ImmersionRC TrackR2 Manual de usuario

TrackR2 Operator’s

Manual

TrackR2: Dual Axis Gyro Head-Tracker

Operator’s Manual: March 2008

Firmware version v1.0

Brought to you by the ImmersionRC Team, the developers behind

AeroPix.

TrackR2 Operator’s

Manual

Pre-requisites and Warnings

-The purchaser of this product takes all responsibility for following local laws and

regulations.

Flying model aircraft via Video link should not be attempted without the help of a

‘spotter’, and even then, never in populated areas.

-The TrackR2 is sensitive to static, shock, and moisture. Keep it dry, and handle with care!

If dropped onto a hard surface, the delicate gyro mechanism will almost certainly be

damaged.

TrackR2 Operator’s

Manual

Overview

The AeroPix TrackR2 is a dual-axis gyroscopic head-tracker. It sends the wearer’s head

movements to a pan/tilt camera mount, mounted on an airborne/ground based model, via the

buddy-box (trainer) connector on compatible R/C transmitters.

For a ‘full immersion’ experience, it should be used together with a head mounted display. Use

with an CRT or LCD display is possible, but far from ideal. The Fat Shark RCV922 LCD headset,

custom designed for FPV are ideal for this.

Specifications

Dual-Axis gyroscopic sensor

500 degree/second response rate (much faster than magnetic headtrackers)

Buddy Box (Trainer) connection to many modern (and some older) R/C transmitters

Unique Student/Trainer mode, links two radios for safe FPVing, and compliance with

developing rules & regulations in some countries (France for example).

Single-button ‘Morse code’ programming menu

User-Definable Pan/Tilt channels

Automatic detection of student transmitter presence, and PPM polarity.

Positive/Negative PPM modes

Transmitter mounted zero/cal switch (leaving the head-mounted switch for

‘passenger’ use)

Anti-drift algorithm to greatly reduce (or eliminate) the need to re-center during a

flight.

Power Requirements: 8.0-20v DC, 20mA (without headset power), ~400mA (with

RCV922 power)

Powering the TrackR2

The TrackR2 requires a DC supply in the range 8.0v –20v. For most suitable Futaba transmitters,

the FF7/FF9, or 7C/9C, this power is obtained directly from the trainer connector.

Note that certain top-of-the-line futaba transmitters use a 2-cell Lithium battery pack (7.2v).

These are not compatible with the standard TrackR2. A version to support these will be available

shortly.

TrackR2 Operator’s

Manual

General Notes On Transmitter Compatibility

The TrackR2 is designed to be used with a single transmitter, or between a trainer transmitter,

and a student transmitter.

For stand-alone use, the ideal transmitters are the 7 and 9 channel Futaba line. Futaba is the

only manufacturer who supplies a radio with selective channel takeover, and a power supply pin

on the connector.

The choice of student transmitter is much wider. Just about anything from the 4 channel Futaba

transmitters, to high-end systems, should be compatible. The PPM input circuit is tolerant of a

wide range of input voltages, and is buffered, and stripped of any RF interference, before being

‘reprocessed.

Take note however that unlike many buddy-box cables, the TrackR2 does not supply power to

the student Tx, and therefore the student Tx must be equipped with its own power supply. The

trainer-only radios from Tower-hobbies for example, come without a battery, and must be

powered in order to function with the TrackR2.

The two connectors on the TrackR2 itself are radio-independent. A cable-set is required to

connect to the master, and student radios. The TrackR2 ships standard with one short cable

terminated with the 6-pin Futaba ‘Micro’connector.

More specific notes on radio compatibility follow:

Futaba Radios

The TrackR2 was designed for use with high-end Futaba R/C transmitters, using the 6-pin

‘square’ trainer connector. These transmitters supply power to the TrackR2, eliminating the

need for an external power source, and can also selectively merge the pan/tilt channels into the

PPM stream to the model.

For Futaba transmitters (the FF9/9C series especially), the trainer switch is a momentary switch,

and must be held ‘on’ in order for the TrackR2 to function. A high-tech solution (rubber band) is

an easy way to hold this switch On during use.

A more adventurous solution involves ordering the non-momentary switch from a futaba parts

supplier, and change it.

Important to note on Futaba transmitters, the trainer setup appears to be retained

through a Tx power cycle, but is lost when the selected model is changed. Take care with this,

the default transmitter trainer configuration may well cause the throttle to be enabled!

TrackR2 Operator’s

Manual

Connector supported for Futaba radios

Transmitter

Connector

Compatibility

Futaba 14MZ, 12Z, 9C

(FF9) , FF8, Futaba 7C

(FF7), and many

others

Tx Supports Selective Channel Mixing,

HeadTracker switch should be in ‘Normal’

mode, not ‘low end’.

PPM Output must be Negative Polarity.

Futaba Radios successfully used with the TrackR2 include:

9C as the master, 9C as the student

9C as the master, 4 channel Futaba ‘SkySport’as the student.

6 channel 6YG (‘Skysport 6’) as the only radio, TrackR2 switch in ‘Low-end’mode.

Many more combinations should be supported, and will be tested and documented in the near

future.

Connector Pinout

The pinout of the two connectors on the TrackR2 switchbox is shown below. Note that the

pinouts are identical, but the student connector has only Gnd and PPM-In wired.

The switch on the switchbox selects between the PPM input on the student connector, and the

PPM input on the trainer (master) connector (Normal selects the student PPM-In, Low-End

selets the trainer PPM-In).

Gnd

VBatt

PPM Out

PPM In

TrackR2 Operator’s

Manual

Using the TrackR2

Mounting

The TrackrR2 is designed to be mounted right side of the wearer’s head, with label facing

outwards, the button facing up, and the cable exiting to the bottom of the case.

A plastic mounting bracket is supplied with the TrackR2 which sits into the pocket in the RCV922

headset strap. For other LCD headsets, other techniques may be used to attach the device,

Double-sided tape, or Velcro works well.

It is important to note that the module should be mounted as vertical as possible, or within a few

degrees of vertical.

Calibration and Zeroing

When powering up, the TrackR2 will spend a few seconds calibrating itself, during this time it is

very important not to move the device!

Moving the TrackR2 during the calibration procedure will cause drift

Once calibrated, mount the TrackR2 on your video goggles/baseball hat/scuba mask. Look in the

direction that you wish to be ‘neutral’, and press briefly one of the zero buttons (either the

button on the switchbox, or the button on the TrackR2 gyro module). A short beep indicates

that the zero position has been redefined.

If, during flight, drift is observed (generally due to a change in temperature), you may hold down

the button for > 3 seconds to restart the calibration procedure. During this time, remain

perfectly still! The TrackR2 will beep twice when the calibration is complete.

One way to reduce temperature-change related drift is to ensure that the TrackR2 is exposed to

the outside temperature for a few minutes before calibrating. If care is taken, the TrackR2 can

even be used in frigid winter temperatures. VRFlyer shot a beautiful video on a clear, cold,

Canadian winter’s day, at -15 degrees C!.

Moving between a warm car, and the cold of mid-winter, immediately before a flight, is not

recommended!. Likewise, moving between an air-conditioned car, and the mid-summer heat, is

also not recommended.

It is highly recommended to let the TrackR2 adjust to operating temperatures for a

few minutes before flying. Especially when there is a large temperature difference between

storage, and operating temperature (summer/winter).

TrackR2 Operator’s

Manual

Single-button User Interface (UI)

The TrackR2 is equipped with a very simple single-button UI, and internal beeper for feedback.

This button is ‘cloned’ on the transmitter-mounted switchbox module, for ease of use without

removing the need to remove a hand from the transmitter during flight.

As mentioned above, this button has several functions. A short button press will redefine the

zero point.

A longer press, of > 3 seconds will force a recalibration. This should rarely be required during

flight, but if, for example, there is a large temperature change between when the power-on

calibration occurred, and flight, it may be required. When the button has been pressed for 2

seconds, a short beep is heard, this confirms that releasing the button immediately will initiate

the Calibration.

During an in-flight recalibration, remain still! Any head movement during this time may create

drift.

The final function of the button is to enter the programming mode. This mode can be entered

only by holding down the button at power-on, and keeping it held down until calibration is

complete.

The Programming mode is explored later in this manual.

In Flight: ‘Zero Clicks’

During normal use, the TrackR2 will ‘click’ at the zero point of the pan and tilt axis.

This may be used for installations when visual indication of the front of the plane is not

available, to know when looking straight ahead.

(It’s also a great way to verify that everything is working correctly after powering up the

TrackR2)

This feature may be disabled from the programming menu if desired.

TrackR2 Operator’s

Manual

Programming the TrackR2

The TrackR2 contains a non-volatile memory (EEPROM) which stores configuration settings.

These settings include:

Pan/Tilt channel assignments

Pan/Tilt servo reversing

Pan/Tilt servo travel limits (left/right/up/down)

Pan/Tilt gains

Limit behaviour

PPM Output Polarity

Anti-Drift configuration

Programming these settings is accomplished using the single button, with feedback from the

internal beeper, in a manner similar to that used by most ESCs (Electronic Speed Controllers).

To enter the programming menu, hold down the button while power is applied to the TrackR2,

until the calibration beeps have finished.

The recommended setup procedure is as follows:

1. Set the PPM Output Polarity, to settings suitable for your transmitter (must futaba

systems require negative polarity, which is the default setting)

2. Use either the servo reversing controls on the R/C Tx, or the servo reversing options in

the TrackR2 menu (first two items) to ensure that the servos are rotating correctly in

response to head movements.

3. Set the pan and tilt gains using the second two items in the programming menu.

4. Set the servo limits using the 5th menu item. Note that the limits may need to be

reprogrammed each time the gains are changed.

5. Define the limits ‘mode’. This defines what happens at the servo limits. Two choices are

available, ‘clip’ and ‘recal’. The former just limits the servo movement, but doesn’t re-

center the gyro axis.

The latter re-centers the gyros, allowing any drift to be corrected in flight without

pressing the zero/calibrate button.

TrackR2 Operator’s

Manual

Once the programming menu has been activated, the module will start cycling through the

menu options, in the order listed.

To change one of the items, wait for it to be ‘played’, and immediately after, touch the button.

The module will then ‘play’ the current value, as a number of beeps, and then will start from the

first option, and play each option until the last.

Example, how to change the pan reverse setting:

Button pressed at startup , hold until calibration beeps end, and the menu is entered.

Dash Dot

Dash Dot Dot

Dash Dot Dot Dot

Dash Dot Dot Dot Dot press button briefly

Dot this is the current setting, Reverse Off

Dot this is the first available option, Reverse Off

Dot Dot this is the second available option, Reverse On press button briefly

At this point the pan reverse setting has been changed to ‘Reverse On’. The module will

now continue with the next item in the menu, Tilt Reverse, and walk to the end of the

list.

Once the end of the list is reached, the system will exit programming mode.

For setting limits, the procedure is a little different, pressing the button following the ‘Set Servo

Limits’ menu (Dash Dash Dot Dot) will enter limit setting mode. Move the TrackR2 until the

camera is at its upper limit, and press the button, then do the same for the Right, Down, and

Left limits in that order.

TrackR2 Operator’s

Manual

Beep Codes

Note that the beep codes are different from the original TrackR1, they have been re-arranged to

move more commonly used settings earlier in the list.

Beep Code

Menu Choices

- .

Pan Channel

1.. 9 (default 5)

- . .

Tilt Channel

1.. 9 (default 6)

- . . .

Pan Gain

1 –Low gain 2 –Medium gain

3 –High gain * 4 –Max Gain

- . . . .

Tilt Gain

1 –Low gain 2 –Medium gain *

3 –High gain 4 –Max Gain

- . . . . .

Pan Reverse

1 –Reverse Off * 2 –Reverse On

- . . . . . .

Tilt Reverse

1 –Reverse Off * 2 –Reverse On

- - .

Anti-Drift Gain

1 -Anti-Drift Off 4- Anti-Drift High

2- Anti-Drift Low 5- Anti-Drift Extreme

3- Anti-Drift Med *

- - . .

Set Servo Limits

Sequence is:

Up, Right, Down, Left

Note: Menu exits after setting limits.

- - . . .

Set Servo Offset

Pan/Tilt until desired zero point is reached, and press button.

Note: Menu exits after setting offsets.

- - . . . .

Zero Ticks

1 –Off

2 –On *

- - . . . . .

Limits Mode

1 –Clip * 2 –Recalibrate

- - - .

PPM Output Polarity

1 –Negative * 2 –Positive

- - - . .

Restore Defaults

Select to immediately restore all settings to defaults.

Cycle power for settings to take effect

* Indicates default setting

To enter menu, turn off radio, hold down the button, turn on radio, wait until after the second

beep, then release, wait for calibration ticks. Menu will enter automatically.

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