Dual Operator Setup
This document outlines the setup for Dual Operator Herelink control. Dual Op control can be used as trainer mode or to use one controller as primary vehicle control and a secondary controller as gimbal control. It covers configuration, setup of primary and secondary controllers & GTune Settings.
User Manual & Dual Op
https://docs.cubepilot.org/user-guides/herelink/herelink-overview
Initial Configuration
Verify both the ground station and air unit are running the latest version of the firmware. If not follow the firmware update instructions here:
https://docs.cubepilot.org/user-guides/herelink/herelink-user-guides/upgrading-firmware
Herelink Controller Setup
Overview
Make sure both controllers have been updated to the latest firmware for both android and Herelink settings. Configure both controllers according to the production MWI.
Ground Station 1 (Main):
Primary control, paired with the Herelink air unit.
Ground Station 2 (Secondary):
Payload control or trainer mode, connected to Main over IP on the same Wifi or Hotspot network.
Step 1
Power on the ground stations, on the main controller open WiFi Hotspot settings and label the main controller.
Label the secondary controller with the serial number and connect to the Main controller hotspot.
Step 2
Select the Joystick page on both units.
On the Main controller, enable both the “Dual Cont” toggle and the “MAIN” toggle. This is where you can configure the channels you want the Secondary controller to operate.
For Payload Control, set the channels X2 - 18, Y2 - 17, Z2 - 19, R2 - 20, W2 - 21
For Trainer Mode, set the channels X2 - 1, Y2 - 2, Z2 - 3, R2 - 4, W2 - 0
Then press “SAVE” in the top left.
Step 3
On the Secondary controller, enable the “Dual Cont” toggle and select the IP address of the Main controller from the drop down menu and Save. It should be 192.168.43.1, you can confirm this in the network settings of the Main controller.
Confirm moving the sticks on the Secondary controller moves the channels on the Main controller. For Trainer Mode control, the primary controller will need to hold down the right trigger button in order for input to pass through from the secondary controller. If using this mode, hold down the button and move the sticks on the Secondary controller to verify. For Payload Control, throttle stick input is not set to move any channels.
GTune Settings
Use the latest firmware of the gimbal you’re using, the Gremsy T7 was tested using 7.7.3 from the Gremsy github https://github.com/Gremsy. If needed, follow the steps to upgrade firmware.
Upgrading Firmware
Power up the ACFT then plug in a micro usb cable to the quick connect and open the GTune application. Use the search button to find the connected gimbal and select the connect button.
Check the info tab to confirm what version the gimbal is currently using. If needed, use the upgrade tab to load firmware. Note: Unplug the SBUS cable before upgrading firmware.
SBUS Control
Navigate to the Settings tab and select Controls from the menu. Choose SBUS as primary control and input the following settings.
Mode - Channel 3 - Follow - Follow - Lock
Tilt - FASST - Channel 1 - Smooth 20 - Dead Zone 40 - Speed - Reverse
Roll - Channel 0 - This is not used. Be sure to set Channel 0
Pan - FASST - Channel 2 - Smooth 10 - Dead Zone 40 - Reverse
Tilt Speed - Channel 5
Pan Speed - Channel 5
Calibration
Before tuning - Navigate to the Motor tab and run a calibration for the motors first then navigate to the IMU tab and calibrate after motors.
Tuning
This will change depending on what gimbal is attached. The following is setup for the T7 gimbal with Sony A7R and 125mm (BIG) lens. Navigate to the Stiffness tab and input the following settings.
Basic Expert
Tilt - 10 Hold Strength - Tilt 35 - Roll 20 - Pan 40
Roll - 25 Damping - Tilt 20 - Roll 15 - Pan 20
Pan - 30 Gain - 120
Gyro Filter 1
Output Filter - 2
Controls - Payload Mode
Controls - Trainer Mode
Trainer Mode is used to enable the Secondary Controller to gain ACFT control while the Main Controller is holding down the Right Trigger Button. While the button is held, the secondary controller will have full stick control until the Main Controller releases the trigger button.
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