GARUDA ROBOTICS Cerana ONE Pro User manual
Garuda Robotics
Cerana ONE Pro
Unmanned Aircraft System
User’s Manual
Model: Cerana ONE Pro
Version: 1.0
Manual version: 1.1
Manual revision: 2023-10-09
Cerana ONE Pro UAS | User’s Manual
Table of Contents
About This Manual 4
About Your UAS 6
Features 6
Before You Fly 7
Package Contents 8
Aircraft Specifications 10
Battery Specifications 14
Remote Control Specifications 15
Payload Camera Specifications 16
Compatible Ground Control Stations (GCS) 17
Identifying Parts and Controls 18
UAV Parts 18
Transmitter Control 20
Setting Up the Aircraft 23
Step 1: Initial Hardware Setup 23
Charging the Batteries 23
Setting up the UAV 28
Installing the Propellers 30
Removing the Propellers 31
Installing the Batteries 33
Step 2: Setting up the HereLink Transmitter 34
Charging the Transmitter 34
Powering up Transmitter 35
Launching QGroundControl app 36
Activating Hotspot (AP) for wireless telemetry connection 37
Connecting Ground Control Station to Transmitter 39
Operating the UA 42
Failsafe settings 42
Arming the UA 43
Care and Maintenance 45
General Care 45
Operating Environment 45
Charging and Power 46
Troubleshooting 47
Diagnosing Common Problems 47
Appendices 48
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Cerana ONE Pro UAS | User’s Manual
About This Manual
Thank you for purchasing Cerana ONE Pro UAS by Garuda Robotics.
This user’s manual provides the basic information you need to set up, operate and maintain
your UAS. On its own, this manual does not provide sufficient information for safe and
compliant drone operations.
This UAV is a sophisticated device. It is solely intended for commercial use by trained
and licenced professionals. Always ensure that before conducting any UAS operations,
you have fully read and understood this manual, with focus on the following sections:
●Before You Fly;
●Compliance;
●Acceptable Use Policy; and
●Warranty.
The information contained in this manual has been verified to be accurate at the time of
publishing. Download the latest version of this manual from garuda.io/cerana
Some sections of this manual may be annotated with one or more of the following icons:
📝
NOTE: A NOTE Indicates important information that helps you make better use of
your UAS.
🔔
CAUTION: A CAUTION indicates potential damage to hardware or loss of data if
instructions are not followed.
❗
WARNING: A WARNING indicates a potential for property damage, personal
injury, or death.
Copyright 2023 Garuda Robotics Pte Ltd. All rights reserved.
GARUDA ROBOTICS PAGE 4 / 48
Cerana ONE Pro UAS | User’s Manual
Updates to operations software may have been implemented since the time of writing this
user manual. As a result, there may be differences across images and/or terms used in this
document and in the actual operations software. Unless the changes are critical, new
updates will be included in the next version of this manual. Critical updates will be
communicated to users in the form of amendment bulletins to highlight the changes.
❗
WARNING: All after-sales servicing and support (if any) must be carried out by
Garuda Robotics or its appointed agents. Any unauthorised disassembly,
modification, or attempted updates to Cerana ONE Pro may result in personal
injury and/or void your warranty.
GARUDA ROBOTICS PAGE 5 / 48
Cerana ONE Pro UAS | User’s Manual
About Your UAS
Cerana ONE Pro is an industrial grade quadrotor multicopter UA designed for BVLOS
flights in autonomous and manual modes, with redundant onboard 5G cellular connectivity
enabling remote operation for up to 40 minutes.
Cerana ONE Pro is an X4 quadcopter, equipped with the highly advanced flight control
computer (FCC). This FCC allows Cerana ONE Pro to operate fully autonomously,
semi-autonomously or manually depending on operator requirements.
Cerana ONE Pro features a compute module (Garuda CoPilot Computer, or GCC) which
extends the flight management capabilities of the platform, allowing for unlimited
operating range through a centralised operation centre via 5G cellular network technology.
Cerana ONE Pro’s forward and downward facing cameras provide the operator real-time
video streams viewable from anywhere in the world.
Additional forward depth perception is provided to the Detect and Avoid (DAA) subsystem
with a pair of synchronised stereo cameras and a 112° wide Radar to avoid obstacles in
flight.
With a wide variety of interchangeable payloads and high loading capability, Cerana ONE
Pro is a multi-role platform capable of being deployed in service of myriad use-cases.
All Cerana ONE Pro systems are designed, built and tested in-house by Garuda Robotics.
Cerana ONE Pro is designed and made with pride in Singapore.
Features
●Dual batteries for power redundancy
●Dual RTK GNSS setup using high sensitivity, multi-constellation (GPS, GLONASS,
Galileo & BeiDou) receivers
●Forward obstacle avoidance sensors
●Automatic Return-to-Launch (traditional), or Backtrack-to-Launch (pilot directed, or
automatic)
●Failsafe detection and recovery from low battery, RC signal loss, and geofence
breach
●BVLOS ready (when piloted using Plex Horizon GCS in drone operations centre, and
connected via cellular signals)
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Cerana ONE Pro UAS | User’s Manual
❗
WARNING: Full BVLOS operations with Cerana ONE Pro are still under testing
and development. Please consult with your local civil aviation authority should you
intend to perform any form of BVLOS operations!
Before You Fly
Ensure that:
1. You are familiar with your local unmanned aerial vehicle (UAV) regulations and only
operate Cerana ONE Pro within the permissible scope of operation granted to you
by the appropriate authorities;
2. You and your team have read and understood this user manual and are familiar with
the UAS;
3. You have obtained all necessary training, permits, insurance, and authority
clearance;
4. You have completed all necessary pre-flight checks; and
5. All safety precautions are taken to ensure the safety of the public and all involved
personnel.
❗
WARNING: It is the UAS operator’s responsibility to be familiar and operate
Cerana ONE Pro in accordance with the local unmanned aviation rules and
regulations. Failure to comply may result in voiding of warranty and/or legal
penalties. Please refer to the Appendices for further details.
📝
NOTE: It is highly recommended, and may also be a regulatory requirement, that a
comprehensive pre-flight checklist be developed and customised for your specific
context. Such a checklist will typically include regulatory, environmental, risk, and
platform assessments. Garuda Robotics assists many clients with the
development, automation, and management of such checklists. Write to
GARUDA ROBOTICS PAGE 7 / 48
Cerana ONE Pro UAS | User’s Manual
Package Contents
Your Cerana ONE Pro typically ships with the components shown below.
📝
Note: Some items may be optional and may not ship with your UAS. Some
components may not be available in certain countries.
Cerana ONE Pro UAV
Set of 2 Batteries
4-way Balanced AC/DC
Battery Charger
HereLink Transmitter
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Cerana ONE Pro UAS | User’s Manual
USB charging cable
Additional Package Contents
Depending on your purchase, you will see your selected payload components as well
10x Zoom Camera
Additional batteries, propellers, and other accessories may be purchased from Garuda
Robotics or authorised resellers.
GARUDA ROBOTICS PAGE 9 / 48
Cerana ONE Pro UAS | User’s Manual
Aircraft Specifications
Dimensions
Unfolded, propellers included, 950 × 950 × 450 mm
(L×W×H)
Folded, propellers included, 500 × 380 × 230 mm
(L×W×H)
Diagonal Wingspan
Propellers included, 1344mm
Weight
3.7 kg (without batteries)
6.3 kg (with batteries)
Max Payload
1.2 kg
Max Takeoff Weight (MTOW)
7.5 kg
Max Speed &
Max Wind Resistance
Horizontal 12.0 m/s (23 knots)
Ascent (Vertical) 2.5 m/s
Descent (Vertical) 1.5 m/s
Max Pitch Angle
35°
Max Height (Service Ceiling)
3,000 m Above Mean Sea Level
Flight Time
42 minutes with no payload
25 minutes with a ClearCam Ultra 10x (510g)
Operating temperature
-10 °C to 50 °C (14 °F to 122 °F)
Rotor
Diameter: 508mm (20”)
Material: Carbon Fibre Reinforced Polymer
Frame
Material: Carbon Fibre and Aluminium
Layout: Quad X
The motor numbers and rotation direction as follows:
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Cerana ONE Pro UAS | User’s Manual
Flight Control Computer (FCC)
Model
Mayan Robotics Control Zero H7
FCC Inertial Measurement Unit
(IMU) System
Triple Redundant IMU system
3 x Accelerometer
3 x Gyroscope
2 x Magnetometer
2 x Barometer
FCC Modes
AltHold (Non-GNSS assisted)
Loiter (GNSS assisted)
Auto
Return-to-Launch
FCC Firmware
ArduCopter (ArduPilot) 4.3.3
Capable GNSS
Dual F9P (GPS, GLONASS, BeiDou, Galileo)
RTK ready
Redundant GNSS units to provide additional failover
Hovering Accuracy
± 2.5 m (Horizontal) with GPS only
RTK Positioning Accuracy
± 0.025 m + 1 ppm CEP (Horizontal) with RTK enabled
and fixed.
Requires RTK Base Station and/or NTRIP service
Sensing Cameras
Forward sensing: 1080p camera 60° (H) x 40° (V) FOV
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Cerana ONE Pro UAS | User’s Manual
Downward sensing: 1080p camera 60° (H) x 40° (V)
FOV
Stereo depth camera
Forward Radar
Transmit Band: 76.0 - 77.0GHz
Output Power(EIRP): 29.8dBm
Range: 0.2 - 80m ±0.1m
Radar Antenna Beam Width
Azimuth: 112°
Elevation 14°
Onboard Computer
Garuda CoPilot Computer Embedded (Version 2.0)
Quad-core ARM A57 @ 1.43 GHz
128-core NVIDIA Maxwell GPU
4GB DDR4
64GB SD storage
GCC SIM Card
Up to 2 x Nano SIM
GCC Antennas
8 Antennas
Frequency (MHz): 600 - 6000
Peak Gain (dBi): 5.0
VSMR: ≤ 3.0
Application: 5G/4G/3G/2G
Impedance (Ω): 50
Connector: IPEX IV
2 antennas required for each 4G connection,
4 antennas required for each 5G connection.
8 antennas required for redundant 5G connections.
GCC Modems
2x 5G modems
Capable Radio Frequencies:
VLOS Control, Telemetry, Video (ISM / SRD Bands)
2.400 - 2.4835 GHz
EVLOS / BVLOS Control, Telemetry, Video (3G, 4G LTE,
5G Bands)
5G NR (Bands n1, n2, n3, n5, n7, n8, n12, n20, n25,
n28, n38, n40, n41, n48, n66, n71, n77, n78, n79)
5G NR NSA (Bands n38, n41, n77, n78, n79)
5G NR SA (Bands n1, n2, n3, n5, n7, n8, n12, n20, n25,
n28, n38, n40, n41, n48*, n66, n71, n77, n78, n79)
LTE-FDD (Bands 1, 2, 3, 4, 5, 7, 8, 12, 13, 14, 17, 18,
19, 20, 25, 26, 28, 29, 30, 32, 66, 71)
LTE-TDD (Bands 34, 38, 39, 40, 41, 42, 43, 48)
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Cerana ONE Pro UAS | User’s Manual
WCDMA (Bands 1, 2, 3, 4, 5, 8, 19)
Radio Power Limits
ISM / SRD Bands <= 100 mW EIRP
LTE Bands <= 200 mW EIRP
GCC Operating System
Ubuntu 18.04 LTS
GCC Messaging Subsystem
Robot Operating System (ROS) Version 2
DDS Middleware
🔔
CAUTION: You are responsible for ensuring that the payload does not exceed the
above payload limits. The Maximum Take-off Weight (MTOW) of the UAS must
not exceed 13kg.
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Cerana ONE Pro UAS | User’s Manual
Battery Specifications
Quantity per set
2
Type
Lithium Polymer 6S
Capacity
10,000 mAh Total 20,000 mAh
Nominal Voltage
22.2V
Discharge Rating
25 C
Net Weight
1.3 kg Total 2.6 kg
Operating Temperature
-20°C to 50°C (-4°F to 122° F)
Connector
XT90
Charger
AC/DC 4X100W 6 Cell Balanced Battery Charger
Charging Time
~ 1 Hour
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Cerana ONE Pro UAS | User’s Manual
Remote Control Specifications
Model
Herelink HX4-06075
Screen Size and
Control Surface
5.5-inch touch screen
2 x Hall Effect Gimbal with removable stick
1 x Scroll Wheel (left)
6 x Bottom Buttons
1 x Top Button (right)
Operating Radio Frequency
2.4 Ghz (ISM / SRD)
Single channel multiplexed Video, Data, and Control
Receiver Sensitivity
-99dBm @ 20MHz BW
Interference Recovery
< 1 second
Transmission Range from UAV
Singapore (IMDA): 14km < 20 dBm EIRP
US (FCC): 20km < 26 dBm EIRP
Europe (CE): 12km < 18 dBm EIRP
China (SRRC): 12km < 18 dBm EIRP
Minimum Latency
110 ms
HDMI Inputs on UAV
2 HDMI inputs for 1080p @ 60fps video transmission
1 HDMI input preconfigured for GCC screen streaming
(for forward and downward cameras)
Other Ports on Receiver
Wi-Fi, Bluetooth, USB
Power
Built-in 4950 mAh Lithium Polymer Battery
Charging
Micro USB port (5V, 2A)
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Cerana ONE Pro UAS | User’s Manual
Compatible Ground Control Stations (GCS)
VLOS Flights
Mission Planner
Requires Windows Laptop
Download link:
https://firmware.ardupilot.org/Tools/MissionPlanner/Mis
sionPlanner-latest.msi
Installation guide:
https://ardupilot.org/planner/docs/mission-planner-instal
lation.html
QGroundControl (default GCS on Transmitter)
For more compatible GCS for VLOS operation, contact
us for details.
BVLOS Flights
Plex Horizon version 1.2.0 and above
See https://garuda.io/plex-horizon/tech-spec for
recommended hardware setup.
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Cerana ONE Pro UAS | User’s Manual
Identifying Parts and Controls
UAV Parts
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Cerana ONE Pro UAS | User’s Manual
Label
Description
Details
1
Foldable
Propellers x 4
Able to stow propellers easily for transportation
2
22v 10000 mAH
batteries x 2
2 x battery holders
3
GNSS Antenna x 2
2 x Helical Antenna for GNSS and RTK
4
Foldable arms x 4
To allow easy storage of UAV
5
Stereo, HD mini
Camera and Radar
Located at the front of UAV
6
Battery Connector
2 x XT90 battery connector
7
Landing Gear
2 x Landing gear
8
Gimbal Camera
Located under the UAV
9
Downward sensor
and camera
Located at the bottom of UAV
10
DC 12V exhaust fan
Located at the bottom of UAV
11
Nano SIM card Slot
For insertion of SIM card to enable 5G communication
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Cerana ONE Pro UAS | User’s Manual
Transmitter Control
Label
Description
Details
1
Throttle Stick
Controls the ascend and descend rate of the UAV
2
Yaw Stick
Controls the yaw rotation speed and direction of the UAV
3
Pitch Stick
Controls the pitch angle and forward/backward speed of
the UAV
4
Roll Stick
Controls the roll angle and left/right speed of the UAV
5
Power Button
Turn on and off the transmitter (Long Press)
Turn on and off the display (Short Press)
6
Scroll Wheel
Configurable
7
Shoulder Button
Configurable
8
Button A
Non-GPS Flight Modes
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Cerana ONE Pro UAS | User’s Manual
Alt Hold (Short Press)
Stabilise (Long Press)
9
Button B
GPS Flight Modes
Loiter (Short Press)
Position Hold (Long Press)
10
Button C
Autonomous Flight Modes
Auto (Short Press)
RTL (Long Press)
11
Button D
Configurable
12
Status LED
To determine charging status
13
Micro USB Port
For charging
14
MicroSD Card Slot
For storing Maps and Telemetry logs
15
5.46” 1080P
capacitive touch
screen
For input
16
Antenna
17
Home
To return to home page
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