FLIR Duo Pro R User manual

FLIR Duo Pro R User Guide
Duo Pro R User Guide, Rev. 1.0
Informaon on this page is subject to change without noce
1
Of�icial Publication Date: December 2017
Duo Pro R
User Guide
Version 1.0

FLIR Duo Pro R User Guide
Duo Pro R User Guide, Rev. 1.0
Informaon on this page is subject to change without noce
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Table of Contents
1 INTRODUCTION...................................................................................................................................................4
1.1 SCOPE..............................................................................................................................................................4
1.2 REVISION HISTORY .....................................................................................................................................4
2 RESOURCES..........................................................................................................................................................5
2.1 FLIR WEBSITE / TECH SUPPORT INFORMATION ..................................................................................5
2.2 FLIR SYSTEMS DOCUMENTS.....................................................................................................................5
2.3 EXTERNAL DOCUMENTS ...........................................................................................................................5
2.4 ABBREVIATIONS / ACRONYMS ................................................................................................................6
3 WHAT’S IN THE BOX ..........................................................................................................................................7
3.1 UNPACKING YOUR CAMERA ....................................................................................................................8
3.1.1 FLIR Duo Pro R Camera...........................................................................................................................8
3.1.2 Bench Cable ..............................................................................................................................................8
3.1.3 MicroSD Cards..........................................................................................................................................9
3.1.4 Integration Cable .....................................................................................................................................10
3.1.5 GPS Antenna ...........................................................................................................................................11
3.1.6 USB Type-C Cable..................................................................................................................................12
4 Connecting to the Camera .....................................................................................................................................13
4.1 MECHANICAL INTERFACE.......................................................................................................................13
4.1.1 SIZE / WEIGHT......................................................................................................................................13
4.1.2 MOUNTING ...........................................................................................................................................13
4.2 ELECTRICAL INTERFACE.........................................................................................................................14
4.2.1 Bench Testing..........................................................................................................................................14
4.2.2 COTS USB-C Cables ..............................................................................................................................14
4.2.3 Micro HDMI............................................................................................................................................14
4.2.4 Accessory Port.........................................................................................................................................15
4.3 Software Interface...........................................................................................................................................16
4.4 Connecting to a MAVLink Compatible Flight Controller .............................................................................16
4.5 Camera Operation...........................................................................................................................................16
5 The FLIR UAS App ..............................................................................................................................................19
5.1 Home Screen ..................................................................................................................................................19
5.1.1 View Mode ..............................................................................................................................................20
5.1.2 Scene .......................................................................................................................................................20
5.1.2.1 Scene Presets ................................................................................................................................21
5.1.2.2 Region of Interest (ROI)...............................................................................................................21
5.1.2.3 DDE..............................................................................................................................................22
5.1.2.4 ACE ..............................................................................................................................................22
5.1.2.5 SSO...............................................................................................................................................22
5.1.2.6 Save Custom Scene Presets ..........................................................................................................22
5.1.3 IR Palette .................................................................................................................................................22
5.1.4 MSX ........................................................................................................................................................24
5.1.5 FFC..........................................................................................................................................................24
5.1.6 Zoom .......................................................................................................................................................24
5.1.7 Measure ...................................................................................................................................................25
5.1.8 Capture ....................................................................................................................................................25
5.1.8.1 Single............................................................................................................................................25
5.1.8.2 Multiple ........................................................................................................................................25

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5.1.8.3 Video ............................................................................................................................................25
5.1.8.4 Record...........................................................................................................................................25
5.2 Settings ...........................................................................................................................................................26
5.2.1 Capture ....................................................................................................................................................26
5.2.1.1 Capture Settings............................................................................................................................26
5.2.1.2 Thermal.........................................................................................................................................26
5.2.1.3 Radiometry ...................................................................................................................................27
5.2.1.4 Isotherm........................................................................................................................................29
5.2.1.5 Video Output ................................................................................................................................30
5.2.2 Controller.................................................................................................................................................31
5.2.3 Camera.....................................................................................................................................................35
6 File Formats...........................................................................................................................................................38
6.1 Visible Video Formats....................................................................................................................................38
6.2 Infrared: Still File Types.................................................................................................................................38
6.2.1 Radiometric JPG (or “RJPEG”, for short)...............................................................................................38
6.2.2 TIFF.........................................................................................................................................................39
6.2.3 8-bit JPG..................................................................................................................................................40
6.3 Infrared: Video File Types .............................................................................................................................40
6.3.1 14-bit (RJPEG) ........................................................................................................................................40
6.3.2 14-bit (TIFF)............................................................................................................................................40
6.3.3 8-bit (H264).............................................................................................................................................41
6.4 Recommended Application Links ..................................................................................................................42
7 Care of FLIR Duo Pro R .......................................................................................................................................43
Appendix A - Software and Firmware Update.........................................................................................................44
Appendix B - MAVLink Implementation ................................................................................................................46
List of Figures
Figure 1. Duo Pro R...................................................................................................................................................8
Figure 2. Bench Cable ...............................................................................................................................................9
Figure 3. Integration Cable......................................................................................................................................10
Figure 4. GPS Antenna Cable .................................................................................................................................11
Figure 5. HDMI Port Pinout....................................................................................................................................15
Figure 6. Accessory Port drawing. Dimension A is 11.25mm, Dimension B is 15.75mm .....................................16
Figure 7. LED Description ......................................................................................................................................17
Figure 8. Home Screen............................................................................................................................................19
Figure 9. Video Mode..............................................................................................................................................20
Figure 10. Scene Presets..........................................................................................................................................21
Figure 11. Color Palettes .........................................................................................................................................23
Figure 12. MSX Parameter Adjustment ..................................................................................................................24
Figure 13. Settings Button.......................................................................................................................................26
Figure 14. Radiometric Settings ..............................................................................................................................27
Figure 15. Spot Meter..............................................................................................................................................28

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Figure 16. Scene Meter............................................................................................................................................29
Figure 17: Isotherm Adjustment menu.....................................................................................................................30
Figure 18. Capture Settings .....................................................................................................................................31
Figure 19. Controller Settings .................................................................................................................................32
Figure 20. PWM Functions .....................................................................................................................................32
Figure 21. MAVLink Settings.................................................................................................................................34
Figure 22. Camera Tab ............................................................................................................................................36
Figure 23. Firmware Upgrade .................................................................................................................................37
Figure 24. Using ResearchIR to convert pixel values .............................................................................................40
Figure 25. Firmware Upgrade Prompts ...................................................................................................................45
List of Tables
Table 1. Duo Pro R Lens Options (FOV is Horizontal x Vertical) ...........................................................................7
Table 2. Duo Pro R Accessory Port Pinout .............................................................................................................15
Table 3. Thermal Image Formats Recorded on microSD Card ...............................................................................38
1INTRODUCTION
1.1SCOPE
Designedfor professional use, FLIR’s Duo Pro R camera system is more than a thermal camera. It is
athermal measurement instrument and datarecorder that adds tremendous value to sUAS
operations and services. This guide shows how to get the plug-and-play FLIR Duo Pro R camera
connected & con�igured to suit your mission needs.
1.2REVISION HISTORY
Version
Date
Comments
1.0
12/08/2017
Initial Release

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2RESOURCES
Here is a sample of some of the resources that can be found:
2.1FLIR WEBSITE / TECH SUPPORT INFORMATION
In several locations throughout this document, FLIR’s Duo Pro R website are referenced as asource
of additional information. This website can be accessedvia the following URL:
http://www.�lir.com/suas
Additionally, FLIR’s Technical Support department is referenced as aresource for obtaining
additional help or information.The department can be accessedvia the following email address:
�lirsuas-support@�lir.com. FLIR’s OEM Tech Services department can also be reachedat sba-
cores@�lir.com.
2.2FLIR SYSTEMS DOCUMENTS
Find the latest documentation, listedbelow for reference, at www.�lir.com/suas/duopro
Document Title
Duo Pro R Quickstart Guide
(Web Link)
Duo Pro R Datasheet
(Web Link)
FLIR Duo Pro R Technical Drawing
(Web Link)
FLIR Duo Pro STEPFile
(Standard Con�igs)
(640-25mm Con�ig)
UAS Radiometry Tech Note
(Web Link)
Interface Requirements Speci�ication for FLIR TIFF File Format
(Web Link)
2.3EXTERNAL DOCUMENTS
Document Title
MAVLink Protocol
(Web Link)

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2.4ABBREVIATIONS / ACRONYMS
Abbrevian/
Acronym
Components
AGC
AutomaGain Control
DDE
Digital Detail Enhancement
ESD
Electrostaamage
FFC
Flat Field Correon
FOV
Field of View
GUI
Graphical User Interface
I/O
Input / Output
ICD
Interface Control Drawing / Document
IDD
Interface Descripon Drawing / Document
IMU
Internal Measurement Unit
LUT
Look-Up Table
LWIR
Long Wave Infrared
NTSC
Nanal Television System Commiee
OSD
On Screen Display
PAL
Phase Alternang Line
PWM
Pulse Width Modula
RoHS
Reduon of Hazardous Substances
ROI
Region of Interest
TBD
To Be Determined
URL
Uniform Resource Locator

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3WHAT’S IN THE BOX
The FLIR Duo ProR system comprises avisible camera imager and athermal longwave infrared
imager.The visible imager has a4000 x 3000 pixel array with apixel pitch of 2.8um, a6.4mm
diagonal sensor, and a4mm f/2.8 �ixedfocus lens. The visible cameralens is focusedat in�inity, and
objects closer than approximately 10 meters will appear out-of-focus. Focus position of the visible
cameracannot be changed.The �ield of view of the visible sensor is 56° x 45° (horizontal x vertical),
and the lens has a maximum distortion of 15.7% and a BFL of 10.02mm.
The LWIR core is basedon FLIR’s Tau2 cameracore. It has a17um pixel pitch and comes in either
a336x256 or 640x512 pixel array.Lens options and their corresponding �ields of view are listedin
Table 1.
640 x 512
336 x 256
13 mm: 45° x 37°
9mm: 35° x 27°
19 mm: 32° x 26°
13 mm: 25° x 19°
25 mm: 25° x 20°
19 mm: 17° x 13°
Table 1. Duo Pro R Lens Options (FOV is Horizontal x Vertical)
Please note: disassembling the cameracan cause permanent damage and will void the warranty.
Operating the cameraoutside of the speci�iedinput voltage range or the speci�iedoperating
temperature range can cause permanent damage. The cameraback is not sealed. Avoid exposure to
dust and moisture.

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3.1UNPACKING YOUR CAMERA
FLIR Duo Pro R includes the following components:
3.1.1 FLIR Duo Pro R Camera
Figure 1. Duo Pro R
3.1.2 Bench Cable
The Bench Cable connects to the Duo Pro R via the 10-pin accessoryport, and is designedfor
benchtop testing prior to installing the cameraon an airframe. The cable comprises an XT60
connector for power, an analog video RCA connector, and three servo-style connectors for PWM
signals.

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Figure 2. Bench Cable
3.1.3 MicroSD Cards
The microSD card slots are for storing images and/or video, andfor upgrading camera �irmware.
Maximum capacity is 64GB. A Class 10 or greater card should be used to achieve full camera
performance. RAW Thermal video �iles (14-bit (RJPG) and 14-bit (TIFF) �iles) are recorded to SD
Card 1. All other data are recorded on SD Card2. See Section 6 for more details on �ile formats.

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3.1.4 Integraon Cable
The Integration Cable is for connecting the FLIR Duo Pro R to aMAVLink-compatible autopilot
and/or standard R/C PWM outputs. The MAVLink interface operates at a default data rate of
57.6 kbps.See Table 2 for pin de�initions and Section 5.2.2Error! Reference source not found.
for PWM signal pro�ile.
Figure 3. Integration Cable

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3.1.5 GPS Antenna
The Duo Pro R includes an internal IMU that provides position information to the camerafor
geolocating the image data. Anappropriate antenna must be attachedand mountedwith aclear
view of the skyfor proper operation.
The antenna includedwith the Duo ProR is a Taoglas AA.162.301111.
There is also asmall square of double-sidedadhesive includedwith the Duo Pro R, which can be
used to attach the antenna body to your airframe.
Note: the antenna has asmall magnet insertedin the base for mounting. FLIR recommends
removing this magnet and using the includeddouble-sidedadhesive in order to minimize magnetic
�ield interference during airframe operation.
Figure 4. GPS Antenna Cable

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3.1.6 USB Type-C Cable
The Duo Pro R includes aType-C to Type-A USBcable, which can be usedto transfer �iles from the
SD cards inserted in the camera to a computer.
NOTE: Connecting the Duo Pro R to acomputer does NOT provide suf�icient power for the camera
to function correctly. The Duo Pro R must be poweredfrom an alternate source via the 10-pin
connector in order to transfer �iles to acomputer. Most computer USBports are not capable of
supplying enough power to power the Duo Pro R, and the camerawill enter aconstant reboot cycle
until additional power is provided through the accessoryport.

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4Connecto the Camera
This section describes installation of necessary software, physical cameraconnections, and
software connection to the camera.
4.1MECHANICAL INTERFACE
4.1.1 SIZE / WEIGHT
The overall size of the Duo Pro R is 69mm (h) x 87mm (w) x 82mm (d) (2.72 x 3.43 x 3.23 inches),
including the lens but excluding cables.Weight is between 325 and 375 grams, depending on lens
con�iguration. These mechanical specs do not take into consideration any additional mounting
hardware or cabling. For additional details, please see the Duo Pro R Technical Drawing referenced
in Section 2.2.
4.1.2 MOUNTING
The Duo Pro R cameraprovides two standard tripod mounting bolt holes on the bottom of the
camera. Either or both threadedinserts can be used to install ¼”-20 mounting hardware. Use of a
retaining compound such as VIBRA-TITE VC-3 is recommended.
Note: Do not exceed 5mm (0.2 in) maximum depth as internal damage could occur
and warranty will be void. Spacers are recommended for longer tripod mount
hardware.

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4.2ELECTRICAL INTERFACE
4.2.1 Bench Tesng
For initial bench testing, connect the 10-pin AccessoryPort connector on the Bench Cable (see
Section 3.1.2) to the AccessoryPort on the Duo Pro R camera.Connect the RCA plug on the Bench
Cable to an analog video monitor, or use the microHDMI video feedwith a compatible monitor.
4.2.2 COTS USB-C Cables
FLIR Duo Pro R is USB3.0 compliant and is compatible with many commercial off-the-shelf (COTS)
USB-C cables that are used to provide power to commonly mountedon small unmannedaerial
systems (sUAS). Please refer tothe Duo Pro R IDD for electrical interface guidelines and USB
connector pinout.
Simply plug the USBcable into the USB-C port on the FLIR Duo ProR, connect power toan
appropriate regulatedpower supply (the Duo Pro R may not function properly if poweredsolely by
aUSBport on acomputer), and HDMI or analog video to adownlink, if desired. Approximate
operating current of the Duo Pro R camera is 2.3 A at 5.2Vdc.
Note: FLIR Duo Pro R has over-voltage and reverse polarity protection on power pins. However,
exceeding the wide voltage speci�ication (5-26 Vdc) will damage the camera and void the warranty.
Applying reverse polarity should not damage the unit, but it will prevent the camera from powering
on.
As the Duo Pro R requires greater than 500mA at 5VDC, it may not function properly if poweredby
a single USB 2.0 port on your computer.
4.2.3 Micro HDMI
The Duo Pro R comes equippedwith a19-pin “Type D” micro HDMI connector. The Duo Pro R
electronics takes the IR and visible analog video (NTSC or PAL) outputs and upscales them to
720p60, 1080p30 or 1080p60 video streams.

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Figure 5. HDMI Port Pinout
4.2.4 Accessory Port
The accessoryport provides access to the majorityof functions of the Duo Pro R. See Table 2 for
detailed information on each function.
DF13-7S-
1.25C
Signal
Wire
Color
Length
Construcon
Pin 1
PWM_1
GRN
750mm
(30")
30AWG
Twisted Pair
Pin 2
PWM_2
WHT
30 AWG
Twisted Pair
Pin 3
GND
BLK
Pin 4
PWM_3 /
Sync
ORG
30AWG
Twisted Pair
Pin 5
Analog
Video Out
BLU
28AWG
CoAxial
Pin 6
Analog
Video GND
GREY
Pin 7
Power (+)
RED
28 AWG
Pin 8
Power (+)
RED
28 AWG
Pin 9
Power (-)
BLK
28 AWG
Pin 10
Power (-)
BLK
28 AWG
Table 2. Duo Pro R Accessory Port Pinout
Note: All cable plug part numbers are Hirose

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Figure 6. Accessory Port drawing. Dimension A is 11.25mm, Dimension B is 15.75mm
4.3ware Interface
The Duo Pro R camerais con�iguredand operatedthrough the FLIR UAS mobile app. See Section 5
for additional details.
Note: The Duo Pro R camera is not compatible with the FLIR Camera Controller User Interface
software. When connected to the USB port on a computer, the camera appears as two mass storage
devices (one for each microSD card) only.
There is no Software Developer’s Kit or API currently available for the Duo Pro R.
4.4 Connecng to a MAVLink Compable Flight Controller
The FLIR Duo Pro R camerais software- and connector-compatible with many MAVLink autopilots.
Other �light controllers or I/O modules may require different cables or connectors. Refer tothe
integration cable pinout in Table 2 and the documentation for your �light controller to correctly
connect your camera.
4.5Camera Operaon
The Duo Pro R does not have an on/off switch.
Whenpower is appliedto the camera, the Status LEDblinks redfor approximately 15
seconds, thenchanges tosolid blue. Whenthis happens, Bluetooth becomes enabled.FLIR
Duo Pro R beeps three times and the Record LEDgoes from off to solid green. (If the FLIR
Duo Pro R is connected to acomputer, or if no SDcardis inserted, the Record LEDblinks
yellow.)
Launch the FLIR UAS App on your mobile device. Use the App to con�igure any desired
camerasettings and then disable the Bluetooth radio in preparation for �light. The Duo Pro
R will automatically disable the Bluetooth radio after 2 minutes if no commands are received
from the App. It can be re-enabled bypressing the Bluetooth button on the camera.

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Note: The Bluetooth interface is only intended to be used for ground operations. FLIR
does not recommend �lying while Bluetooth is enabled.
FLIR Duo Pro R is now ready for use. Press the Recordbutton on the camera or in the App,
to start recording, or use PWM signals setup on the autopilot. The RecordLED will
continuously blink redwhile recording video, or blink red each time a still image is captured.
See Section 0 for instructions on how to adjust cameramodes, video/still image formats,
PWM settings, and other con�iguration options using the FLIR UAS App.
Camera Status and Record LED Description:
Figure 7. LED Description
-Status LED at power up – blinking RED
-Record LED at power up – OFF
-Status LEDat ready – solid BLUE, Bluetooth is enabled; solid GREEN, Bluetooth
disabled
-Record LED at ready – solid GREEN
-Record LED – blinking REDduring recording; blinking YELLOW if recording alert
(microSD card not present, is full, or is in use by PC)
-Status LED during �irmware update – blinking PURPLE
-Press the Record button to initiate recording. The Record LEDwill blink redwhen
recording video or still imagery.

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-To(re)enable Bluetooth, simply press the Bluetooth button on the top of the camera.
-FactoryReset: Simultaneously pressing both the Recordand Bluetooth buttons for 12
seconds will cause the systemto reboot and do ahardreset, restoring all factory
default settings.
Note: The �irst time the camera is powered up, FLIR recommends verifying it has the
latest �irmware revision. Please see Appendix A for update instructions.

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5The FLIR UAS App
The FLIR UAS App is the primary control interface available for the Duo Pro R camera. It is
compatible with many mobile devices equippedwith Bluetooth LE running iOS 9.0 or later and
Android v4.3 or above.
5.1Home Screen
Whenlaunched, the FLIR UAS App will prompt the user toselect the desired camera. Once selected
and the connection process completes, the Home screen is displayed (see Figure 8). The Home
screen shows current camerasettings and provides access to basic systemcon�iguration settings
such as the camera Display Mode, IR Scene settings, IR Palette, MSX settings, visible and IR digital
zoom control, radiometry parameter settings, and Record Mode settings (video, single-still, or still-
interval). It also provides access tothe more advanced setup control screens. Status indicators of
the current PWM and microSD card slot states are displayed at the top of the Home screen.
Figure 8. Home Screen

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5.1.1 View Mode
The Duo Pro R streams analog or HDMI video from the output ports. Selection of the display video
mode toggles betweena Visible stream only, thermal infrared (IR) stream only, and a Picture-In-
Picture (PiP) stream that shows a full-screenvisible stream with athermal stream displayedin an
inset window. Note: Video mode primarily affects images displayedto HDMI, with minor impact to
recordedRJPG images and snapshots takenduring video recording. See “Settings” for more details
on recordeddata types.
Figure 9. Video Mode
5.1.2 Scene
Each Scene preset provides acombination of automatic gain control (AGC) settings which have been
optimizedbyFLIR Systems to provide the best image for aspeci�ic application. Inmanycases,
selecting a particular Scene preset will be all the camerasetup that is required. However, these
settings are intended to be used as guidelines and are not guaranteed to be the optimum values for
any particular scenario. Depending upon scene content and viewing/recording preferences,
individual settings may be further optimized.