{"__v":44,"_id":"5672c176e3b6bb0d00b5af21","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Recommended Hardware:\",\n  \"body\": \"* [IR-LOCK Sensor](http://irlock.com/collections/shop/products/ir-lock-sensor-precision-landing-kit)\\n* [MarkOne Beacon](http://irlock.com/products/markone-v1-1) ([Standard](http://irlock.com/collections/markone/products/markone-v1-1), or [Wifi](http://irlock.com/collections/shop/products/markone-w-wifi))\\n* [Pixhawk-based Copter](https://store.3dr.com/products/3dr-pixhawk) (e.g., IRIS+)\\n\\n\\n* [MarkOne Case](http://irlock.com/products/case-for-markone-beacon) (optional)\\n* [Mounting Bracket for IRIS+](http://irlock.com/collections/shop/products/sensor-bracket-for-iris) (optional)\\n* [Laser Rangefinder](http://copter.ardupilot.com/wiki/common-rangefinder-landingpage/) (optional when using 3.3.3 firmware, e.g., [SF10/A](http://www.lightware.co.za/shop/en/drone-altimeters/33-sf10a.html) is strongly recommended)\"\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/DxQAamtZTamL6ZKqD5hS_MarkOneM_05C_MODjpg-min.jpg\",\n        \"MarkOneM_05C_MODjpg-min.jpg\",\n        \"4253\",\n        \"2306\",\n        \"#044999\",\n        \"\"\n      ],\n      \"caption\": \"\"\n    }\n  ]\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/Ht8jBbzRSzCf9dgqGiwQ_MarkOneW_07C_MODjpg-min.jpg\",\n        \"MarkOneW_07C_MODjpg-min.jpg\",\n        \"4604\",\n        \"2375\",\n        \"#698598\",\n        \"\"\n      ],\n      \"caption\": \"\",\n      \"sizing\": \"smart\"\n    }\n  ]\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 Copter and Pixhawk\n(5) Pixhawk Firmware & Precision Landing Settings\n\n[block:html]\n{\n  \"html\": \"<div></div>\\n<iframe src=\\\"//giphy.com/embed/9Z5HiANrUDt9S?html5=true\\\" width=\\\"440\\\" height=\\\"247\\\" frameBorder=\\\"0\\\" class=\\\"giphy-embed\\\" allowFullScreen></iframe>\\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/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]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-08-17T22:14:48.248Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","next":{"description":"","pages":[]},"order":0,"project":"55d25cd63c74062300aee66b","slug":"getting-started","sync_unique":"","title":"MarkOne Precision Landing Tutorial","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":5,"_id":"5672c176e3b6bb0d00b5af22","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Firmware/Software provided below\",\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]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-19T16:21:15.906Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":1,"project":"55d25cd63c74062300aee66b","slug":"1-sensor-firmware-software","sync_unique":"","title":"[1] Sensor Firmware & Software","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":4,"_id":"5672c176e3b6bb0d00b5af23","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"**Input Voltage, MarkOne w/ Wifi:** 10.2-13V DC*\n**Input Voltage, MarkOne:** 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\nNote that the input voltage requirements are different for the Wifi and non-Wifi variations of MarkOne. \n\nBoth units can be powered with a 3-cell lipo battery. \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 w/ Wifi powered by 3-cell lipo battery\"\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-19T17:09:06.515Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":2,"project":"55d25cd63c74062300aee66b","slug":"2-power-markone-beacon","sync_unique":"","title":"[2] Power MarkOne Beacon","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":0,"_id":"5672c176e3b6bb0d00b5af24","api":{"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","auth":"required","params":[],"url":""},"body":"**This step is VERY important.** Please read this section carefully.\n\nIn order to achieve 15 meters of detection range, the lens on the sensor actually 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 is easier to do this outdoors in sunlight, because you will see other objects in the video feed. If you are inside, you may only see the MarkOne beacon. **After you have focused the lens, turn the lens approximately 1/4 of a rotation** in either direction. 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. You should notice that the MarkOne beacon can 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. Also, ensure that the MarkOne beacon is facing toward the sensor.\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]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-19T17:30:30.175Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":3,"project":"55d25cd63c74062300aee66b","slug":"3-adjust-sensor-lens","sync_unique":"","title":"[3] Adjust Sensor Lens","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":13,"_id":"569907edcb127f0d003cc08f","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"**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). It is important that the sensor is mounted level with Pixhawk. \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\": \"Connect 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]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2016-01-15T14:53:33.432Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":4,"project":"55d25cd63c74062300aee66b","slug":"4-connect-sensor-to-copter-pixhawk-1","sync_unique":"","title":"[4] Connect Sensor to Copter & Pixhawk","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c176e3b6bb0d00b5af26","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"The precision landing features are included in a modified version of the APM flight control code. Modified APM:Copter V3.3 firmwares are provided below. \n\nAlso, the precision landing features have been enabled by default in the APM master code (APM3.4-dev).","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-19T17:45:35.325Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":5,"project":"55d25cd63c74062300aee66b","slug":"5-pixhawk-firmware-precision-landing-settings","sync_unique":"","title":"[5] Pixhawk Firmware & Precision Landing Settings","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":4,"_id":"5672c176e3b6bb0d00b5af27","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"*Modified AC3.3 Firmware\",\n  \"body\": \"Before flying with this modified AC3.3 firmware, make sure that you have had multiple successful flights with the official AC3.3 firmware.\"\n}\n[/block]\n**APM:Copter V3.3.3-rc2 IR-LOCK Firmware**\n**Quad:** [Arducopter_PL_Quad_3.3.3-rc2.px4](https://cdn.shopify.com/s/files/1/0599/7905/files/Arducopter_PL_Quad_3.3.3-rc2.px4?1670988843552316921)\n**Hexa:** [Arducopter_PL_Hexa_3.3.3-rc2.px4](https://cdn.shopify.com/s/files/1/0599/7905/files/Arducopter_PL_Hexa_3.3.3-rc2.px4?1670988843552316921)\n**Octa:** [Arducopter_PL_Octa_3.3.3-rc2.px4](https://cdn.shopify.com/s/files/1/0599/7905/files/Arducopter_PL_Octa_3.3.3-rc2.px4?1670988843552316921)\n**Source Code:** [Copter-3.3 Github](https://github.com/ThomasSFL/ardupilot/tree/Copter-3.3)\n**Latest Commit:** [593db3....](https://github.com/ThomasSFL/ardupilot/commit/593db3fed1c2f1a746700fa6fb99f4ef765c703b) \n**For Developers:** If you would like to compile the source code for yourself, you will need to modify one of the submodule files. Simply replace the irlock.cpp file with [this file](https://cdn.shopify.com/s/files/1/0599/7905/files/irlock.cpp?2161534595122538968). The irlock.cpp file is located in the following location: ardupilot\\modules\\PX4Firmware\\src\\drivers\\irlock \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/IRfo5GcHniU' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]\n\n[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"AC3.4-beta\",\n  \"body\": \"Precision Landing is now a default feature in the latest ArduCopter code. However, the latest precision landing code requires a sonar/lidar sensor (e.g., SF10/A). If you want to test precision landing without using a sonar/lidar, use the 3.3 code provided above.\"\n}\n[/block]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-13T20:34:34.501Z","excerpt":"APM:Copter V3.3 firmware with Precision Landing (PL) features","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","next":{"description":"","pages":[]},"order":6,"project":"55d25cd63c74062300aee66b","slug":"ac33-precision-landing-firmware","sync_unique":"","title":"[5a] AC3.3* PL Firmware","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c176e3b6bb0d00b5af28","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"After flashing the AC3.3* PL firmware to your flight controller, you will have access to 3 new parameters. Two of these parameters MUST be modified in before the precision landing features will function. And the other parameter controls the precision landing descent speed. \n\n**PRECLND_ENABLED**: Set this parameter to '1'. \n\n**PRECLND_SPEED**: This parameter does not need to be modified. It is intended to limit the horizontal speed of the copter during precision landing, but it is not currently used in the controls code. \n\n**PRECLND_TYPE**: Set this parameter to '2'. This corresponds to the IR-LOCK sensor type. \n\n**LAND_SPEED**: Descent speed during landing in cm/s. This value can be decreased to as low as 30cm/s. Typically, a lower value improves the accuracy of precision landings. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/A5qzGjFMSQGuGUKWZF4p_preclndpic.PNG\",\n        \"preclndpic.PNG\",\n        \"681\",\n        \"385\",\n        \"#4d76ad\",\n        \"\"\n      ],\n      \"caption\": \"Set ENABLED and TYPE to 1 and 2\"\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-13T22:00:06.648Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":7,"project":"55d25cd63c74062300aee66b","slug":"required-parameter-settings","sync_unique":"","title":"[5b] Required Parameter Settings","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c176e3b6bb0d00b5af29","api":{"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","auth":"required","params":[],"url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Flight Mode descriptions (below) apply to modified AC3.3* Firmware\",\n  \"body\": \"Currently, the ArduPilot master code (3.4-beta) includes Precision Landing in only the LAND flight mode.\"\n}\n[/block]\n**LAND**: Centers copter over IR target while descending at the descent rate prescribed in the parameter: PREC_LND SPEED. Applying roll or pitch will immediately disable the automated precision landing control. \n\n**LOITER**: Centers copter over IR target while holding altitude. Applying roll or pitch will immediately disable the automated precision landing control. \n\n**AUTO (LAND)**: When scripting a mission, the LAND command will center the copter over an IR target while descending at the descent rate prescribed in the parameter: PREC_LND SPEED.\n\n[block:callout]\n{\n  \"type\": \"warning\",\n  \"title\": \"Be prepared to switch to Stabilize mode if copter behaves abnormally.\",\n  \"body\": \"\"\n}\n[/block]\nFor your first flight, you should take off in STABILIZE mode and manually maneuver the copter over the MarkOne beacon. Then, switch the copter into LAND or LOITER mode. If the beacon is in-view of the sensor, you should see the copter respond by moving toward the beacon. Note: if you manually apply roll/pitch after switching into LAND/LOITER, this will disable the automated precision landing control. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/H6UVltJVRYa8WMd0xp4q_flightmodes.PNG\",\n        \"flightmodes.PNG\",\n        \"513\",\n        \"425\",\n        \"#5f6bab\",\n        \"\"\n      ]\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-13T21:23:14.794Z","excerpt":"Modified flight modes included in AC3.3* PL firmware","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","next":{"description":"","pages":[]},"order":8,"project":"55d25cd63c74062300aee66b","slug":"flight-modes","sync_unique":"","title":"[5c] Flight Modes","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":0,"_id":"5672c176e3b6bb0d00b5af2a","api":{"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","auth":"required","params":[],"url":""},"body":"Logged precision landing variables can be found under the 'PL' heading. \n\n**bX/bY**: Angle-to-target measurement in the body-frame reference BEFORE accounting for roll/pitch of copter. \n\n**eX/eY**: Angle-to-target measurement in the earth-frame reference AFTER accounting for roll/pitch of copter. \n\n**pX/pY**: Calculated distance of target from copter in earth-frame. Note that the distance calculation depends on the altitude measurement. Also, the altitude variable in this particular instance is range limited, such that a negative value or very small value is not used to calculate the position. \n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"    // get body-frame angles to target from backend\\n    if (!_backend->get_angle_to_target(_bf_angle_to_target.x, _bf_angle_to_target.y)) {\\n        _have_estimate = false;\\n    }\\n\\n\\tfloat x_rad = _bf_angle_to_target.x - _ahrs.roll;\\n\\tfloat y_rad = -_bf_angle_to_target.y + _ahrs.pitch;\\n\\n    // rotate to earth-frame angles\\n    _ef_angle_to_target.x = y_rad*_ahrs.cos_yaw() - x_rad*_ahrs.sin_yaw();\\n    _ef_angle_to_target.y = y_rad*_ahrs.sin_yaw() + x_rad*_ahrs.cos_yaw();\\n\\n    // get current altitude (constrained to no lower than 50cm)\\n    float alt = max(alt_above_terrain_cm, 50.0f);\\n\\n    // convert earth-frame angles to earth-frame position offset\\n    _target_pos_offset.x = alt*tanf(_ef_angle_to_target.x);\\n    _target_pos_offset.y = alt*tanf(_ef_angle_to_target.y);\\n    _target_pos_offset.z = 0;  // not used\",\n      \"language\": \"cplusplus\"\n    }\n  ]\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/ooNcFlG2QuexRhryFljK_PL%20Params.PNG\",\n        \"PL Params.PNG\",\n        \"172\",\n        \"310\",\n        \"#809da7\",\n        \"\"\n      ]\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]\nThe plot below shows 5 consecutive precision landings. A video of the flight is shown on the right. The green line indicates the altitude of the copter. The red line ('bX') indicates the angle-to-target measured by sensor in the x-direction, relative to the sensor. \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/IRfo5GcHniU' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/R54lsNo4RJWLsD6Regol_graph02.PNG\",\n        \"graph02.PNG\",\n        \"1450\",\n        \"513\",\n        \"#dc5b58\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]\nWhen the LAND mode is initiated, the copter begins moving toward the target, driving the angle measurement toward zero. Oscillations in the angle measurement are typically observed.\n\n'Flat lines' in the bX/bY plot indicate periods of time when no target is detected. This may due to the target being out of range of the sensor, or out of the field of view of the sensor. In this test (below), the MarkOne beacon is detected at distances of over 15 meters. \n\nToward the end of the landing, the angle measurement may increase significantly and/or turn into a 'flat line'. This result is expected if the copter does not land directly on top of the marker (i.e., 5-30cm away). The detection angle can easily become very large when the sensor is very close to the marker. Also, the marker can easily escape the field of view of the sensor during the final ~10cm of descent. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/pCo9gROSVyJeXbHgnd9Q_graph03.PNG\",\n        \"graph03.PNG\",\n        \"1439\",\n        \"510\",\n        \"#c86965\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]","category":"5672c174e3b6bb0d00b5af15","createdAt":"2015-10-13T22:49:55.809Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":9,"project":"55d25cd63c74062300aee66b","slug":"interpreting-pl-logs","sync_unique":"","title":"[5d] Interpreting PL Logs","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":16,"_id":"56cf787c44c5700b0095c1fc","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Accessing Latest Firmwares\",\n  \"body\": \"Use the dropdown menu at the top-right to ensure that you are using the latest version of this documentation.\"\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[MarkOneBeta_1.0.1.hex](http://bit.ly/1qvRaLL)\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/SdxJKmquQRa3R72gDsuW_whiteblock3.jpg\",\n        \"whiteblock3.jpg\",\n        \"1464\",\n        \"57\",\n        \"#323232\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]\n**APM:Copter V3.3.3-rc2 IR-LOCK Firmware**\n**Quad:** [Arducopter_PL_Quad_3.3.3-rc2.px4](https://cdn.shopify.com/s/files/1/0599/7905/files/Arducopter_PL_Quad_3.3.3-rc2.px4?1670988843552316921)\n**Hexa:** [Arducopter_PL_Hexa_3.3.3-rc2.px4](https://cdn.shopify.com/s/files/1/0599/7905/files/Arducopter_PL_Hexa_3.3.3-rc2.px4?1670988843552316921)\n**Octa:** [Arducopter_PL_Octa_3.3.3-rc2.px4](https://cdn.shopify.com/s/files/1/0599/7905/files/Arducopter_PL_Octa_3.3.3-rc2.px4?1670988843552316921)\n**Source Code:** [Copter-3.3 Github](https://github.com/ThomasSFL/ardupilot/tree/Copter-3.3)\n**Latest Commit:** [593db3....](https://github.com/ThomasSFL/ardupilot/commit/593db3fed1c2f1a746700fa6fb99f4ef765c703b) \n**->** Includes precision land feature in Land, Loiter, and Auto modes. \n**For Developers:** If you would like to compile the source code for yourself, you will need to modify one of the submodule files. Simply replace the irlock.cpp file with [this file](https://cdn.shopify.com/s/files/1/0599/7905/files/irlock.cpp?2161534595122538968). The irlock.cpp file is located in the following directory: ardupilot\\modules\\PX4Firmware\\src\\drivers\\irlock\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/EUMHb2XIR8e9T5Zr6058_whiteblock3.jpg\",\n        \"whiteblock3.jpg\",\n        \"1464\",\n        \"57\",\n        \"#323232\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]\n**APM:Copter V3.4-beta Firmware**:\n**->** Precision Landing is now a default feature in the latest ArduCopter code. Note that the latest ArduCopter precision landing code requires a sonar/lidar sensor (e.g., SF10/A). Read more [here](http://ardupilot.org/copter/docs/precision-landing-with-irlock.html). \n**->** The Mission Planner parameter names have been changed to \"PLAND...\" (instead of PRECLND...). See [this section](https://irlock.readme.io/docs/ac33-precision-landing-firmware) for more details.  \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\": \"Compiling APM Code\",\n  \"body\": \"The best information regarding APM:Copter code development is at the [Ardupilot site](http://dev.ardupilot.com/wiki/editing-the-code-with-eclipse/) in the APM wiki.\"\n}\n[/block]","category":"5672c174e3b6bb0d00b5af17","createdAt":"2016-02-25T21:56:12.083Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","next":{"description":"","pages":[]},"order":999,"project":"55d25cd63c74062300aee66b","slug":"firmwaresoftware-links","sync_unique":"","title":"Firmware/Software Links","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":11,"_id":"5672c175e3b6bb0d00b5af1e","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"**MarkOne w/ Wifi**\nPulling D5 to GND will turn off the IR LEDs. (HIGH is 3.3V)\n\n**MarkOne (non-Wifi)**\nPulling the Control Pin to High (5V) will turn off the IR LEDs. The Control Pin is indicated in the figure below. \n*NOTE: This feature is activated for non-Wifi units shipped **after March 01, 2016.** * \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/DnN5tbzbTduReBrp5FqG_ctrlPin.jpg\",\n        \"ctrlPin.jpg\",\n        \"1902\",\n        \"1031\",\n        \"#054798\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]","category":"5672c174e3b6bb0d00b5af16","createdAt":"2015-09-18T03:34:33.827Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":0,"project":"55d25cd63c74062300aee66b","slug":"hardware-specs","sync_unique":"","title":"On/Off Control","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":3,"_id":"5672c175e3b6bb0d00b5af1f","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"This section applies to the 'MarkOne w/ Wifi' unit\"\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/AowRDp4EQbmFLCKtHa1y_buttons.jpg\",\n        \"buttons.jpg\",\n        \"1925\",\n        \"1124\",\n        \"#22ade4\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]\n**FEATURES**\n**Connect Button:** Press once to initiate manual connection to Wifi network, using credentials stored on MarkOne. \n**Connect on Start-up:** Connect pins A0 and A1 to cause MarkOne to connect to Wifi at startup. \n**On/Off Control via D5 Pin:** Pulling D5 to GND will turn off the IR LEDs. (HIGH is 3.3V)\n**On/Off Control over the Internet:** See [this section](https://irlock.readme.io/v2.0/docs/claiming-a-markone-device) of the documentation to learn about on/off control over-the-internet.","category":"5672c174e3b6bb0d00b5af16","createdAt":"2015-10-20T16:28:07.266Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":1,"project":"55d25cd63c74062300aee66b","slug":"button-layout","sync_unique":"","title":"Button Layout","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c175e3b6bb0d00b5af20","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"This section applies to the 'MarkOne w/ Wifi' unit\"\n}\n[/block]\n**Blue D7 LED**\nThis LED indicates when the IR LEDs are on. \n\n**Main RGB LED**\n**Breathing White:** MarkOne is powered on, but not connected to the internet. This is the default mode of operation.\n**Breathing Blue:** MarkOne is connected to the internet. \n**Flashing Cyan:** OTA firmware update in progress. \n**Flashing Green:** MarkOne is attempting to connect to the internet using the loaded wifi credentials. \n**Blinking Blue:** MarkOne is is Listening Mode. It is waiting to receive wifi credentials.","category":"5672c174e3b6bb0d00b5af16","createdAt":"2015-10-20T16:33:41.631Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":2,"project":"55d25cd63c74062300aee66b","slug":"led-patterns","sync_unique":"","title":"LED Patterns","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":3,"_id":"5672c177e3b6bb0d00b5af2c","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"Connecting MarkOne to the internet is useful for remote on/off control over the internet, and also for uploading new beacon firmware. When MarkOne is powered on, it will immediately begin operating offline. A blue D7 LED indicates that the IR LEDs are active. The 'breathing white' main LED indicates that MarkOne is powered but NOT connected to the internet. This is the default mode of operation. Pressing the CONNECT button will initiate an attempt to connect to the internet. But first, wifi credentials must be loaded onto Mark One. \n\n**Loading Wifi Credentials onto MarkOne:**\n**-> **Power on MarkOne. The main LED should be 'breathing white', and the D7 LED should be blue. Hold the SETUP button for three seconds to put MarkOne into** Listening Mode**. The main LED should be blinking blue. \n**-> Go to [http://photonsoftap.meteor.com](http://photonsoftap.meteor.com).** Follow the instructions to load wifi credentials onto the Photon module on MarkOne. \n**->** Press the RESET button to reset MarkOne. Then, press the CONNECT button (Press hard. The button is stiff). The main LED should flash green, indicating that it is trying to connect to the internet. When MarkOne is successfully connected to the internet, the main LED will be breathing cyan. \n\n**Alternative Method:**\nIf the above method does not work, you can use the Particle CLI to load wifi credentials. First, install Particle CLI (see the 'Claiming a MarkOne' section). Then, use the wifi setup command below. The MarkOne unit should be put in **Listening Mode** by holding the SETUP button for three seconds. The main LED should be blinking blue. \n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle setup wifi\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n**Erasing Wifi Networks:**\nThe wifi networks stored on your MarkOne can be deleted by holding the SETUP button for 10 seconds. You should see the main LED flash blue rapidly. \n\n**Connecting to Internet on Startup:**\nIf you want MarkOne to automatically connect to the internet when powered on, you should connect pins A0 and A1 (i.e., solder a wire/jumper between the two pins). \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/DYd81J0JSTKdGOHktyQP_buttons.jpg\",\n        \"buttons.jpg\",\n        \"1925\",\n        \"1124\",\n        \"#22ade4\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/B1Y9nW4GQVi7ccaXCynA_photonmeteor01.JPG\",\n        \"photonmeteor01.JPG\",\n        \"1049\",\n        \"495\",\n        \"#2994ee\",\n        \"\"\n      ]\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af18","createdAt":"2015-10-20T03:08:56.813Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":0,"project":"55d25cd63c74062300aee66b","slug":"connecting-to-wifi-access-point","sync_unique":"","title":"Connecting to Wifi","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":0,"_id":"5672c177e3b6bb0d00b5af2d","api":{"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","auth":"required","params":[],"url":""},"body":"****Currently, the latest MarkOne firmware is shipped with the product (i.e., there is only one released version of the firmware). **\n\nMarkOne firmwares are automatically flashed over-the-air (OTA). When a new firmware is released (by IR-LOCK), the firmware will be automatically flashed to your MarkOne beacon the next time it is reset and re-connected to the internet (breathing cyan). The firmware update process is indicated by they main LED flashing magenta.","category":"5672c174e3b6bb0d00b5af18","createdAt":"2015-10-20T03:56:20.812Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":1,"project":"55d25cd63c74062300aee66b","slug":"updating-markone-firmware","sync_unique":"","title":"Updating MarkOne Firmware","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c177e3b6bb0d00b5af2e","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"Before you can control MarkOne over the internet, you will need to create an account with Particle, and 'claim' your device. \n\nYou will also need to install the Particle CLI, a command line interface that enables you to interact with MarkOne over the internet. \n\n**Install Particle CLI**\n**->** Follow the instructions here: [https://github.com/spark/particle-cli](https://github.com/spark/particle-cli)\n**->** In short, after installing node.js, you will type the command: $ npm install -g particle-cli\n(Note: you do NOT need the 'CC3000 Patch')\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/99b0zJsQzaIhfSqxPbZh_clicommands01.png\",\n        \"clicommands01.png\",\n        \"1318\",\n        \"705\",\n        \"#135d66\",\n        \"\"\n      ]\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]\n**Claiming MarkOne w/ Particle CLI**\n**->** Create account with Particle: [https://build.particle.io/login](https://build.particle.io/login)\n**->** Login to your particle account via Particle CLI.\n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle login\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n**->** Your Device ID should be located on the bottom of your MarkOne. \n**->** ***Optional:** If you need to find your Device ID, connect MarkOne via USB (DO NOT POWER MARKONE SIMULTANEOUSLY VIA BATTERY). Put MarkOne in Listening mode by holding the SETUP button for 3 seconds. The main LED should be flashing blue, and the D7 LED should be off. Use the identify command to retrieve the Device ID.\nWindows users must first install a driver. See the 'Installing the Particle Driver' section on this page: [link](https://docs.particle.io/guide/getting-started/connect/photon/). \n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle identify\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n**->** Reset MarkOne by pressing the Reset button. Then, connect MarkOne to the internet by pressing the Connect button. The main LED should be breathing cyan. \n**->** Claim your device. Use your Device ID (not '0123456789ABCDEFGHI').\n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle device add 0123456789ABCDEFGHI\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n**->** Check if you have successfully claimed your MarkOne device. \n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle list\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n\nAlternatively, if you already know your Device ID, you can claim a device using Particle Build.\n**Claiming MarkOne w/ Particle Build:**\n**->** Create account with Particle: [https://build.particle.io/login](https://build.particle.io/login)\n**->** Connect MarkOne to the internet by pressing the Connect button. The main LED should be breathing cyan. \n**->** Click the 'Devices' button on the bottom-left. Click 'Add New Device'. \n**->** Enter your 'Device ID'.\n**->** If you have successfully entered your Device ID, then the website should ask you to name your device. You can change the device name at any time. \n*If this claiming method does not work for you, then try the secondary method below.\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/wXWCLrjlQ5OGmAANVpat_particlelogin01.JPG\",\n        \"particlelogin01.JPG\",\n        \"597\",\n        \"520\",\n        \"#aa9316\",\n        \"\"\n      ]\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]\n\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/IkSgyF4uRrOcbRHkkyDp_deviceid01.JPG\",\n        \"deviceid01.JPG\",\n        \"1137\",\n        \"781\",\n        \"#07729b\",\n        \"\"\n      ]\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af18","createdAt":"2015-10-20T16:50:37.007Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":2,"project":"55d25cd63c74062300aee66b","slug":"claiming-a-markone-device","sync_unique":"","title":"Claiming a MarkOne Device","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c177e3b6bb0d00b5af2f","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"Before you can control MarkOne over the internet, you will need to create an account with Particle, and 'claim' your device. (see the previous section)\n\n**->** Login to your particle account via Particle CLI.\n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle login\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n**->** List your devices to confirm that your device(s) is online. \n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle list\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n**->** Toggle the IR LEDs off. The blue D7 LED should turn off. Use your device's name. \n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle call DeviceName toggle \\\"off\\\"\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\n}\n[/block]\n**->** Toggle the IR LEDs on. The blue D7 LED should turn on. Use your device's name. \n[block:code]\n{\n  \"codes\": [\n    {\n      \"code\": \"$ particle call DeviceName toggle \\\"on\\\"\",\n      \"language\": \"text\",\n      \"name\": \" \"\n    }\n  ]\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/qQ6N4sJaMrQ' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\"\n}\n[/block]","category":"5672c174e3b6bb0d00b5af18","createdAt":"2015-10-20T15:49:56.066Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":3,"project":"55d25cd63c74062300aee66b","slug":"onoff-control-over-the-internet","sync_unique":"","title":"On/Off Control Over the Internet","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c175e3b6bb0d00b5af1d","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"The IR-LOCK sensor can be connected to a Linux PC via USB, and sensor data can be retrieved via Python script. This is useful for integrating the sensor into a wider variety of drones and robotics applications. \n*(Tested on Ubuntu 14.04)*\n\n**[1] Install Pixymon:** Follow the instructions provided here: [link](https://github.com/ThomasSFL/Pixymon_102beta). The provided version of Pixymon is required to ensure compatibility with IR-LOCK sensor firmware. \n\n**[2] Build libpixyusb as a Python Module:** Follow the instructions provided here: [link](http://cmucam.org/projects/cmucam5/wiki/Building_libpixyusb_as_a_Python_module_on_Linux).  \n\nNow you are good to go! The sample python script should successfully print out target (block) data whenever a target is detected.\n\n**If you run into difficulties with any of the commands, try using \"sudo\" command prefix.\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/vBbrZaSwQgGMjZZND24g_Screenshot%20from%202015-11-17%2012-46-09.jpg\",\n        \"Screenshot from 2015-11-17 12-46-09.jpg\",\n        \"873\",\n        \"815\",\n        \"#7d3237\",\n        \"\"\n      ]\n    }\n  ],\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af19","createdAt":"2015-11-17T17:21:51.629Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":0,"project":"55d25cd63c74062300aee66b","slug":"interfacing-sensor-w-linux-and-python","sync_unique":"","title":"Sensor Output on Linux via Python","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":8,"_id":"5672c177e3b6bb0d00b5af30","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"[block:callout]\n{\n  \"type\": \"info\",\n  \"title\": \"Creating a robotics product w/ MarkOne technology?\",\n  \"body\": \"We are here to help! Contact us at** info@irlock.com**\"\n}\n[/block]\nIR-LOCK offers a range **consulting** and **licensing** services based on the patent pending MarkOne technology.\n  **->** Optimized/customized detection systems\n  **->** Precision landing and GPS-denied navigation development\n  **->** MarkOne technology integration and robotics product development\n  **->** MarkOne technology licensing\n  **->** Customized beacon shapes and form-factors\n  **->** Weatherproofing and ruggedization","category":"5672c174e3b6bb0d00b5af1a","createdAt":"2015-09-18T03:29:11.956Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":0,"project":"55d25cd63c74062300aee66b","slug":"title","sync_unique":"","title":"MarkOne Integration Consulting & Licensing","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c178e3b6bb0d00b5af32","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"##What is the detection range of MarkOne with the IR-LOCK sensor?\n\nThe reliable detection range is at least 15 meters, which corresponds to the altitude\nrequired to bring MarkOne within the sensor's field of view with 15 feet of horizontal GPS error. \n\nDetailed specifications are provided below:\n[MarkOne V1.1 Detection Characteristics](https://cdn.shopify.com/s/files/1/0599/7905/files/specs_M_V11_01_c558cbb9-db49-4b25-9448-a900e37a8e60.pdf?11244443903498702518)\n[MarkOne w/ Wifi Detection Characteristics](https://cdn.shopify.com/s/files/1/0599/7905/files/specs_Wifi_V10_01.pdf?9796054797124128772) \n[block:html]\n{\n  \"html\": \"<div></div>\\n<iframe src=\\\"https://vine.co/v/eILdX7BlApJ/embed/simple\\\" width=\\\"400\\\" height=\\\"400\\\" frameborder=\\\"0\\\"></iframe><script src=\\\"https://platform.vine.co/static/scripts/embed.js\\\"></script>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-08-17T22:18:17.354Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":0,"project":"55d25cd63c74062300aee66b","slug":"faq","sync_unique":"","title":"Detection Range","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":2,"_id":"5672c178e3b6bb0d00b5af33","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"##Can the IR-LOCK sensor (Pixy) be replaced with a companion computer + camera sensor?\n\nCurrently, using the IR-LOCK sensor is the best way to deliver a consistent machine vision experience to UAV developers (i.e., 50fps detection algorithm w/ reliable target detection).  Simply plug the IR-LOCK sensor into your flight controller, and you will get the same target detection performance as other developers around the world. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/GgUzuBBfRQyCWsfJ8Y5B_navio02.jpg\",\n        \"navio02.jpg\",\n        \"1311\",\n        \"565\",\n        \"#b4641c\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-18T14:44:17.439Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":1,"project":"55d25cd63c74062300aee66b","slug":"detection-range","sync_unique":"","title":"Sensor Selection","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c178e3b6bb0d00b5af34","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"##Is a Wifi connection required to operate MarkOne?\n\nNo. Simply plug in a battery and you are good to go. Wifi is disabled by default.\n\n##What is the purpose of the Wifi connection?\n\nWifi connection enables remote on/off control of your MarkOne landing beacons via the internet. This opens up many development opportunities for UAS automation systems. \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/LDcSA5SPix8Dg3U1DIcw_CloudNetwork03jpg.jpg\",\n        \"CloudNetwork03jpg.jpg\",\n        \"1024\",\n        \"464\",\n        \"#08aaed\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-18T15:17:50.734Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":2,"project":"55d25cd63c74062300aee66b","slug":"wifi3g","sync_unique":"","title":"WiFi","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":0,"_id":"5672c178e3b6bb0d00b5af35","api":{"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","auth":"required","params":[],"url":""},"body":"##What flight control code is compatible with IR-LOCK?\n\nRecent development has been conducted with flight code based on AC3.3. Also, modified AC3.2.1 flight code is available [here](http://docs.irlock.com/#cat-4). Precision landing with IR-LOCK is a feature that is scheduled for official support in APM:Copter (ArduCopter) version 3.4 (see [APM wiki](http://copter.ardupilot.com/wiki/precision-landing-with-irlock/), and [developer discussion](https://groups.google.com/forum/#!topic/drones-discuss/aLFxxM03ZM8)). So you can find precision landing features in the master branch of ardupilot. Demonstrations have also been conducted with [ardupilot-solo](https://vimeo.com/138539664).\n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/BzFUSixKStGiKPO2GbLi_DevTools02_480x318jpg.jpg\",\n        \"DevTools02_480x318jpg.jpg\",\n        \"480\",\n        \"318\",\n        \"#c48c7c\",\n        \"\"\n      ]\n    }\n  ]\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/x34n1cHc0CY' 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://player.vimeo.com/video/138539664' frameborder='0' webkitAllowFullScreen mozallowfullscreen 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/2z14S_a6bNk' frameborder='0' allowfullscreen></iframe></div>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-18T15:25:16.038Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":3,"project":"55d25cd63c74062300aee66b","slug":"flight-control-code","sync_unique":"","title":"Flight Control Code","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":0,"_id":"5672c178e3b6bb0d00b5af36","api":{"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","auth":"required","params":[],"url":""},"body":"##Which flight controllers are compatible with IR-LOCK?\n\nThe IR-LOCK sensor has been integrated with Pixhawk. Connection instructions are provided [here](http://docs.irlock.com/#document-3). Also, a demonstration has been [performed with Pixhawk2](https://vimeo.com/138539664) (in the 3DR SOLO). \n[block:image]\n{\n  \"images\": [\n    {\n      \"image\": [\n        \"https://files.readme.io/tXzPdntKTCKJjdSAFF5u_PixandPixy_1024x583jpg-1024x583.jpg\",\n        \"PixandPixy_1024x583jpg-1024x583.jpg\",\n        \"1024\",\n        \"583\",\n        \"#dc1618\",\n        \"\"\n      ]\n    }\n  ]\n}\n[/block]","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-18T15:31:47.108Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":4,"project":"55d25cd63c74062300aee66b","slug":"supported-flight-controllers","sync_unique":"","title":"Supported Flight Controllers","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":8,"_id":"5672c178e3b6bb0d00b5af37","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"##Is there a better connector for the IR-LOCK-to-Pixhawk connection?\n\nThe easiest way to connect the IR-LOCK Sensor to Pixhawk is to use the [cable](http://irlock.com/collections/shop/products/pixhawk-cable) sold in the webstore. However, this cable is not a reliable long-term connection. You can create a more reliable connector with off-the-shelf parts. The parts list is below, and you can see and example of the connector at [the end](https://youtu.be/I8QF313F3bs?t=1m33s) of the video below. \n\n* 1x [10 Pos Socket Connector](https://www.digikey.com/product-search/en?keywords=s9286-nd)\n* 4x [Pre-crimped Cables (different colors available)](https://www.digikey.com/product-search/en?keywords=h4bxt-10112-w6-nd)\n* 1x [4 Pos Connection Socket](https://www.digikey.com/product-detail/en/DF13-4S-1.25C/H2181-ND/241750) \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]","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-18T16:19:55.309Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":5,"project":"55d25cd63c74062300aee66b","slug":"solar-power","sync_unique":"","title":"Cables and Connectors","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":0,"_id":"5672c178e3b6bb0d00b5af38","api":{"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","auth":"required","params":[],"url":""},"body":"##What is the FOV of the IR-LOCK sensor?\n\nThe default lens included with the IR-LOCK sensor is 3.6mm lens. With this lens, the horizontal FOV is approximately 60 degrees, and the vertical FOV is approximately 35 degrees. \n\nThe FOV can be modified by changing the lens. Remember to choose a lens that does NOT include an IR-cut filter. A larger field of view will typically reduce the detection range, since the larger FOV makes everything appear smaller. Also, Keep in mind that changing the lens can effect the controls performance. The relevant code is located in the irlock.cpp file ([link](https://github.com/IR-LOCK/PX4Firmware/blob/Copter-3.3/src/drivers/irlock/irlock.cpp#L71)).","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-18T16:26:06.771Z","excerpt":"","githubsync":"","hidden":false,"link_external":false,"link_url":"","order":6,"project":"55d25cd63c74062300aee66b","slug":"sensor-field-of-view-fov","sync_unique":"","title":"Sensor Field of View (FOV)","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":4,"_id":"5672c178e3b6bb0d00b5af39","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"##What is the expected landing accuracy?\n\nThe typical landing accuracy ranges from 5 to 30cm. The accuracy is primarily influenced by the controls code, which is under active development, as well as tuning parameters. Keep in mind that every copter has different flight characteristics and requires customized tuning. IR-LOCK's reference platforms have been the IRIS+ and 3DR Solo. Commercial/industrial users have also had success with custom-built octo and hexa builds. \n\nIR-LOCK provides customized consulting and development for precision landing and GPS-denied navigation. Contact us at info@irlock.com. \n[block:html]\n{\n  \"html\": \"<div></div>\\n<iframe src=\\\"https://vine.co/v/eDh77ETiUtV/embed/simple\\\" width=\\\"400\\\" height=\\\"400\\\" frameborder=\\\"0\\\"></iframe><script src=\\\"https://platform.vine.co/static/scripts/embed.js\\\"></script>\\n<style></style>\",\n  \"sidebar\": true\n}\n[/block]","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-18T16:55:56.030Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":7,"project":"55d25cd63c74062300aee66b","slug":"landing-accuracy","sync_unique":"","title":"Landing Accuracy","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}

{"__v":1,"_id":"5672c178e3b6bb0d00b5af3a","api":{"auth":"required","params":[],"results":{"codes":[{"name":"","code":"{}","language":"json","status":200},{"name":"","code":"{}","language":"json","status":400}]},"settings":"","url":""},"body":"##Can the sensor be attached to a gimbal such that it is always pointed straight down?\n\nYes, you can attach the sensor to a downward-facing gimbal. However, this is not absolutely necessary, since the roll/pitch angles of the copter are already accounted for in the ArduCopter code (for example, see [this code](https://github.com/diydrones/ardupilot/blob/master/libraries/AC_PrecLand/AC_PrecLand.cpp#L144)). The advantage of adding a gimbal is that the copter can roll/pitch aggressively without the risk of losing sight of the beacon.\n\n[Terms](http://irlock.com/pages/terms)","category":"5672c174e3b6bb0d00b5af1c","createdAt":"2015-09-21T16:28:49.460Z","excerpt":"","githubsync":"","hidden":false,"isReference":false,"link_external":false,"link_url":"","order":8,"project":"55d25cd63c74062300aee66b","slug":"gimbal-attachment","sync_unique":"","title":"Gimbal Attachment","type":"basic","updates":[],"user":"55d25c8d3c74062300aee669","version":"5672c174e3b6bb0d00b5af14","childrenPages":[]}