Trillium Hd25 Specification sheet

Trillium User Guide Trillium Engineering Page 1

Trillium Product User Guide

Document Number 20-2641

Date

Rev

Description

Author

12/17/18

Rev A

Initial Release: Combined Multiple Trillium SW and Hardware

ICD guides into one document. Updated SkyLink User for SW1.5

release and added OrionUI and Gimbal setting sections.

Gilchrist

Podolak

Dagan

05/21/2019

Rev B

Updated section on External Regulator to include information on

Lo Vin and Hi Vin versions of the regulator

Dagan

8/21/2018

Rev C

•Updated front panel connectors to ID reserved/un-

supported pins

•Updated external regulator section to include new sealed

model

•Updated Multicast video notes to include defining the

gimbal on a static IP if not DHCP.

•Updated all Gimbal ICD for new models

•Updated Joystick controls to include Autofocus mapping

•Updated OrionUi.exe section to include new Gimbal

Startup command and notes about running Gimbal Rig

Test

Dagan

Gilchrist

Podolak

Jaques

 
 
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Table of Contents: 
 
1Quick Start Guide...........................................................................................................................................................4 
2SkyLink..............................................................................................................................................................................8 
1 Introduction and Installation...........................................................................................................8
2 Gimbal Connection..........................................................................................................................8
3 Menu Bars .....................................................................................................................................11 
4 Telemetry ......................................................................................................................................13 
5 Camera Settings.............................................................................................................................15 
6 Overlays.........................................................................................................................................15 
7 Warning Lights...............................................................................................................................16 
8 Gimbal Modes and Commands .....................................................................................................17 
9 Map Window.................................................................................................................................20 
10 Settings Dialog ...........................................................................................................................26 
11 Trillium Data Folder ...................................................................................................................31 
12 SkyLink Keyboard Shortcuts.......................................................................................................34 
13 Command Line Switches............................................................................................................34 
14 Hardware in the Loop (HIL) Simulation .....................................................................................35 
15 Multicast Video..........................................................................................................................36 
3OrionUI and Gimbal Settings .................................................................................................................................37 
1 Introduction and Installation.........................................................................................................37 
2 Settings Files..................................................................................................................................37 
3 Limits .............................................................................................................................................38 
4 Startup Command .........................................................................................................................39 
5 Video Settings................................................................................................................................39 
6 Inertial Navigation System Settings...............................................................................................39 
7 External Heading Alignment..........................................................................................................46 
8 Network Settings...........................................................................................................................47 
9 Version Information ......................................................................................................................47 
10 Crown Serial Config....................................................................................................................47 
11 Motor Control Gains ..................................................................................................................47 
12 Rig Test Dialog............................................................................................................................49 
4HD25 Hardware Interfaces ....................................................................................................................................50 

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5HD40 Hardware Interfaces ....................................................................................................................................52

6HD45 Hardware Interfaces ....................................................................................................................................55

7HD50 Hardware Interfaces ....................................................................................................................................58

8HD80 Hardware Interfaces ....................................................................................................................................61

9Accessory Hardware Interfaces............................................................................................................................61

9.1 External Power Regulators ............................................................................................................61

9.2 HD25 Retract .................................................................................................................................65

10 Gimbal Integration Guide........................................................................................................................................67

10.1 Mechanical Integration..............................................................................................................67

10.2 Electrical Integration..................................................................................................................69

10.3 Gimbal Control & Video.............................................................................................................70

11 Gimbal Cleaning and Handling..............................................................................................................................71

12 Troubleshooting .........................................................................................................................................................75

Trillium User Guide Trillium Engineering Page 4

1Quick Start Guide

This quick start section is intended for new users that either have a development kit or access to a

gimbal that has already been installed and tested in an aircraft. If a gimbal needs to be integrated

into an aircraft, please read the Gimbal Integration Guide section.

1.1.1 Installing SkyLink

SkyLink is Trillium’s user interface for Orion gimbals which can be downloaded from Trillium’s

website (http://w3.trilliumeng.com/downloads.html). The SkyLink application will install to

C:\Program Files (x86)\Trillium\SkyLink\ and will create a directory C:\Trillium\ where recorded

video, map imagery, and map elevation data are stored.

1.1.2 Connecting Communications and Video

Apply power to the gimbal. HD25, HD40 and HD45 gimbals require regulated 24VDC while HD50

and HD80 gimbals can accept 10V-30V power. Upon applying power, the gimbal will go through an

initialization sequence after which it will be ready to connect. The gimbal’s Ethernet connection

provides both video and communications, so the connection requires one of these network

configurations:

1. Direct Connect. Trillium gimbals have a default IP address of 169.254.87.45 if no IP

address is assigned by a DHCP server. For direct connect, plug the gimbal into a computer

and ensure a static IP address is not set; the computer will default to an address of

169.254.XXX.XXX after approximately a minute.

2. Dynamic IP. Trillium gimbals can accept an IP address by a DHCP server and SkyLink will

connect as long as it is on the same subnet as the gimbal.

3. Static IP. Trillium gimbals can be configured with a static IP address and SkyLink will

connect as long as it is on the same subnet as the gimbal.

Launch SkyLink, ensure communications and video connections are set to Auto, On-Board

Application is set to None, then press Connect:

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SkyLink will search for the gimbal then start displaying telemetry and video after connecting. The

video window on the left displays video and telemetry and allows for gimbal control:

Slide Out

Camera Settings

Slide Out

Telemetry

Gimbal Modes

Gimbal Location

Target Location

Warnings

Record

At startup, the gimbal is in a position mode where it maintains a pan/tilt angle. If a user clicks on

the video, the gimbal enters the selected default stabilization mode (see mode details below) and

moves to center the video on the clicked location. If a user clicks and holds anywhere on the video

window, an onscreen joystick will appear that allows the gimbal to be steered. The video can be

zoomed by scrolling with a mouse wheel or pinch-to-zoom on touchpads and touchscreen devices.

1.1.3 Gimbal Modes

Rate Mode

In Rate mode, gyro feedback is used to ensure the camera line of sight (LOS) has zero inertial rates.

From a stationary platform, this results in the gimbal maintaining other stationary objects in view

when the gimbal is rotated. Once in rate mode, a user can click on the video to direct the gimbal to

stare at a new location or use the onscreen joystick to steer the gimbal.

Mode limitations: when the gimbal is moving such as on a fixed wing aircraft, the gimbal will only

maintain its inertial LOS which results in stationary objects below passing through the video at the

gimbal’s ground speed.

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Geo Mode

In Geo mode, the gimbal stares at a given target Latitude, Longitude, and Altitude (LLA). In order

for Geo mode to accurately work, the gimbal must have a valid GPS position and must have map

elevation data. Once in Geo mode, a user can click on the video to direct the gimbal to stare at a new

location or use the onscreen joystick to steer the gimbal. The gimbal can enter Geo mode in

multiple ways:

oClicking Geo mode: the gimbal stares at the LLA in the center of the video

oDouble clicking on the map: the gimbal stares at the location clicked

oSelecting a preloaded geopoint: the gimbal stares at the geopoint LLA

Mode limitations: operators will notice that at narrow fields of view, the gimbal will slowly

oscillate about a target which is a consequence of errors in the gimbal attitude solution. For this

reason, Scene Mode described below is most commonly used at narrow fields of view. Geo mode

may behave poorly if the gimbal is located near the ground due to errors in the GPS altitude and the

ground elevation model. Therefore, Geo mode should not necessarily be expected to work

accurately unless the gimbal is at least 50 to 100 feet above the ground.

Scene Mode

In Scene mode, the gimbal uses video processing feedback to continue looking at the current video

scene. In a similar manner as Geo mode, Scene mode will keep the gimbal staring at a location on

the ground regardless of gimbal movement. Once in Scene mode, a user can click on the video to

direct the gimbal to stare at a new location or use the onscreen joystick to steer the gimbal.

Mode limitations: for Scene mode to work well, there must be sufficient image content for the

onboard video processor to lock on; when operating over water, sand, or when using IR cameras in

situations with poor contrast, Scene mode will result in erratic behavior. In these cases, Geo mode

should be used instead.

1.1.4 Preflight Checklist

Prior to operation, ensure the following items are checked:

•GPS

oEnsure the gimbal has a valid GPS location shown in the top left of the video window.

•Maps

oIn order for the system to determine an accurate image location, ground elevation

data must be accessible. Elevation data and map imagery will be automatically

downloaded over an active internet connection and cached for later use. If gimbals

will be operated without an internet connection, imagery and elevation data should

be either manually placed into the map directory, or the SkyLink map should be used

to inspect the mission location ahead of time in order to automatically cache data.

•Bitrate

oSet the gimbal video bitrate to a quality appropriate for your radio range which is

found under Settings –Gimbal Settings. If you are operating with a strong link, video

should be set to 3 to 4 Mbps. If you are operating with a weak link at range, video

should be set to 1 Mbps.

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1.1.5 Camera Controls

If equipped with multiple cameras, clicking on the camera button at the bottom of the video

window will switch cameras. The following camera controls are currently supported:

•Focus: for certain cameras, the focus bar can be used to manually adjust the focus

•FFC (short for Flat Field Correction): IR cameras commonly need a single point calibration to

deliver optimum image quality which is achieved by having the gimbal point inside itself and

calibrating the camera. The FFC button should be pressed each time the gimbal is powered

up and occasionally thereafter since IR imagery will deteriorate in quality over time or as the

camera temperature changes.

1.1.6 Recording & Playback

By clicking Record on the top menu bar, SkyLink will display a red circle in the top of the video

window and begin recording both video and telemetry to a subdirectory located in

C:\Trillium\Recordings\. Video and telemetry are embedded into a single .ts (transport stream)

file, the video portion of which can be replayed with common video players such as Windows Media

Player. SkyLink can be used to playback both video and all telemetry by clicking on Connection…

then Replay and selecting the desired file. Replay controls are displayed at the bottom of the video

window and all telemetry are populated including the map, allowing for detailed review after a

mission.

1.1.7 SkyLink Map

SkyLink’s full 3D map displays both the gimbal location and image position. The gimbal can be

directed to look at a given location by double clicking anywhere on the map. The map contains a

scale and compass rose in the upper right corner of the map window. The compass rose can be

used to rotate the map or orient North upwards by clicking on the N. By clicking on “Follow Gimbal”

or “Follow Image” at the bottom of the map, the map will be centered at either the gimbal location

or image location respectively. Latitude, longitude, and altitude (LLA) of the cursor are displayed at

the bottom of the map.

Compass Rose

Scale

Cursor Location

Gimbal Location

Image Location

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2SkyLink

2.1 Introduction and Installation

SkyLink is Trillium’s gimbal user interface which displays video and telemetry, allows for gimbal

control, and records and plays back video for post mission analysis. SkyLink will install to

C:\Program Files (x86)\Trillium\SkyLink\ and will create a directory C:\Trillium\ where recorded

video, map imagery, and map elevation data are stored. In addition to SkyLink, OrionUI will also be

installed which can be used to configure gimbal settings that aren’t typically required during

operation; see the OrionUI section below for details.

2.2 Gimbal Connection

The gimbal’s Ethernet connection provides both video and communications, so the connection

requires one of these network configurations:

1. Direct Connect. Trillium gimbals have a default IP address of 169.254.87.45 if no IP

address is assigned by a DHCP server. For direct connect, plug the gimbal into a computer

and ensure a static IP address is not set; the computer will default to an address of

169.254.XXX.XXX after approximately a minute.

2. Dynamic IP. Trillium gimbals can accept an IP address by a DHCP server and SkyLink will

connect as long as it is on the same subnet as the gimbal.

3. Static IP. Trillium gimbals can be configured with a static IP address and SkyLink will

connect as long as it is on the same subnet as the gimbal.

The Connection Menu allows the user to select what communications and video sources to use.

Clicking the “Connect” button will apply both the communications and video settings and close the

window.

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Clicking “Replay a File...” will bring up a dialog to select previously recorded video data for replay.

Note that SkyLink writes all its recordings to the Recordings Directory in the Trillium Data Folder

as “.ts” files. If “Apply Settings at Startup” is checked, the current settings will be applied at startup

and the communications dialog will not appear at startup. If the box is unchecked, the

Communications Menu will appear as soon as SkyLink starts.

2.2.1 On-Board Application

The On-Board Application section will default to “None” and only when the gimbal is paired with an

external Trillium mapping computer would the user select either “Path Mapper” or “Structure

Mapper”. When an onboard application other than “None” is selected the Video Stream setup is

removed.

2.2.2 Communications

Auto

SkyLink will search the network and any detected Serial interfaces for a gimbal. Skylink will display

a list of detected gimbals for the user to select if multiple units are present, otherwise

communications will be established with the first gimbal to respond.

Static IP

SkyLink will attempt to communicate with the gimbal via the Static IP address entered.

Serial

SkyLink will attempt to communicate with a gimbal on the given serial port with a specific baud

rate. If no serial ports are detected the list will be empty. NOTE: Trillium's gimbals default to

communicate at 115200 baud.

None

SkyLink will not connect to the gimbal this can be used during SkyLink setup or map data

downloads when a gimbal is not connected.

UDP Checkbox

Checking this box will use UDP rather than TCP for connecting to the gimbal over the network. This

will use less bandwidth at the expense of less reliable communications.

Listen Only Checkbox

Checking this box will disable SkyLink from sending any data to the gimbal once communications

are established. When Listen Only checkbox is checked SkyLink will not send the video stream

settings to the gimbal and “- LISTEN ONLY -“ will be displayed at the bottom of the video.

Apply Comms

Clicking this button will apply the current communication settings.

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2.2.3 Video Stream

Auto

As soon as network communications are established with a gimbal, SkyLink will command the

gimbal to stream its video to the PC running SkyLink. If the gimbal is currently streaming video to

another IP address, SkyLink will not “steal” the video and thus SkyLink will not display video (and

show a warning). See about multicasting below if setup requires more than one SkyLink to show

video.

To This PC

This will force the gimbal to stream its video to the PC running SkyLink. If SkyLink detects the

gimbal streaming video to a different PC, it will command the gimbal to send video to the PC

running SkyLink. Note that if 2 or more instances of SkyLink on the network have this set they will

constantly command the gimbal to stream video to them and no instances will get consistent video.

See about multicasting below if setup requires more than one SkyLink to show video.

Multicast

This will cause the gimbal to send its video to a multicast address. The address will be

235.XXX.YYY.ZZZ where “XXX” “YYY” and “ZZZ” match the gimbal’s IP address. For example, if the

gimbal’s IP address is 192.168.10.20, the gimbal will send video to 235.168.10.20. NOTE: For

Multicast video to work the network that the gimbal and SkyLink are connected to must support

Multicasting, and the gimbal must have an assigned IP address (either from a DHCP device on the

network or via setting a fixed IP address on the gimbal). Multicast will not work if the gimbal is

using its default 169.254.87.45 address.

Advanced –Live Video

The Advanced Video Stream setting’s “Live Video” format allows selection of a specific address, port

and bitrate to use for streaming H.264 video. For example: “192.168.1.14:15004” will tell the

gimbal to stream video to 192.168.1.14 port 15004. If no port is provided SkyLink will use port

15004 by default. The IP address entered here can also be used to have the gimbal multicast its

video. Multicasting video is required if more than one instance of SkyLink needs to display video. To

enable multicasting, enter a valid multicast address in the range of 224.0.0.0 to 239.255.255.255

(EG: “226.10.10.10:15004”). If no port is provided, SkyLink will use port 15004 by default. NOTE:

For Multicast video to work the network that the gimbal and SkyLink are connected to must

support Multicasting, and the gimbal must have an assigned IP address (either from a DHCP device

on the network or via setting a fixed IP address on the gimbal). Multicast will not work if the gimbal

is using its default 169.254.87.45 address.

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Advanced –Snapshot

The Advanced Video Stream settings “Snapshot” format will have the gimbal send JPEG images at a

defined compression quality between 10-95%. Snapshot can be configured for modes below:

•Manual: Gimbal will stream a JPEG image when the user clicks the “Snapshot” button in the

top menu or types CTRL-S on the keyboard.

•Freerun: Gimbal will stream JPEG images as fast as possible

•Fixed Rate: Gimbal will stream JPEG images at fixed rate set by user.

None

The Video Stream setting “None” will not command any change to the gimbal’s video stream

whatsoever. In this mode SkyLink will not display any video from the gimbal.

2.3 Menu Bars

SkyLink has 4 primary menus on each edge of the screen (Default Mode is menus always visible).

The Telemetry and Camera Settings menus slide out from the left and right of the screen when they

are clicked on.

Slide Out

Camera Settings

Slide Out

Telemetry

Gimbal Modes

Gimbal Location

Target Location

Warnings

Record

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Record

Toggles recording of video and telemetry on/off. While recording, the button will appear

highlighted and overlay in the upper-right of the video area will flash “REC: ON”.

Video is saved to the Recordings Directory in the Trillium Data Folder.

Heading

Allows user to input the aircraft current heading, this helps aid the gimbal GPS/INS to have a more

accurate heading estimate before launch. Expected input is Magnetic Heading in degrees between 0-

360. Typically, this is only applied once immediately prior to launch; applying during flight can

result in poor geolocation performance.

SnapShot

Commands the gimbal to save video snapshot. Both a georeferenced .TIF image, and a JPEG image

with Skylink overlays are saved to the Recordings Directory in the Trillium Data Folder.

Deploy/Retract

Commands the gimbal's retractor to either deploy or retract the gimbal based on its current state.

IE if the gimbal is currently retracted, the button will display “Deploy” and clicking it will deploy the

gimbal. Button is only visible if the gimbal detects a retract mechanism.

Fullscreen

SkyLink will occupy the entire screen.

Settings

Opens the Settings Dialog where SkyLink and gimbal settings can both be modified.

Quit

Exits SkyLink.

Camera

Changes which camera's video and settings will be shown in SkyLink (the “active camera”). Only

visible if the gimbal has more than one camera installed.

FFC

For Thermal LWIR and MWIR cameras the gimbal performs a “Flat Field Correction” or “NUC”

operation to improve image quality. Only visible if the active camera supports FFC, and the FFC

button will glow yellow if an FFC is needed. During an FFC command the gimbal with move the Pan

and Tilt axis so that the thermal camera looks up inside the gimbal for a few seconds, after the FFC

is complete the gimbal will return to original mode and target location. SkyLink also allows the

user to define a custom FFC position see section SkyLink Setting to set custom FFC position.

Laser

Enables the laser if one is equipped. Will be highlighted if the laser is enabled. The button will not

be visible if no laser is installed. There are several software interlocks that can prevent the laser

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from turning on; if one of the interlocks is preventing operation, the specific interlock will be briefly

displayed after hitting Laser. By default, gimbals ship with two active interlocks:

1) GPS Speed. A minimum GPS speed must be observed to enable the laser.

2) Password. If the minimum GPS speed is observed, SkyLink will request a password to be

entered which is ‘laser’ by default.

For assistance in changing laser interlocks, contact Trillium support.

Focus/Auto Focus

The Focus control allows for focus adjustment to be made to the active camera. The (+/-) buttons

on the left allow for fine-grain control while the slider allows more coarse control. Dragging the

slider above the bar will change the focus in smaller increments. Any manual inputs will exit

autofocus mode and keep the gimbal in a manual focus mode.

Auto Button will command the lens to Auto Focus and the gimbal will sweep the focus range to find

the sharpest image focus. Auto focus will perform a small fine sweep when zoom level is changed.

2.4 Telemetry

The Telemetry Menu displays detailed values of different parts of the Orion Gimbal system. Clicking

the “Telemetry” text on the left side of the window will show/hide the menu. It can be scrolled via a

“flick” gesture. Click on a category to view its telemetry, click the category's name at the top of a

sub-menu to get back to the main menu. Below are examples of the Telemetry windows displayed.

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2.5 Camera Settings

The Camera Settings Menu contains controls for refining the imagery from the active camera. Any

available cameras will be listed at the top by their type (VIS=daylight camera, LWIR=long-wave IR,

MWIR=mid-wave IR, etc.). Clicking any camera type will switch to that camera.

Clicking the Reset button will reset the active camera to its defaults.

Clicking on or hovering the mouse over a setting’s icon will display what the setting affects.

VIS Settings

EO cameras allow modification of brightness, contrast, saturation, hue and sharpness.

LWIR Settings

LWIR cameras allow changing brightness, contrast, sharpness, perform an FFC, and toggle white

hot/black hot.

MWIR Settings

MWIR cameras allow changing integration time (NUC Table), contrast, sharpness, perform an FFC,

and toggle white hot/black hot.

2.6 Overlays

SkyLink's overlays at the top of the video are meant to provide at-a-glance information about the

gimbal's position and where it is looking. These overlays are display-only and are not “burned into”

the video.

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•CAM: displays the latitude, longitude, and MSL altitude of the gimbal as reported by the

GPS/INS

•FOV: shows the camera’s horizontal field of view.

•MODE: shows the current mode of the gimbal. Possible values are: “RTE”- rate mode, “GEO” -

geopoint mode, “FFC” - gimbal is preforming an FFC operation, “SCN” - scene tracking mode,

“TRK” - target tracking mode, “DIS” - disabled, “POS” fixed position mode.

•IMG: displays the latitude, longitude, MSL altitude, and range from gimbal of the image

position. The image position is the point on the earth where the gimbal is looking. SkyLink

must have elevation data for this to be accurate! If SkyLink doesn’t have elevation data for

the current image position “NO ELEVATION DATA” will appear.

•PAN and TILT: show the pan and tilt angles as dials. A pan of 0 will result in an arrow

pointing up, while a pan of 180 will show an arrow pointing down. A tilt of 0 will show an

arrow pointing right while a tilt of -90 will show an arrow pointing down.

•The N arrow will point toward north in relation to the video image.

2.7 Warning Lights

At the top of the video above the Pan/Tilt overlays Skylink displays gimbal warning lights, which

change from dull red to a bright red when a warning is active. The user can cursor over the warning

light to see a message why it is active. Clicking on the warning light opens the telemetry menu to the

widow with the warning and highlight the parameter in red. Condition for each warning light are

listed below:

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•AGL: Gimbal AGL alt less than 200 feet

•AHRS: INS mode is in “AHRS” meaning there is a poor GPS fix.

•INS: INS mode isn’t "RUN", Roll/Pitch/Yaw bias > 4 degrees/s or Gravity Bias > .2 m/s/s

•GPS: Fix is not 3D

•HDG: Gimbal heading confidence > 10 degrees

•TMP: Gimbal crown board or SLA board temperature > 75 C

•RNG: Gimbal is not receiving range data from anywhere and SkyLink has no elevation data

for where the gimbal is looking.

•CUR: Motor current Pan/Tilt is at max motor current set for the gimbal.

•LAS: Visible only if laser is configured, illuminated if laser is firing.

2.8 Gimbal Modes and Commands

Trillium Gimbals have several different operation modes and commands which are accessed with

SkyLink using the lower menu bar, below the video.

Home/Stow

Home commands the gimbal to the home position: pan 0°, tilt 0° and zooms the camera to its widest

field of view. In Home/Stow mode the gimbal LOS is not stabilized, and the axis position is held at

fixed angles, this is useful when the gimbals stare location is unknown or if the gimbal is behaving

erratically. The Home Button will switch to a Stow button when the gimbal is at Home position.

Stow commands the gimbal to the stow position: pan 180°, tilt 0° and zooms the camera to its

widest field of view. Stow is useful when stowing gimbal before landing or during long transit

periods.

SkyLink also allows the user to define custom Home and Stow position see section SkyLink Setting

to set custom Home and Stow positions. NOTE: If platform rotations are applied between gimbal

and aircraft frames then SkyLink will automatically change the Home angles to be looking forward

out the nose of the aircraft at the horizon.

Rate Mode

In Rate mode, gyro feedback is used to ensure the camera line of sight (LOS) has zero inertial rates.

From a stationary platform, this results in the gimbal maintaining other stationary objects in view

when the gimbal is rotated. Once in rate mode, a user can click on the video to direct the gimbal to

stare at a new location or use the onscreen joystick to steer the gimbal.

Mode limitations: when the gimbal is moving such as on a fixed wing aircraft, the gimbal will only

maintain its inertial LOS which results in stationary objects below passing through the video at the

gimbal’s ground speed.

Geo Mode

In Geo mode, the gimbal stares at a given target LLA. In order for Geo mode to accurately work, the

gimbal must have a valid GPS position and must have map elevation data. Once in Geo mode, a user

can click on the video to direct the gimbal to stare at a new location or use the onscreen joystick to

steer the gimbal. The gimbal can enter Geo mode in multiple ways:

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