Payloads and Gimbals

Inspection Cameras

The design of our UAVs allow the assembly of different modules to answer the needs of the user.The following sub-sections describe some of the payloads that are integrated and can be used with HEIFU.

RGB Cameras

Name	Resolution	FOV	Zoom	Thermal	Weight	Size (mm)	Power	Gimbal
HD Camera	1080p, 60fps	65º	N/A	N/A	53g	Φ30×31	<0.5W	N/A
DomeHD	1080p, 30fps	90º	N/A	N/A	85g	65*43*50	<12W	Only pitch axis
UHD	4K, 25fps	93º	6x (Digital)	N/A	95g	55*55*70	<12W	Yaw: ±160º
LS80	1080p, 30fps	60º	x80 = x40+x2	N/A	140g	40x40x75	4.5W	Yaw: ±165º
CTS	1080p, 30fps	60º	x40 = x20+x2	480p	160g	59x43x76	~3.5W	Yaw: ±165º
RTS	720p, 30fps	38.8º	x13.2 = x6.6+x2	480p	160g	Φ53; 78	7W	Yaw: ±180º (no 360º)
RTS2	1080p, 30fps	60º	x40 = x20+x2	480p	180g	Φ53; 81	7W	Yaw: ±180º (no 360º)
RTS3	1080p, 30fps	60º	x40 = x20+x2	480p	180g	Φ53; 81	7W	Yaw: ±180º (no 360º)
RTS4	720p, 30fps	38.8º	x13.2 = x6.6+x2	480p	220g	Φ64; 94	7W	Yaw: ±180º (no 360º)
RTS5	1080p, 30fps	60º	x40 = x20+x2	480p	320g	Φ64; 94	10W	Yaw: ±180º (no 360º)
RTS6	1080p, 30fps	60º	x40 = x20+x2	480p	250g	Φ64; 94	7W	Yaw: ±180º (no 360º)
RTS PRO	1080p, 30fps	60º	x40 = x20+x2	720p	350g	Φ64; 94	10W	Yaw: ±165º
AS	1080p, 30fps	60º	x80 = x40+x2	720p	640g	Φ90 ; 120	10W	Yaw: ±165º
SLAS	4K, 30fps	88º	x180 = x30+x6	720p	870g	182*140*135	9W	Yaw: ±180º (360º)
Seeker-10	1080p, 60fps	~60º	x10	N/A	400g	105x91x98	3.84W	Yaw:±150°
EH30GT	4K, 25 fps	60º	x35	N/A	842g	175x100x162	8.4W	Yaw: ±180º (360º)
EH640	4K, 25 fps	60º	x30	704x576	<975g	115x166x184	8.4W	Yaw: ±180º (360º)

HD Camera

The RGB (or visible camera) that comes with this package is a high definition camera or equivalent. This camera enables the capture of live images in the visible spectrum with an image resolution of up to 3280 x 2464 pixels or video up to 1920 x 1080 pixels, 30 fps. The camera counts on a 3674 x 2760 mm sensor size (1/4” format).

The camera is assembled on the front of the drone, on the primary gimbal, at the battery compartment level.

Features	Use environment:	Indoor/Outdoor
	Ideal range:	.3 m to 3 m
	Image sensor technology:	Global Shutter
Depth	Depth technology:	Stereoscopic
	Depth Field of View (FOV):	87° × 58°
	Depth output resolution:	Up to 1280 × 720
	Minimum depth distance (Min‑Z) at max resolution:	~28 cm
	Depth Accuracy:	<2% at 2 m1
	Depth frame rate:	Up to 90 fps
RGB	RGB frame resolution:	1920 × 1080
	RGB sensor FOV (H × V):	69° × 42°
	RGB frame rate:	30 fps
	RGB sensor resolution:	2 MP
	RGB sensor technology:	Rolling Shutter
Major Components	Camera module:	Intel RealSense Module D430 + RGB Camera
	Vision processor board:	Intel RealSense Vision Processor D4
Physical	Form factor:	Camera Peripheral
	Connectors:	USB‑C* 3.1 Gen 1*
	Length × Depth × Height:	90 mm × 25 mm × 25 mm
	Mounting mechanism:	One 1/4‑20 UNC thread mounting point. Two M3 thread mounting points.

DomeHD

Full HD camera with integrated single axis gimbal and plastic protection (IP65).

Overall	Video Output Port:	Ethernet
	Control Signal Input Port:	S.Bus / PWM
	Power Consumption:	12W (Max)
	Working Temperature:	-10 ~ 50 ºC
	Dimension:	65*43*50 mm
	Waterproof Level:	IP65
	Weight:	85 g
Camera	Image Sensor:	1/2.7-inch CMOS, 2 MP
	Recording Resolution:	1080p
	FPS:	30 fps
	File Format	JPG/MP4
	FOV	Horizontal 160°
Gimbal	Controllable Pitch Angle:	-90° ~ +25°

UHD

4K 8MP Ultra HD camera with 6X digital zoom and integrated 3 axis gimbal.

Overall	Video Output Port:	Ethernet, HDMI, CVBS
	Control Signal Input Port:	S.Bus / UART / UDP
	Control Signal Output Port	S.Bus
	Power Consumption:	12W (Max)
	Working Temperature:	-10 ~ 50 ºC
	Dimension:	55*55*70 mm
	Weight:	95 g
Camera	Image Sensor:	Sony 1/1.7-inch, 8 MP
	Zoom:	6X digital
	Recording Resolution:	4K/2K/1080p
	FPS:	30 fps
	File Format	JPG/MP4
	FOV:	93°
Gimbal	Angular Vibration Range:	±0.01°
	Controllable Pitch Angle:	-135° ~ +45°
	Controllable Yaw Angle:	-160° ~ +160°
	Controllable Roll Angle:	-30° ~ +30°

CTS, RTS and AS cameras

All the cameras in the following sub-section contain the following image processing, information, gimbal control capabilities described in the following table.

Capabilities and functions common for CTS, RTS and AS cameras
Video compression	H264 & H265
Video Streaming over IP	MPEG2-Transport-Stream (M2TS) & Real-Time-Streaming-Protocol (RTSP)
Tracking	Static and moving object tracking
Snapshot	JPEG + EXIF + XMP
Video and Snapshot storage	MicroSD (SDXC card in exFAT format)
Video resolution	720p / 1080p
Geo Referencing	Point to coordinate, Ground crossing location, and more
Control	Mavlink messages
Report	KLV / MISB ST 0601 / STANAG 4609
Object Detection and Classification	Human & Vehicle / Smoke & Fire / Human in water / Marine Vessel
License Plate Reading	US, Europe, Other
Video Motion Detection	Detecting moving objects in the scene
Object Coordinates Refinement	Based on pre-stored orthophoto of the area
Visible / IR display modes	Picture In Picture, Fusion, Side by Side
Physical Interfaces	UART TTL x 4; USB; MicroHDMI; Ethernet; Micro SD card

The following sections describe the particular specifications for each of the cameras belonging to this family.

LS80

Sensor Types	Visible (extended zoom)
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm
Max. FOV	60º
Zoom	x80 = x40 (optical) + x2 (digital)
Thermal camera	N/A
Weight	140g
Size (LxWxH)	40x40x75 mm
Power	4.5W
Gimbal	Yaw range: [-165º, 165º]; Pitch range: [-135º, 25º];

CTS

Sensor Types	Visible + Thermal
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm
Max. FOV	60º
Zoom	x40 = x20 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-14 μm); Resolution: 640 x 480; Zoom: x4 continuous digital; HFOV: 32°
Weight	160g
Size (LxWxH)	59x43x76 mm
Power	~3.5W
Gimbal	Yaw range: [-165º, 165º]; Pitch range: [-135º, 45º]; Angular Velocity: 105º/s

RTS

Sensor Types	Visible + Thermal
Resolution	1280x720
Sensor	Visible: 400-700 nm
Max. FOV	38.8º
Zoom	x13.2 = x6.6 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-12μm); Resolution : 640 x 480; Zoom : x4 digital; HFOV : 32°
Weight	160g
Size (LxWxH)	Diameter: 53mm; Height: 78mm
Power	7W
Gimbal	(Non-continuous 360º yaw) ; Yaw range: [-180º, 180º]; Pitch range: [-80º, 45º]

RTS2

Sensor Types	Visible + Thermal
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm
Max. FOV	60º
Zoom	x40 = x20 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-14μm); Resolution : 640 x 480; Zoom : x4 digital; HFOV : 32°
Weight	180g
Size (LxWxH)	Diameter: 53mm; Height: 81mm
Power	7W
Gimbal	(Non-continuous 360º yaw) ; Yaw range: [-180º, 180º]; Pitch range: [-80º, 45º]

RTS3

Sensor Types	Visible + Thermal
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm, Delay < 40msec
Max. FOV	60º
Zoom	x40 = x20 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-14μm); Resolution : 640 x 480; Zoom : x4 digital; HFOV : 32°
Weight	180g
Size (LxWxH)	Diameter: 53mm; Height: 81mm
Power	7W
Gimbal	(Non-continuous 360º yaw) ; Yaw range: [-180º, 180º]; Pitch range: [-80º, 45º]

RTS4

Sensor Types	Visible + Thermal
Resolution	1280x720
Sensor	Visible: 400-700 nm
Max. FOV	38.8º
Zoom	x13.2 = x6.6 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-12μm); Resolution : 640x480; Zoom : x4 digital; HFOV : 18°
Weight	220g
Size (LxWxH)	Diameter: 64mm; Height: 94 mm
Power	7W
Gimbal	(Non-continuous 360º yaw) ; Yaw range: [-180º, 180º]; Pitch range: [-135º, 45º]

RTS5

Sensor Types	Visible + Thermal
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm, Delay < 40msec
Max. FOV	60º
Zoom	x40 = x20 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-14μm); Resolution : 640 x 480; Zoom : x4 digital; HFOV: 18°
Weight	320g
Size (LxWxH)	Diameter: 64mm; Height: 94mm
Power	10W
Gimbal	(Non-continuous 360º yaw) ; Yaw range: [-180º, 180º]; Pitch range: [-135º, 45º]

RTS6

Sensor Types	Visible + Thermal
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm, Delay < 40msec
Max. FOV	60º
Zoom	x40 = x20 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-14μm); Resolution: 640x480; Zoom: x4 digital; HFOV: 18°
Weight	250g
Size (LxWxH)	Diameter: 64mm; Height: 94 mm
Power	7W
Gimbal	(Non-continuous 360º yaw) ; Yaw range: [-180º, 180º]; Pitch range: [-135º, 45º]

RTS PRO

Sensor Types	Visible + Thermal
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm
Max. FOV	60º
Zoom	x40 = x20 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-14μm); Resolution: 1280x720 HD; Zoom: x4 digital; HFOV: 25°
Weight	350g
Size (LxWxH)	; Diameter: 64mm; Height: 94 mm
Power	10W
Gimbal	Yaw range: [-165º, 165º]; Pitch range: [-135º, 45º]

AS

Sensor Types	Visible + Thermal
Resolution	1280x720 / 1920x1080
Sensor	Visible: 400-700 nm
Max. FOV	60º
Zoom	x80 = x40 (optical) + x2 (digital)
Thermal camera	LWIR uncooled (8-14μm); Resolution: 1280 x 720 HD; Zoom: x8 digital; HFOV: 17.5°
Weight	640g
Size (LxWxH)	Diameter: 90 mm; Height: 120 mm
Power	10W
Gimbal	Yaw range: [-165º, 165º]; Pitch range: [-135º, 45º]

SLAS

3-Axis Stabilized gimbal (full 360º continuous rotation yaw) with 4 Sensors: 4K 8MP 30X Optical zoom camera; 640x512 thermal sensor; High accuracy laser rangefinder; 2K Wide Angle lens

Overall	Video Output Port:	Ethernet
	Control Signal Input Port:	S.Bus / UART / UDP
	Control Signal Output Port	UDP
	Power Consumption:	9W (avg), 20W (Max)
	Working Temperature:	-10 ~ 50 ºC
	Dimension:	182*140*134.5 mm
	Weight:	870 g
Gimbal
	Angular Vibration Range:	±0.01°
	Controllable Pitch Angle:	-90° ~ +25°
	Controllable Yaw Angle:	continuous 360º
	Roll Angle:	-45° ~ +45°
Zoom Camera
	Lens:	30X Optical Zoom (180X Hybrid Zoom)
	Focal Length:	4.8% to 149 mm (±5%)
	Image Sensor:	1/2.7 Inch, 8 MP effective resolution
	Aperture:	F1.3 to F4.8 (±5%)
	FOV:	Horizontal 62°
	Video Recording Resolution: - 4K @ 30 fps - 2K @ 30 fps - 1080p @ 30fps - 720p @ 30 fps
	Still Photo Resolution:	4K (4096 x 2160)
Thermal Imaging
	Resolution:	640 x 512
	Digital Zoom:	2X
	Lens - Focal Length: - Aperture: - Fixed Focus - Athermalization	19 mm F1.1
	Wavelength Range:	8 ~ 14 um
	Temperature Measuring Range: - High Gain: - Low Gain:	-20 ~ +150ºC 0 ~ +550ºC
	Temperature Measuring Accuracy	+-2ºC (-20 ~ +150ºC) +-3ºC (0 ~ +550ºC)
	Temperature Measuring Mode: - Point to Measurement - Full Screen Measurement
Wide Angle
	Image Sensor:	1/2.8 Inch, 4 MP effective resolution
	Equivalent Focal Length:	21 mm
	FOV:	Horizontal 88°
	Video Recording Resolution:	2K (2560 x 1440) @ 30 fps
	Still Photo Resolution:	2K (2560 x 1440)
Range Finder
	Range:	5 ~ 1200 m
	Wavelength Range:	900 ~ 908 nm
	Resolution:	0.1 m
	Ranging Accuracy:	±1 m (3 ~ 100 m) ±1 + L*0.25% m, L=Length (100 ~ 600 m)
	Laser Pulse Frequency:	3 Hz
	Max Laser Power:	5 mW
General Camera Specs
	Video Storage Bitrate:	15 Mbps (H.265 codec)
	File Storage Format:	FAT32
	Image Format:	JPG
	Video Format:	MP4
	Supported MicroSD Cards:	MicroSD Class10, Max 128GB
	Still Photography Mode:	Single
	Metering Mode:	Evaluative metering

360 Cameras

Insta 360 8K Pro VR

The insta360 Pro is a 360º VR camera equipped with six 200° lenses that record in 8K, allowing a full user’s experience. The visualization of this stream is already available at Beyond Skyline and is compatible with VR equipment (you can contact Beyond Vision for more information regarding this equipment). Furthermore, the camera has multiple functionalities and ports, and we advise you do carefully read the specific user manual of the camera.

A support adapter is provided with the purchase of this equipment to mount it in HEIFU®. Due to the weight of the camera, we recommend that when using it, don’t use any more equipment to maintain the drone as light as possible for better stability.

Please see Insta360 setup for instructions on how to setup the camera’s configurations and start live streaming.

360 photos	Maximum at 7680x3840 (8K) (real-time stitching OR post-processing stitching)
360 videos	Maximum at 3840x1920@30fps (4K) (real-time stitching/live streaming) Maximum at 7680x3840@30fps (8K) (post-processing stitching)
360 3D photos	Maximum at 7680x7680 (8K) (real-time stitching OR post-processing stitching)
360 3D videos	Maximum at 3840x3840@24fps (4K) (real-time stitching/live streaming) Maximum at 6400x6400@30fps (6K) (post-processing stitching)
Lenses	6 x F2.4 fisheye lenses
File	MP4, JPG, RAW
Material	Aluminum alloy, polycarbonate
Sound	Built-in mic x 4 AUX
Dimensions	Ø143mm
Weight	1228g
Storage	SD card USB3.0 High-Speed driver
Interface	HDMI 2.0 Type-D (for the monitoring and output of footage) RJ45 Ethernet interface (for stable cable communication) USB Type-C (for high-speed file transfer)
Battery	5100mAh removable battery (with 75 min of endurance) 12V 5A DC adapter
Live streaming	Up to 3840x3840 (4K) at 24fps H264 video coding and 3840x1920 (4K) at 30fps H264 video coding on any 360-supporting platform, including Facebook and YouTube

Miscellaneous cameras

Q30F 30x Optical Zoom

General Specifications
Working voltage	12-16 Vdc
Power consumption	≤ 5,4 Watt
Dynamic current	450mA @ 12Vdc
Idle current	330mA @ 12V
Local storage	SD card (Up to 32G, class 10, FAT32 or ex FAT format)
Size	166 x 115 x 184 (mm)
Video out	Mini HDMI; (HD output 1080P 60fps): Analog
Control method	PWM / TTL
Environmental specifications
Working temperature	-20oC to 50 oC
Storage temperature	-20oC to 70 oC
Gimbal parameter
Pitch/Tilt	±90°
Roll	±85°
Yaw/Pan	±150°
Vibration angle	Pitch/Roll: ±0.02°, Yaw：±0.03°
One-key to centre	Support
Camera specifications
Sensor	1/3inch CMOS Total pixels: 4 MP Effective pixel: 2688 x 1520
Dynamic range	65dB
Lens	5MP
Optical zoom	30x, F=4.5~135mm
Min object distance	1,5 m
Viewing angle	Horizontal: 54.8°(Wide end) ~ 3.4°(Tele end) 41°(wide end) ~ 2.5°(tele end)
Focus	66.6°(wide end) ~ 7.2°(tele end)
Sync system	Progressive scanning
Local video	1080P 30fps local TF card
HD output	1080P/720/480P 60fps HDMI1.4
AV output	Standard CVBS 1Vp-p
S/N ratio	38dB
Min illumination	Colour 0.05lux@F1.6
Backlight compensation	Backlight compensation/strong light inhibition
Gain	Auto
White balance	Auto/Manual
Shutter speed	Auto
Control system	UART/IR/PWM
Communication protocol	PELCO-D, Hitachi protocol or VISCA
Focus	Auto/Manual/One-time automatic focus
Focus speed	2 s
Lens initialization	Built-in
User pre-setting bit	20 sets
Image rotation	180°, Horizontal/Vertical mirror image
Photo format	JPEG
Video format	MP4
OSD	Not supported
Dimensions
Net weight	670g
Dimensions	121 x 147 x 154.8 mm
One-key to no-zoom	Support

EH30GT

Sensor Type	Visible
Resolution	3840x2160 (4K) 25 fps / 1920x1080 (FHD) 50 fps
Sensor	1/1.8” CMOS
Max. FOV	60º
Zoom	Optical: 30x-35x
Thermal camera	N/A
Weight	842g
Size (LxWxH)	175x100x162mm
Power	8.4W
Gimbal	(Continuous 360º yaw) ; Pitch:±90° Roll:±45° Yaw:±180°; Pitch & Roll: ±0.02°Yaw: ±0.03°

G20Z36S-H 36x zoom Global Shutter

Global Shutter Sony Pregius IMX392 sensor (1/2.3”) 36x optical zoom, 32x digital zoom 1080p 60/50/30/25, 720p 60/50/30/25, PAL, NTSC LVDS / EX-SDI / CVBS VISCA, Pelco-D, Pelco-P Trigger in, Strobe out Configurable Trigger/Strobe 9-15V, 5W Dimension: 64mm x 56mm x 124mm (without external enclosure)

Depth Camera

The depth camera that makes part of the HEIFU® kit is an Intel® RealSense™ stereo camera that comprises two cameras to calculate depth and enable devices to see, interact with and learn from their environment. Stereo depth works in indoor and outdoor and in a wide variety of lighting conditions without the need for custom calibration.

This camera is assembled on the front of the drone, at the battery compartment level.

Intel® RealSense™ Vision Processor D4 Up to 1280x720 active stereo depth resolution Up to 1920x1080 RGB resolution Depth Diagonal Field of View over 90° Dual global shutter sensors for up to 90 FPS depth streaming Range 0.2m to over 10m (Varies with lighting conditions) Intel® RealSense™ Depth Camera D435i includes Inertial Measurement Unit (IMU) for 6 degrees of freedom (6DoF) data

EH640 30x Optical Zoom + IR Thermal

General Specifications
Working voltage	12-25 Vdc
Power consumption	8,4 Watt
Weight	975 g
Memory card type (single slot available; not built-in memory)	Micro SD: máximum 128 Gb
Size	166 x 115 x 184 (mm)
Video out	Ethernet
Sbus	Support (controlled by Wince)
Display and control terminal	Windows PC
Video output resolution	White light camera 720 x 1080 (pix) Thermal camera 640 x 480 (pix)
Environmental specifications
Working temperature	-10oC to 45 oC
Storage temperature	-20oC to 70 oC
Gimbal parameter
Accuracy	+/- 0,008o
Mounting type	Detachable
Range of control angle	Pitch: +70° to -90°; Yaw: ±160°
Structure design angle	Pitch: +750 to -100°; Yaw ;±1750; RoH: +90° to - 500
Max. Control speed	Pitch: 120’/s; Yaw: 180°/s
Camera specifications
White light camera
Sensor	CMOS: 1f2.8’ Total pixels: 2.3 MP
Lens	30x optical zoom lens F: 4.7 to 141mm Minimum object distance: 1m – 1,5m Field angle (horizontal): 60° – 2,3°
Image storage format	JPG
Video storage format	MP4
Working mode	REC; PIC
Fog-penetrating method	Electronic fog penetration
Exposure mode	Auto
HD Video	1920 x l080 pix; 25 fps (default)
Range	1-50 fps (adjustable by web page “Camera”
2D Denoise	Support (auto)
3D Denoise	Support (auto)
Shutter speed	1/3 to 1/30000s
Exposure	Automatic
OSD	Support
Point to zoom	Support
Zoom range	1-30x optical zoom
One-key to no-zoom	Support

Photogrametry

RGB Cameras

Name	Sony RX100-VII	Sony RX1R-II	Sony a7R-IV	PhaseOne iXM50/iMX100	PhaseOne GS120
Sensor Types	Visible	Visible	Visible (can attach lens)	Visible (can attach lens)	Visible (can attach lens)
Resolution	20MP (photo); 4K (video)	42MP (photo); 4K (video)	33MP (photo); 4K 60p (video)	50/100 MP; 8280x6208/11664x8750 (photo); 1920x1080 60p (stream)	120MP; 12768x9564 (photo); 1920x1080 60p (stream)
Sensor	CMOS; Shutter speed: 1/2000; 10fps	Full-frame CMOS; Shutter speed: 1/4000; 5fps	Full-frame CMOS; Shutter speed: 1/8000; 10fps	CMOS Global shutter; Shutter speed: 1/2500; 10fps	CMOS Global shutter; Shutter speed: 1/16000; 10fps
Max. FOV	HFOV: 72.5º - 10.5º	HFOV: 54.3º	HFOV: 54º / 39.3º	HFOV: 25º	HFOV: 21º
Zoom	Optical: 8x; Digital: 32x	Digital: 8x	Digital: 2x	N/A	N/A
Weight	300g	500g	658g	1100g (with lens)	1000g (with lens)
Size (LxWxH)	102x43x58 mm	113x72x65 mm	131x80x96 mm	90 x 90 x 68 mm (excluding lens)	90x90x67 (excluding lens)
Power	2.1W	2.5W	NP-FZ100 battery	14 / 16W	20 W

Thermal

FLIR Tau2

FLIR Vue Pro™

Bellow you can find the FLIR Vue Pro™ Specifications:

Overview
Thermal Imager	Uncooled VOx Microbolometer
Resolution	640×512
Lens Options	9 mm; 69° x 56° 13 mm; 45° x 37° 19 mm; 32° x 26°
Spectral Band	7.5 – 13.5 µm
Full Frame Rates	30 Hz (NTSC); 25 Hz (PAL) US only, not for Export
Exportable Frame Rates	7.5 Hz (NTSC); 8.3 Hz (PAL)
Physical Attributes
Size	2.26″ x 1.75″ (57.4 x 44.4 mm) (including lens)
Weight	3.25-4 oz (92.1 – 113.4 g) (configuration dependent)
Precision Mounting Holes	Two M2x0.4 on each of two sides & bottom One 1/4-20 threaded hole on top
Image Processing & Display Controls
Image Optimization for sUAS	Yes
Digital Detail Enhancement	Yes – Adjustable in GUI
Invertable Image?	Yes – Adjustable in GUI
Polarity Control (black hot/whitehot) & Color Palettes	Yes – Adjustable in GUI
Environmental
Operating Temperature Range	-20°C to +50°C
Non-Operating Temperature Range	-55°C to +95°C
Operational Altitude	12 000 meters

Multispectral

Micasense RedEdge MX

Some applications demand high-resolution pictures in ranges other than visible. For those applications, the HEIFU® drone can come equipped with a Micasense RedEgde MX camera, which can capture images in near-IR (842nm center, 57nm bandwidth), red edge (717nm center, 12nm bandwidth), blue (475nm center, 32nm bandwidth), green (560nm center, 27nm bandwidth) and red (668nm center, 16nm bandwidth) spectral bands. This camera comprises a global shutter, aligned with all bands and can capture up to one 12-bit resolution sample per second in all band RAW.

The multispectral camera is assembled to the secondary gimbal on the lower part of the drone, below the battery compartment.

Weight	231.9 g (8.18 oz.) (includes DLS 2 and cables)
Dimensions	8.7cm x 5.9cm x 4.54cm (3.4in x 2.3in x 1.8in)
External Power	4.2 V DC - 15.8 V DC 4 W nominal, 8 W peak
Spectral Bands	Blue, green, red, red edge, near-IR (global shutter, narrowband)
Wavelength (nm)	Blue (475 nm center, 32 nm bandwidth), green (560 nm center, 27 nm bandwidth), red (668 nm center, 14 nm bandwidth), red edge (717 nm center, 12 nm bandwidth), near-IR (842 nm center, 57 nm bandwidth)
RGB Color Output	Global shutter, aligned with all bands
Ground Sample Distance (GSD)	8 cm per pixel (per band) at 120 m (~400 ft) AGL
Capture Rate	1 capture per second (all bands), 12-bit RAW
Interfaces	Serial, 10/100/1000 ethernet, removable Wi-Fi, external trigger, GPS, SDHCField of View47.2° HFOV
Triggering Options	Timer mode, overlap mode, external trigger mode (PWM, GPIO, serial, and Ethernet options), manual capture mode

Micasense Altum-PT

Weight	460 g (16.2 oz.) Altum-PT + DLS2
Dimensions	11.0 x 8.0 x 6.9 cm (4.3 in x 3.1 in x 2.7 in)
External Power	7.0 V - 25.2 V
Power Input	5.5/7.0/10W (standby, average, peak)
Sensor Resolution	2064 x 1544 (3.2MP per MS band) 4112 x 3008 (12MP per PAN band) 320 × 256 thermal infrared
Spectral Bands	Blue 475(32), Green 560(27), Red 668(14), Red Edge 717(12), NIR 842(57)
RGB Color Output	12.4 MP (global shutter, aligned with all bands)
Thermal	FLIR LWIR thermal infrared 7.5-13.5um radiometrically calibrated
Multispec GSD (per multispec band)	5.28 cm per pixel at 120 m
Thermal GSD	33.5 cm per pixel at 120 m
Panchro & Pansharpened GSD	2.49 cm per pixel at 120 m
Capture Rate	2 capture per second raw DNG*
Interfaces	3 configurable GPIO: select from trigger input, PPS input, PPS output, and top of frame signals. Host virtual button. USB 2.0 port for WiFi. Serial. 10/100/1000 Ethernet. CFexpress for storage
Field of View	50° HFOV x 38° VFOV (multispectral) 46° HFOV x 35° VFOV (panchromatic) 48o x 39o (thermal)
Storage	CFexpress Card

LIDAR

LIDAR specifications comparison:

	Velodyne Puck LITE	Livox Avia	Ouster OS1-32	Ouster OS1-64	Ouster OS1-128
Maximum Range	100 m	450 m (320 m typical)	200 m (90 m typical)	200 m (90 m typical)	200 m (90 m typical)
Scan Pattern	Rotational	Repetitive/Non-repetitive	Rotational	Rotational	Rotational
Field of View	360x30º (HxV)	“70.4x77.2º (HxV) - Non-repetitive
70.4x4.5º (HxV) - Repetitive”	360x45º (HxV)	360x45º (HxV)	360x45º (HxV)
Vertical Channels	16	N/A	32	64	128
Horizontal Resolution	0.1-0.4º	N/A	0.18-0.7º	0.18-0.7º	0.18-0.7º
Rotational Rate	5-20 Hz	N/A	10/20 Hz	10/20 Hz	10 Hz
Returns	2 (Strongest, FIrst)	3 (Strongest, First, Last)	2	2	2
Point Density	300k-600k pts/sec	240k-720k pts/sec	164k-656k pts/sec	328k-1.31M pts/sec	655k-2.62M pts/sec
Ranging Accuracy	3 cm	2 cm	2-5 cm	2-5 cm	2-5 cm
Wavelength	903 nm	905 nm	865 nm	865 nm	865 nm
Time Syncronization	NMEA, PPS	NMEA, PPS, PTPv2	NMEA, PPS, PTP	NMEA, PPS, PTP	NMEA, PPS, PTP
Internal IMU	No	Yes	Yes	Yes	Yes
Operating Voltage	9-18 V	10-15 V (optional 9-30 V)	9-34 V	9-34 V	9-34 V
Power	8 W	8-9 W (16 W peak)	14-20 W (23 W peak)	14-20 W (23 W peak)	14-20 W (23 W peak)
Weight	600 g	500 g	450g	450g	450g
Size	72x103 mm (HxD)	91x61x65 mm	74x85 mm (HxD)	74x85 mm (HxD)	74x85 mm (HxD)
IP Rating	IP67	IP67	IP68	IP68	IP68

LIDAR Velodyne Puck Lite

Sensor:	16 Channels Measurement Range: 100 m Range Accuracy: Up to ±3 cm (Typical)1 Field of View (Vertical): +15.0° to -15.0° (30°) Angular Resolution (Vertical): 2.0° Field of View (Horizontal): 360° Angular Resolution (Horizontal/Azimuth): 0.1° – 0.4° Rotation Rate: 5 Hz – 20 Hz Integrated Web Server for Easy Monitoring and Configuration
Laser:	Laser Product Classification: Class 1 Eye-safe per IEC 60825-1:2007 & 2014 Wavelength: 903 nm
Mechanical/ Electrical/ Operational	Power Consumption: 8 W (Typical)2 Operating Voltage: 9 V – 18 V (with Interface Box and Regulated Power Supply) Weight: ~590 g (without Cabling and Interface Box) Dimensions: See diagram on previous page Environmental Protection: IP67 Operating Temperature: -10°C to +60°C3 Storage Temperature: -40°C to +105°C
Output:	3D LiDAR Data Points Generated: Single Return Mode: ~300,000 points per second Dual Return Mode: ~600,000 points per second 100 Mbps Ethernet Connection UDP Packets Contain: Time of Flight Distance Measurement Calibrated Reflectivity Measurement Rotation Angles Synchronized Time Stamps (µs resolution) GPS: $GPRMC and $GPGGA NMEA Sentences from GPS Receiver (GPS not included)

Note

If you need cameras other than the ones described above, please contact Beyond Vision in order to confirm if it is possible to integrate them in the drone.

Gimbal

Assemble a maximum 2 gimbals simultaneously. The gimbal is assembled on the front of the drone, near the battery compartment. A second gimbal can be assembled below the battery compartment by using one of the mounting adapters supplied with the HEIFU® drone kit.

A suitable gimbal can be purchased from Beyond Vision as an add-on to the kit or can be purchased from a third-party providing it complies with the specifications.

Gimbal control: Servo.