hotshoe and it will store timestamps of each picture. These timestamps are then stored in RINEX file along with raw GNSS observations. After the flight you will postprocess logs from base and rover in modified RTKLIB and it will give you a list of coordinates along with accuracy estimate for each of them. Postprocessing gives better precision and is more robust compared to RTK.

This method assumes:

  • No need for communication between rover and base, they log the data.
  • Not autopilot dependent, can work on Solo, DJI etc.
  • No autopilot software modification.
  • Requires flash sync cable to be connected to your camera of choice.

Some companies are sweet talking their customers into mapping with GoPro and referencing pictures with normal GPS. That simply shows lack of knowledge on their side. That might work for ok looking 3D models, but for precise ones that you can trust for measurements of volumes, areas and coordinates never. It surprises me how some are actually selling this as a business tool.

Can I have both?

You can both have precision navigation in flight and precisely referenced pictures. Just implement both integrations.

Solo integration

Most Solo users would not want to change their Pixhawk2 firmware to one that supports Reach, so we will focus on camera only integration.

We recognize that providing a tutorial for Solo modification for precision mapping without GCP would be a big hit. Emlid will give a free Reach to someone who is ready to make a demo (after the software is released). Requirements: your Solo with a camera with hotshoe installed, pulse checked with scope and ready to be connected to Reach. You need to have some publication related to SOLO or drones on the web and basic electronics skills and drone building skills (Reach needs to be integrated in the Solo bay, connected to 5V power there, ground plane and antenna placed on top of the shell). In exchange you will also get private integration support. The result of this demo would be a blog post here and on DIYD. If someone is interested please PM me for details. (@Global_Saffer it could be you, of you are ready for some hacking :smile: )

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26

Thank you for the informative update! :slight_smile: PM on the wayā€¦

27

This is great news, looking forward to test them! It means, both REACH software, hotshoe hardware connection and RTKLIB modification are expected to come along within 4 weeks? :grinning:

28

Great Post ivereninov!

I agree 100% with the selling of GoPro/Neo as a industrial tool, I do not agree and would not put my name on the resulting DEM for volumes or specific measurements.
This is why I have decided to let the Solo do itā€™s own thing and post process. I have a breakout board for the Solo accessory bay to trigger camera and power Reach. I will need to solve the no hot shoe issue with the QX10, maybe use the shutter control wire??? I will have to see.

Little off topic Q: is the 5Hz rate fixed to the hardware of the current reach, or is it something that can be updated via firmware etcā€¦?

Thanks!

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29

@Mayehem 5Hz is not fixed, but it is the maximum rate of the receiver for GPS+GLONASS, it can only be lowered.

30

Update on camera choice for this setup: I am weighing (HA) my options and it looks like the difference between desired payload of using the QX1 w/ pancake lens vs QX10 is about 180g. I believe I can still achieve under 2kg AUW with the solo and the QX1 but the flight time is still untested. I will try sample payload flights hopefully this weekend. If I can consistently get 15 mins of flight I will be happy with this setup.
Diving into the specs of the cameras the massive sensor size to camera weight ratio of the QX1 cannot be overlooked. The QX100 sits somewhere between the 2, still an option on the table.

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31

Been using the QX1 exclusively, albeit on a much larger frame than Solo. Would be interested in what you come up with to solve the flash sync challenge.

One option is to dump the battery and power the QX1 from the flight battery. Others have done it and still on the ā€œto doā€ list.

32

I got strange Ideaā€¦ How about connect Reach with Samsung galaxy NX, This is the mirrorless comming with ANdroid with LTE connectionā€¦ bit heavy though

33

New to Reach and looking for any progress that might have been made? Many thanks
Burke

34

Pixhawk integration has been released some time ago. Timestamps in RINEX are coming soon.

35

Thanks for the reply. I have a Solo and looking if Reach is a current option without me having to develop.

I saw
"Solo integration
Most Solo users would not want to change their Pixhawk2 firmware to one that supports Reach, so we will focus on camera only integration."

My question should have been more specific looking for progress on the Solo integration.

36

If you replace the camera on Solo then you can use it with Reach, GoPro is not very good for mapping and does not have sync output.

37

Thank you. Current GP4 doed have a modified lens 4.3. Iā€™m looking to add the Escadrone Mapper Sony Qx1. Your input on the Qx1. What are your recomendation for the Solo platform - camera wise. Many thanks
Burke

38

I suggest that you look for a camera with a hotshoe adapter to be able to work with our time stamping feature:

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39

Thank you ivereninov for the quick reply. I donā€™t see a hot shoe on the QX1 but it does have a built in flash which Iā€™m assuming I could hack. Do you have a camera recommendation for the Solo? I did like the Escadrone solution as it has a 2 axis gimbal. I could alway hard mount a camera.

Thanks you very much for your assistance.

Burke

1 Like
40

I have also been thinking about hacking internal flash on QX1, if you manage to do it please post your results! I do not have a recommendation for SOLO, but QX1 hack sounds like a good option.

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