In order to calibrate the camera module with your Mapper+ unit, please follow the instructions in the User Manual in order to mount the module at the back of the Mapper+.

Setup the camera settings for the calibration flight  

Ideally, a calibration flight should be performed above an area with sharp features (urban areas, industrial complex, quarry,...)

Edit the CONFIG.txt file from the memory stick (sample attached, if you deleted it in the previous stage), by matching the values with the one hereunder (for the 2 lines CAM_INIT_HEIGHT and CAM_TRIG_INTERVAL)

Figure 1: Parameters within the CONFIG.txt File

This will determine at which height the UAV will perform the auto setup (focus and ISO).

The  calibration flight being at 50m AGL, the focus will be done when the UAV reach this height.

The interval is set to 1.5s, fitting a flight plan at 10m/s.

Flight planning

Once the setup of the unit and camera is done, you can plan the flight pattern.

Flight height : fixed, at 50m AGL. Line separation : 40m, speed 10m/s.

Figure 2: Camera Calibration Flight Pattern

Please refer to the LED sequence and consequence when using the camera module (User Manual, Page 28).

The start of the acquisition is similar to a standard one. But you need to let the drone a few seconds once it reaches the first time the flight height (in our case : 50m AGL) for the focus to be done.

Once this is done, perform the initialization figure. Then a picture will be taken at regular interval, according to the CONFIG.txt parameter, until the next short press on the yellow button (to stop the LiDAR and picture acquisition).

Get the data back, and transfer the whole data to support@yellowscan-lidar.com

• .LVX, .APX, .T04, from the memory stick
  
• Rinex from base station
  
• LiDAR profile to be used
  
• Images in .jpg format from the Camera Module µSD card
  

They will process it and send you the camera calibration file, that will be needed to colorize your point cloud.