{"_id":"59de5164666d650024f78b94","category":"59de5164666d650024f78b8c","project":"55d25cd63c74062300aee66b","user":"55d25c8d3c74062300aee669","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2015-08-17T22:14:48.248Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"status":200,"language":"json","code":"{}","name":""},{"status":400,"language":"json","code":"{}","name":""}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":0,"body":"[block:html]\n{\n  \"html\": \"<div></div>\\n<a href=\\\"https://gifyu.com/image/S06h\\\"><img src=\\\"https://gifyu.com/images/SF9XYNz8wwH0k.gif\\\" alt=\\\"SF9XYNz8wwH0k.gif\\\" border=\\\"0\\\" /></a>\\n<style></style>\"\n}\n[/block]\n\n[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Recommended Hardware:\",\n  \"body\": \"* [IR-LOCK Sensor](https://irlock.com/collections/ir-lock-pixy)\\n* [MarkOne Beacon](https://irlock.com/collections/markone) (any version)\\n* [Pixhawk-based Copter](https://irlock.com/collections/pixhawk2) (e.g., IRIS+ copter, Pixhawk2.1 copter, etc.)\\n* [Pixhawk2.1 Cable](https://irlock.com/collections/markone/products/ir-lock-to-pixhawk2-1-cable)\\n* [Laser Rangefinder](https://irlock.com/collections/rangefinders) (LW20 and SF20 are highly recommended) \\n** A rangefinder is required for precision landing in AC 3.4 and up\"\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/2a3b47e-20170921_090035_05_b_jpg.jpg\",\n        \"20170921_090035_05_b_jpg.jpg\",\n        2612,\n        1480,\n        \"#0d4798\"\n      ],\n      \"caption\": \"\"\n    }\n  ]\n}\n[/block]\n\n[block:callout]\n{\n  \"type\": \"warning\",\n  \"title\": \"Documentation Version\",\n  \"body\": \"Use the dropdown menu at the top right to select the appropriate documentation version. 'v2.0' corresponds to MarkOne V2.0.\"\n}\n[/block]\n**GETTING STARTED OUTLINE:**\n(1) Install Sensor Firmware & Software\n(2) Power MarkOne Beacon\n(3) Adjust Sensor Lens\n(4) Connect Sensor to Pixhawk\n(5) ArduCopter PL Parameters\n\n[block:html]\n{\n  \"html\": \"<div></div>\\n<style>.embed-container { position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; } .embed-container iframe, .embed-container object, .embed-container embed { position: absolute; top: 0; left: 0; width: 100%; height: 100%; }</style><div class='embed-container'><iframe src='https://www.youtube.com/embed/mzLA_k6cjl0' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]\n\n[block:html]\n{\n  \"html\": \"<style>.embed-container { position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; } .embed-container iframe, .embed-container object, .embed-container embed { position: absolute; top: 0; left: 0; width: 100%; height: 100%; }</style><div class='embed-container'><iframe src='https://www.youtube.com/embed/G-59mR3uYh0' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]\n\n[block:html]\n{\n  \"html\": \"<div></div>\\n<style>.embed-container { position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; } .embed-container iframe, .embed-container object, .embed-container embed { position: absolute; top: 0; left: 0; width: 100%; height: 100%; }</style><div class='embed-container'><iframe src='https://www.youtube.com/embed/061Qhkr7XCE' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]\n\n[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"ArduCopter Precision Landing Wiki\",\n  \"body\": \"Further documentation regarding copter settings and copter firmware is found here: [link](http://ardupilot.org/copter/docs/precision-landing-with-irlock.html)\"\n}\n[/block]","excerpt":"","slug":"getting-started","type":"basic","title":"IR-LOCK Precision Landing Tutorial","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"59de5164666d650024f78b95","category":"59de5164666d650024f78b8c","project":"55d25cd63c74062300aee66b","user":"55d25c8d3c74062300aee669","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2015-10-19T16:21:15.906Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"status":200,"language":"json","code":"{}","name":""},{"status":400,"language":"json","code":"{}","name":""}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":1,"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Firmware/Software Notes\",\n  \"body\": \"Make sure that you use the correct Pixymon software and Sensor firmware. They are provided in the Firmware/Software section of this documentation. Also, don't forget to click 'Restore default parameter values' after uploading new sensor firmware.\"\n}\n[/block]\n**-> Install Pixymon:** The IR-LOCK sensor firmware requires the installation of a particular version of the Pixymon software. See the [Firmware/Software section](https://irlock.readme.io/docs/firmwaresoftware-links) of this documentation.\n\n**-> Upload IR-LOCK Firmware:** Upload the [latest IR-LOCK firmware](https://irlock.readme.io/docs/firmwaresoftware-links) to your sensor using Pixymon. Firmware is uploaded to the sensor by holding the white button while simultaneously plugging in the USB cable. Pixymon will then ask you to navigate to the ‘.hex’ firmware file.\n\n**->** After uploading new firmware,** click ‘Restore default parameter values’** under the ‘Action’ tab in Pixymon.\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/Kw1crijRDeoII7rW4cP2_pixmon-clear-def-param-pic2.png\",\n        \"pixmon-clear-def-param-pic2.png\",\n        \"641\",\n        \"628\",\n        \"#3c9cf6\",\n        \"\"\n      ],\n      \"caption\": \"Click ‘Restore default parameter values’ after uploading firmware\"\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/70fe4c7-PixyParamPic.JPG\",\n        \"PixyParamPic.JPG\",\n        695,\n        673,\n        \"#eeeeee\"\n      ],\n      \"caption\": \"After successfully uploading firmware, your parameter window should look like this.\"\n    }\n  ]\n}\n[/block]","excerpt":"","slug":"1-sensor-firmware-software","type":"basic","title":"[1] Sensor Firmware & Software","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"59de5164666d650024f78b96","category":"59de5164666d650024f78b8c","user":"55d25c8d3c74062300aee669","project":"55d25cd63c74062300aee66b","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2015-10-19T17:09:06.515Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"status":200,"language":"json","code":"{}","name":""},{"status":400,"language":"json","code":"{}","name":""}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":2,"body":"**Input Voltage:** 10.2-18V DC\n**Connector:** 2 Pin JST PH ([S2B-PH-SM4-TB(LF)(SN)](https://www.digikey.com/product-detail/en/S2B-PH-SM4-TB(LF)(SN)/455-1749-1-ND/926846))\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/Pk71cTbiRsuZyQufMcFo_20151217_191309%20(3).jpg\",\n        \"20151217_191309 (3).jpg\",\n        \"1288\",\n        \"1003\",\n        \"#b23241\",\n        \"\"\n      ],\n      \"caption\": \"MarkOne (v1.0) powered by 3-cell lipo battery\"\n    }\n  ]\n}\n[/block]","excerpt":"","slug":"2-power-markone-beacon","type":"basic","title":"[2] Power MarkOne Beacon","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"59de5164666d650024f78b97","category":"59de5164666d650024f78b8c","project":"55d25cd63c74062300aee66b","user":"55d25c8d3c74062300aee669","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2015-10-19T17:30:30.175Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"name":"","status":200,"language":"json","code":"{}"},{"status":400,"language":"json","code":"{}","name":""}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":3,"body":"**This step is VERY important.** Please read this section carefully.\n\nIn order to achieve maximum detection range, the lens on the sensor needs to be *slightly unfocused*. This will cause the MarkOne beacon to appear larger, and thus be detectable at a longer range. \n\nPlace the MarkOne beacon at a distance of 10-15 meters from the sensor. Direct the IR LEDs toward the sensor. Open up Pixymon and click the 'Display raw video' button to view the video feed from the sensor. You should see the MarkOne beacon appear as a white blob. \n\nFocus the lens by rotating it until the image appears crisp/clear. It may be easier to do this outdoors in sunlight, because you will see other objects in the video feed. **After you have focused the lens, turn the lens approximately 1/4 of a rotation.** This will slightly unfocus the lens. You should notice that the MarkOne beacon grows in size in your video feed.  \n\nClick the 'Default program' button under the 'Action' tab. The MarkOne beacon should be reliably detected at a range of 15+ meters. The location of the beacon will be indicated by a white box on a black screen. If you **are** satisfied with the detection range, use the small black screw to hold the lens in place. If you are **not** satisfied with the detection range, you may need to adjust the lens again.\n[block:html]\n{\n  \"html\": \"<div></div>\\n<style>.embed-container { position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; } .embed-container iframe, .embed-container object, .embed-container embed { position: absolute; top: 0; left: 0; width: 100%; height: 100%; }</style><div class='embed-container'><iframe src='https://www.youtube.com/embed/zfoTyE0h4zQ' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\"\n}\n[/block]","excerpt":"","slug":"3-adjust-sensor-lens","type":"basic","title":"[3] Adjust Sensor Lens","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"59de5164666d650024f78b98","category":"59de5164666d650024f78b8c","user":"55d25c8d3c74062300aee669","project":"55d25cd63c74062300aee66b","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2016-01-15T14:53:33.432Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"status":200,"language":"json","code":"{}","name":""},{"name":"","status":400,"language":"json","code":"{}"}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":4,"body":"**Pixhawk I2C/Power Connection:** The four-wire connector enables I2C communication to Pixhawk, and also powers the sensor. Connectors are available on the web-store. Check the diagram below for proper wiring. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/jvf5ifSPSruAM5CAdby8_connecting-irlock-to-pixhawk-min.jpg\",\n        \"connecting-irlock-to-pixhawk-min.jpg\",\n        \"2007\",\n        \"990\",\n        \"#df1112\",\n        \"\"\n      ],\n      \"caption\": \"Sensor-to-Pixhawk Pin Connections\"\n    }\n  ]\n}\n[/block]\n**Mounting Orientation:** The sensor should be mounted in a particular orientation with respect to the Pixhawk flight controller. For example, see the IRIS+ images to the right. The sensor should face straight down (i.e., toward the ground). \n\nAn IRIS+ Sensor bracket is [available in the web-store](http://irlock.com/collections/frontpage/products/sensor-bracket-for-iris). \n[block:html]\n{\n  \"html\": \"<div></div>\\n<style>.embed-container { position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; } .embed-container iframe, .embed-container object, .embed-container embed { position: absolute; top: 0; left: 0; width: 100%; height: 100%; }</style><div class='embed-container'><iframe src='https://www.youtube.com/embed/I8QF313F3bs' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\"\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/FYNvaOkaTCwuxzJzsibE_bracketBottom02%20(2)_jpg.jpg\",\n        \"bracketBottom02 (2)_jpg.jpg\",\n        \"1000\",\n        \"927\",\n        \"#3b8bce\",\n        \"\"\n      ],\n      \"caption\": \"Mounted on bottom of IRIS+\"\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/pFRJIvNQo2BkZ8XAEZ5G_pixhawk-to-pixy-i2c-pin-connection-pic.jpg\",\n        \"pixhawk-to-pixy-i2c-pin-connection-pic.jpg\",\n        \"1600\",\n        \"1200\",\n        \"#764a45\",\n        \"\"\n      ],\n      \"caption\": \"Mounted to front of IRIS\"\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/e8Df1hbCT4avJpH3rnWw_i2c-cable-connection-min.jpg\",\n        \"i2c-cable-connection-min.jpg\",\n        \"1600\",\n        \"1200\",\n        \"#cc4b47\",\n        \"\"\n      ],\n      \"caption\": \"Connection to I2C Splitter\"\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/dQTjRmxxQIqJmoPnLbpP_pixhawk-i2c-cable-connection-e1433186576517-min.jpg\",\n        \"pixhawk-i2c-cable-connection-e1433186576517-min.jpg\",\n        \"1600\",\n        \"1200\",\n        \"#7eb1b9\",\n        \"\"\n      ],\n      \"caption\": \"Example of correct sensor orientation\"\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]","excerpt":"","slug":"4-connect-sensor-to-copter-pixhawk-1","type":"basic","title":"[4a] Pixhawk Connection","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"5a4fad79431d3e00321bd452","project":"55d25cd63c74062300aee66b","version":"59de5164666d650024f78b8b","category":"59de5164666d650024f78b8c","user":"55d25c8d3c74062300aee669","updates":[],"next":{"pages":[],"description":""},"createdAt":"2018-01-05T16:53:13.828Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"settings":"","results":{"codes":[{"status":200,"language":"json","code":"{}","name":""},{"name":"","status":400,"language":"json","code":"{}"}]},"auth":"required","params":[],"url":""},"isReference":false,"order":5,"body":"**I2C/Power Connection:** A four-wire connector enables I2C communication to Pixhawk2.1, and also powers the sensor. The Pixhawk2.1 connector is not yet available on the webstore. Check the diagram below for proper wiring. \n\nThe [Pixhawk2.1 Cable](https://irlock.com/collections/markone/products/ir-lock-to-pixhawk2-1-cable) can be purchased in the webstore. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/c39ea3f-p21connections.png\",\n        \"p21connections.png\",\n        1092,\n        867,\n        \"#232324\"\n      ],\n      \"caption\": \"Sensor-to-Pixhawk2.1 Pin Connections\"\n    }\n  ]\n}\n[/block]\n**Mounting Orientation:** The sensor should face straight down (i.e., toward the ground). And the top of the sensor should be directed toward the front of the copter (i.e., white button points toward front of copter). \n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/622d205-p21sensorSide.jpg\",\n        \"p21sensorSide.jpg\",\n        2000,\n        1125,\n        \"#292828\"\n      ]\n    }\n  ]\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/9dd2265-p21splitter.jpg\",\n        \"p21splitter.jpg\",\n        2000,\n        1125,\n        \"#2b2b2b\"\n      ]\n    }\n  ]\n}\n[/block]","excerpt":"","slug":"4-connect-to-pixhawk21","type":"basic","title":"[4b] Pixhawk2.1 Connection","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"59de5164666d650024f78b99","category":"59de5164666d650024f78b8c","project":"55d25cd63c74062300aee66b","user":"55d25c8d3c74062300aee669","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2015-10-19T17:45:35.325Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"status":200,"language":"json","code":"{}","name":""},{"name":"","status":400,"language":"json","code":"{}"}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":6,"body":"[block:callout]\n{\n  \"type\": \"warning\",\n  \"title\": \"Precision Landing EKF Settings\",\n  \"body\": \"We recommend turning off the precision landing EKF by setting the parameter PLND_EST_TYPE to 0.\"\n}\n[/block]\n\n[block:callout]\n{\n  \"type\": \"warning\",\n  \"title\": \"Precision Landing I2C Bus\",\n  \"body\": \"Choose the appropriate I2C bus by modifying the PLND_BUS parameter.\"\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/0cce7a7-p21params.jpg\",\n        \"p21params.jpg\",\n        724,\n        372,\n        \"#24252c\"\n      ],\n      \"caption\": \"Precision Landing parameters\"\n    }\n  ]\n}\n[/block]\n**ArduCopter Precision Landing Docs: **\n[http://ardupilot.org/copter/docs/precision-landing-with-irlock.html](http://ardupilot.org/copter/docs/precision-landing-with-irlock.html)","excerpt":"","slug":"5-pixhawk-firmware-precision-landing-settings","type":"basic","title":"[5] ArduCopter PL Parameters","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"59de5164666d650024f78ba4","category":"59de5164666d650024f78b8d","project":"55d25cd63c74062300aee66b","user":"55d25c8d3c74062300aee669","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2016-02-25T21:56:12.083Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"code":"{}","name":"","status":200,"language":"json"},{"status":400,"language":"json","code":"{}","name":""}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":0,"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Latest Firmwares\",\n  \"body\": \"Use the dropdown menu at the top-right to ensure that you are using the latest version of this documentation. (v2.0)\"\n}\n[/block]\n**Pixymon Software Files:**\nWindows: [pixymon_windows.exe](https://cdn.shopify.com/s/files/1/0599/7905/files/pixymon_windows-1.0.2beta.exe?290)\nMac: [pixyMon_mac.dmg](https://cdn.shopify.com/s/files/1/0599/7905/files/PixyMon_mac-1.0.2beta.dmg?999415577984468890)\nLinux: [pixymon_src.zip](https://cdn.shopify.com/s/files/1/0599/7905/files/pixymon_src-1.0.2beta.zip?1607987262528906640)\nDescription: This software is used to view the detection feed from the IR-LOCK Sensor, and upload firmware.\n[Pixymon Installation Instructions](http://cmucam.org/projects/cmucam5/wiki)\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/vhJgp4mQT7KQ1cHo6Bl4_whiteblock3.jpg\",\n        \"whiteblock3.jpg\",\n        \"1464\",\n        \"57\",\n        \"#323232\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]\n**IR-LOCK Sensor Firmware:** (.hex file)\n[MarkOne_1.0.1.hex](http://bit.ly/2hBMwtd)\n[block:html]\n{\n  \"html\": \"<div></div>\\n<style>.embed-container { position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; } .embed-container iframe, .embed-container object, .embed-container embed { position: absolute; top: 0; left: 0; width: 100%; height: 100%; }</style><div class='embed-container'><iframe src='https://www.youtube.com/embed/CL4XxFhQEEk' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\"\n}\n[/block]\n\n[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"ArduCopter Firmware\",\n  \"body\": \"Precision Landing is a default feature included in ArduCopter versions 3.4+\"\n}\n[/block]","excerpt":"","slug":"firmwaresoftware-links","type":"basic","title":"Firmware/Software Links","__v":0,"parentDoc":null,"childrenPages":[]}

{"_id":"59de5165666d650024f78baf","category":"59de5164666d650024f78b8e","project":"55d25cd63c74062300aee66b","user":"55d25c8d3c74062300aee669","version":"59de5164666d650024f78b8b","updates":[],"next":{"pages":[],"description":""},"createdAt":"2015-09-18T03:34:33.827Z","link_external":false,"link_url":"","githubsync":"","sync_unique":"","hidden":false,"api":{"results":{"codes":[{"status":200,"language":"json","code":"{}","name":""},{"language":"json","code":"{}","name":"","status":400}]},"settings":"","auth":"required","params":[],"url":""},"isReference":false,"order":0,"body":"**MarkOne V2.0**\nPulling the Control Pin to LOW (GND) will turn off the IR LEDs. The Control Pin is indicated in the figure below. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/4b3bf1a-ctrlpin.jpg\",\n        \"ctrlpin.jpg\",\n        1986,\n        1125,\n        \"#0f4797\"\n      ],\n      \"caption\": \"Control pin indicated by yellow circle.\"\n    }\n  ]\n}\n[/block]","excerpt":"","slug":"hardware-specs","type":"basic","title":"On/Off Control","__v":0,"parentDoc":null,"childrenPages":[]}