FLIR Duo User manual

436-0100-01-10, Rev. 201 Duo User Guide
Information on this page is subject to change without notice
Duo & Duo R
User Guide

FLIR Duo User Guide
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Table of Contents
1 Introduction.............................................................................................................................................................2
1.1 Scope ................................................................................................................................................................2
1.2 Revision History...............................................................................................................................................2
2 Resources.................................................................................................................................................................3
2.1 FLIR Website / Tech Support Information.......................................................................................................3
2.2 FLIR Systems Documents (available on website)............................................................................................3
2.3 External Documents .........................................................................................................................................3
2.4 Abbreviations / Acronyms................................................................................................................................4
3 What’s in the box.....................................................................................................................................................5
3.1 Unpacking Your Camera..................................................................................................................................5
3.1.1 FLIR Duo Camera.....................................................................................................................................5
3.1.2 Bench Cable ..............................................................................................................................................6
4 Connecting to the Camera .......................................................................................................................................7
4.1 Mechanical Interface ........................................................................................................................................7
4.1.1 Size / Weight.............................................................................................................................................7
4.1.2 Mounting...................................................................................................................................................7
4.2 Electrical Interface............................................................................................................................................8
4.2.1 Bench Testing............................................................................................................................................8
4.2.2 Mini-USB Cables ......................................................................................................................................8
4.3 Software Interface...........................................................................................................................................10
4.4 Camera Operation...........................................................................................................................................10

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4.5 Camera Troubleshooting ................................................................................................................................11
5 The FLIR UAS App ..............................................................................................................................................12
5.1 Home Screen ..................................................................................................................................................13
5.1.1 MSX........................................................................................................................................................14
5.1.1.1 MSX Strength...............................................................................................................................14
5.1.1.2 Alignment.........................................................................................................................................14
5.1.1.2 Recommended MSX Alignment procedure..................................................................................14
5.1.2 IR Color Palette.......................................................................................................................................15
5.1.3 Display Video Mode ...............................................................................................................................16
5.1.4 Video/Still Image ....................................................................................................................................17
5.1.4.1 Video ............................................................................................................................................17
5.1.4.2 Still Images...................................................................................................................................17
5.1.5 Record .....................................................................................................................................................18
5.1.6 FFC (Recalibrate)....................................................................................................................................18
5.1.7 Settings....................................................................................................................................................19
5.1.7.1 Main..............................................................................................................................................19
5.1.7.2 Accy. Port.....................................................................................................................................21
5.1.7.3 Radiometry...................................................................................................................................21
5.1.7.4 About............................................................................................................................................23
6 PWM, MAVLink, and TCP/IP Operation.............................................................................................................25
6.1 PWM...............................................................................................................................................................25
6.1.1 Connecting to a PWM Compatible Flight Controller..............................................................................25
6.1.2 Configuring PWM Connection................................................................................................................27

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6.2 MAVLink.......................................................................................................................................................28
6.2.1 Connecting to a MAVLink Compatible Flight Controller ......................................................................28
6.2.2 Configuring MAVLink Connection........................................................................................................29
6.2.3 Duo-specific Custom MAVLink Commands..........................................................................................31
6.3 TCP/IP............................................................................................................................................................32
7 File Formats...........................................................................................................................................................33
7.1 Radiometric JPEG (FLIR Tools)....................................................................................................................33
7.2 JPEG...............................................................................................................................................................34
7.3 TIFF, TIFF-Sequence.....................................................................................................................................34
7.4 Recommended Application Links ..................................................................................................................36
8 Care of FLIR Duo..................................................................................................................................................37
Appendix A - Software and Firmware Update.........................................................................................................38
Appendix B - MAVLink Implementation................................................................................................................40
Appendix C –TCP/IP Implementation ....................................................................................................................48

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List of Figures
Figure 1. Duo with Camera Mount............................................................................................................................5
Figure 2. Bench Cable...............................................................................................................................................6
Figure 3. Core dimensions.........................................................................................................................................8
Figure 4: Mini-USB 10-pin Layout............................................................................................................................9
Figure 5. Camera Status and Record LED Description...........................................................................................10
Figure 6: FLIR launch screen...................................................................................................................................12
Figure 7. Home Screen............................................................................................................................................13
Figure 8. Thermal IR Color Palettes........................................................................................................................15
Figure 9. Video Display mode selection .................................................................................................................16
Figure 10: Video/Still Images and Record, shown in Still Images mode at 5-second intervals...............................17
Figure 11. Main Settings (Radiometry and Spot Meter function (Duo R only) not shown) ...................................19
Figure 12. Radiometry Tab......................................................................................................................................21
Figure 13. Spot Meter OSD, with “Temperature Unit” set to Fahrenheit ...............................................................22
Figure 14. About Page.............................................................................................................................................24
Figure 15. PixHawk Flight Controller for PWM.....................................................................................................26
Figure 16. PWM Settings allow for control of Recording (start/stop and mode), IR Color Palette selection,
Recalibrate, and streaming Display Video Mode.............................................................................................27
Figure 17. Function Selection..................................................................................................................................28
Figure 18. PixHawk Flight Controller for MAVLink .............................................................................................29
Figure 19: FLIR Tools can be used for advanced thermal analysis on Radiometric JPEGS ...................................33

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List of Tables
Table 1: Mini-USB Port 10-pin Assignment..............................................................................................................9
Table 2: PWM Connection.......................................................................................................................................26
Table 3: MAVLink Connection................................................................................................................................29
Table 4: Visible Sensor Image Formats Recorded on microSD Card......................................................................34
Table 5: Thermal IR Sensor Image Formats Recorded on microSD Card...............................................................35

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1Introduction
1.1 Scope
Thank you so much for your purchase of the FLIR Duo or Duo R! Designed for commercial use, the
Duo camera system is more than a simple thermal camera. It is a visible + thermal imaging
instrument and data recorder that can add tremendous value to small Unmanned Aerial System
(sUAS) operations and services.
This guide shows how to get your plug-and-play FLIR Duo camera mounted, connected, and
collecting images & video.
Unless specifically stated otherwise, all features and functions of the Duo also apply to the Duo R.
The Duo R functions identically to the Duo, with the addition of radiometric functionality to make
non-contact temperature measurements.
1.2 Revision History
Version
Date
Comments
100
01/02/2017
Initial Release
200
09/28/2017
Updated App screenshots, Added Appendix C (TCP/IP Protocol)
201
10/13/2017
Updated Radiometry information (convert TIFF to temperature values)

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2Resources
There are many resources to help you operate your FLIR Duo:
2.1 FLIR Website / Tech Support Information
In several locations throughout this document, the FLIR Duo website is referenced as a source of
additional information. This website can be accessed via the following URL:
http://www.flir.com/suas
Additionally, FLIR’s Technical Support department is referenced as a resource for obtaining
additional help or information. The department can be accessed via the following phone number:
[phone].
2.2 FLIR Systems Documents (available on website)
Document
Number
Document Title
n/a
FLIR Duo Quick Datasheet
436-0100-01-19
FLIR Duo Technical Drawing
n/a
FLIR Duo STEP File
102-9012-01
Interface Requirements Specification for FLIR TIFF File Format (Web Link)
n/a
FLIR UAS Radiometry Tech Note (Web Link)
2.3 External Documents
Document
Number
Document Title
n/a
MAVLink Protocol (Web Link)

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2.4 Abbreviations / Acronyms
Abbreviation/
Acronym
Components
AGC
Automatic Gain Control
ESD
Electrostatic Discharge
FFC
Flat Field Correction
FOV
Field of View
GUI
Graphical User Interface
I/O
Input / Output
IR
Infrared
NTSC
National Television System Committee
OSD
On Screen Display
PAL
Phase Alternating Line
PWM
Pulse Width Modulation
µSD
MicroSD (memory card)

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3What’s in the box
Your FLIR Duo comes with the Duo camera and a multi-function bench cable for testing the device.
Please note that disassembling the camera can cause permanent damage and will void the warranty.
Operating the camera outside of the specified input voltage range or the specified operating
temperature range can cause permanent damage. The camera housing is not sealed. Avoid exposure
to dust and moisture.
3.1 Unpacking Your Camera
The FLIR Duo comes with the following components:
3.1.1 FLIR Duo Camera
Figure 1. Duo with Camera Mount
(32GB included)

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3.1.2 Bench Cable
The Bench Cable should be used for connecting the FLIR Duo to a computer USB port for power
1
and file transfer, as well as video output testing with an analog video monitor. Analog video output
is accessed by connecting the yellow RCA pigtail to a video display. Digital video is not accessible
from the miniUSB port, but can be displayed using the microHDMI port.
The Bench Cable can also be used for connecting FLIR Duo to standard Radio/Control (R/C) Pulse
Width Modulation (PWM) outputs. See Table 1 for pin definitions.
Connecting to a MAVLink-compatible autopilot is possible by building a customized cable based on
accessing miniUSB pin1 and pin3 for MAVLink TX and RX. The MAVLink interface operates at a
default data rate of 57.6 kbps, with the ability to switch to 115.2 kbps, 230.4 kbps through the user
App. See Section 6 for more information.
Figure 2. Bench Cable
1
5 V, 0.44 A (average), 0.66 A (peak)
Camera 10-pin mini-
USB port
Powered USB port
PWM2
Conne
PWM1
RCA Video

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4Connecting to the Camera
This section describes the properties and methods of interfacing with the FLIR Duo, both
mechanically and through software.
4.1 Mechanical Interface
4.1.1 Size / Weight
The overall size of the Duo is 58.9 mm x 40.9 mm x 30 mm (2.32 x 1.61 x 1.19 in), including the lens
but excluding cables and buttons (which protrude slightly). Weight is approximately 65 grams (2.3
oz.). These mechanical specifications do not take into account any additional mounting hardware.
For additional details, please see the Duo Technical Drawing referenced in Section 2.2.
4.1.2 Mounting
The Duo camera form-factor conveniently fits with most popular action-camera accessories: there
are many available commercial off-the-shelf (COTS) gimbals and mounts available for mounting the
Duo onto different UAS airframes. Refer to the Duo Technical Drawing for additional information.

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Figure 3. Core dimensions
4.2 Electrical Interface
4.2.1 Bench Testing
For initial bench testing, connect the 10-pin mini-USB connector on the Bench Cable (see Section
3.1.2) to the mini-USB port on the Duo camera. Connect the RCA plug on the Bench Cable to an
analog video monitor. Connect the USB (Type-A) connector on the Bench Cable to an available USB
port on your computer. Connect the PWM1 and PWM2 to a standard R/C PWM source, if needed. If
using an HDMI display, connect the camera to the display using an HDMI cable (not included). If
HDMI is used, the camera will automatically detect the connection and switch over to HDMI video
output.
4.2.2 Mini-USB Cables
FLIR Duo is compatible with many commercial off-the-shelf (COTS) 10-pin mini-USB cables that are
used to provide power to, and receive video from, action cameras commonly mounted on small
unmanned aerial systems (sUAS). The included bench cable is for initial setup and configuration of
the Duo. The internal wires of the FLIR bench cable are color coded to help you build a custom sUAS

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cable that can be used to integrate Duo to your airframe. Please refer to the Duo Technical Drawing
for electrical interface guidelines and USB connector pinout.
Simply plug the chosen cable into the mini-USB port on the FLIR Duo, connect power to an
appropriate filtered and regulated power supply, and video to a downlink, if desired. Approximate
operating current of the Duo camera is 440 mA at 5Vdc, (2.2 Watts). Peak current can reach as high
as 660 mA (3.3 Watts).
Note: FLIR Duo has over-voltage and reverse polarity protection on power pins. However,
exceeding the wide voltage specification (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 for powering on
and is not recommended.
Figure 4: Mini-USB 10-pin Layout
Table 1: Mini-USB Port 10-pin Assignment
Mini-USB Port
Bench Cable Internal Wire Color
2
Main Power
red
4
Data Low
white
6
Data High
green
8
Reserved
10
Main Power GND
black
1
PWM_1 / MAVLink TX Out
yellow
3
PWM_2 / MAVLink RX In
purple
5
Video Low
7
Video High
Top
Side
WIRING

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Reserved
4.3 Software Interface
The Duo camera is configured and operated through the FLIR UAS mobile device app. See Section 5
for additional details.
Note: The Duo 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 a mass storage device only.
There is no Software Developer’s Kit or API available for the camera. However, advanced camera
control can be arranged using PWM, MAVLink, or TCP/IP integration (see Section 6).
4.4 Camera Operation
Figure 5. Camera Status and Record LED Description
The Duo does not have an on/off switch. When power is applied the camera will boot automatically;
this takes less than 30 seconds.
When power is applied to the camera, the Status LED blinks red for approximately 20
seconds, then changes to solid blue, indicating that Bluetooth is enabled.
Record
LED
Status/Bluetooth
LED
Booting /Powering Up
Record LED –Off and then Orange flashing
Status LED –Red flashing
Bluetooth Status
Status LED –Green for Bluetooth off
Status LED –Blue for Bluetooth on
Record ability
Record LED –Orange flashing: Unable to Record
Record LED –Green: Ready to Record
Record LED –Red flashing: Actively Recording
Firmware Update
Status LED –Purple flashing

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The Record LED will go from blinking orange to solid green, indicating that the camera is
ready for operation
oNote 1: If connected to a computer, the “Record” LED will continue blinking orange,
indicating that the device is in “USB Mass Storage” mode
oNote 2: If “Record” LED continues blinking orange while connected to a battery or
bench power supply, this indicates that there is no SD card in the camera
Launch the FLIR UAS app on your mobile device.
oUse the app to configure camera settings as desired
See Section 5 for information on camera settings & operating modes
oDisable the Bluetooth radio in preparation for flight
Simply press the Bluetooth button on the side of the Duo, and confirm that the
Status LED turns green
The Duo will automatically disable the Bluetooth radio after 2 minutes if no
commands are received from the app. It can be re-started by pressing the
Bluetooth button on the camera
Note: The Bluetooth interface is only intended for use during ground operations. FLIR does not
recommend flying while Bluetooth is enabled. Bluetooth interface has limited range and high latency.
Your FLIR Duo is now ready for use. Press the Record button on the camera or in the app to
start recording, or use PWM signals. The “Record”LED blinks red while recording video, or
flashes red each time it captures a still image.
4.5 Camera Troubleshooting
The Duo can be rebooted & reset to factory defaults through the FLIR UAS App
oWith the App connected to the Duo, go to:
“Settings” -> “About” -> “Reset To Factory Defaults”
To reboot the system manually:
oPress and hold the “Record” button on the Duo for at least 5 seconds
To reboot and perform a factory reset to all default settings manually:
oPress and hold both the “Record” and “Bluetooth” buttons for 10 seconds

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5The FLIR UAS App
The FLIR UAS app is the primary configuration interface for the Duo camera. It is compatible with
mobile devices equipped with Bluetooth LE running iOS 8.0 or later and Android V 4.3 or above. The
screenshots shown in this user manual are for the iOS App version; however, the menu system for
Android is quite similar.
Figure 6: FLIR launch screen

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5.1 Home Screen
When launched, the FLIR UAS APP will automatically identify local FLIR UAS cameras; Confirm that
Bluetooth is enabled on your Duo device, then select the camera from the camera select screen. After
connecting to the camera, the Home screen will be displayed. The Home screen shows camera status
and allows the user to adjust the more frequently-used camera settings. The current PWM states
are also displayed at the top of the Home screen.
Note: The “Measure” section allows for control over parameters related to radiometry, and will only
appear for Duo R users.
Figure 7. Home Screen

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5.1.1 MSX
The Duo has the ability to enhance the IR imagery using FLIR’s patented MSX image blending
technology. Enable this feature to record real-time MSX-enhanced thermal imagery, or disable it to
record raw thermal image data. To activate, press the “Enable” or “Disable” text on the App, and
select the desired mode.
To adjust MSX settings, simply press the MSX bar on the App home screen to access the MSX drop-
down menu.
Note: To record video with MSX enhancements, be sure to set the IR Video mode to H264. MSX will
not be recorded on 14-bit (TIFF Sequence) IR imagery, since this is recorded as raw video data.
5.1.1.1 MSX Strength
Use this feature to adjust the degree to which the MSX details show up in the IR imagery. A lower
setting results in a softer effect, while a higher setting results in a stronger effect.
5.1.1.2 Alignment
The “Horizontal Align” and “Vertical Align” features allow the user to adjust the alignment between
the visible image detail and the IR imagery with MSX enabled. Objects at different distances may
require slight tuning of the alignment settings to achieve an optimal image, particularly for objects
close to the camera.
5.1.1.2 Recommended MSX Alignment procedure
The MSX alignment adjustment can be used to optimize the MSX alignment for different use cases.
Objects at different distances will require slightly different alignment settings to achieve an ideal
image. The following method is a useful way to tune the MSX alignment prior to recording:
1) With the camera stationary, point at an easily-identifiable object at a distance similar to the
intended flight height.
a. For example, if you intend to fly at 20m above ground for a given video capture, focus
on an object 20m away
2) While viewing the IR image with MSX enabled on a display monitor, adjust the MSX
alignment settings to achieve optimal alignment for the test subject
3) Proceed with flight and data recording, and attempt to keep the Duo camera at the intended
flight height to obtain optimal MSX-enhanced imagery.

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5.1.2 IR Color Palette
The Duo detects and images long wave infrared radiation. Within the camera, this radiation is
mapped to a range of 255 colors. Using black and white palette, such as White Hot, this range is
converted to shades of gray with 0 being totally black and 255 being totally white. Different palettes
are available to change the appearance of the image. The most common selection is typically White
Hot (hotter objects appear lighter in color than cooler objects) or HotMetal (hotter objects appear
reddish white as oppose to cooler objects in the scene).
Figure 8. Thermal IR Color Palettes
There are two types of palettes offered in the Duo camera.
1. Linear:Scene radiation is mapped to pixel values where color is uniformly distributed from
one shade to another as pixel intensity increases. These palettes are the most common
palettes for general use. (WhiteHot & HotMetal palettes)
2. Contrast: Enhanced observed contrast by mapping pixel values to divergent color schemes.
Subtle differences between object temperatures become more apparent. (Rainbow palette)
Contrast
Linear