2.2 - Update Firmware

Firmware Update

Updating to last version of firmware can be done from the main device vew page. Update all devices at once or update to a specific version or from file can be done from the update page.

The last release appears on the page automatically, but you can load all releases or load firmware from a file using corresponding buttons. After loading, use “Install for all devices” to update firmware. Progress of updating process are displayed on Device View Page.

Firmware Update Beta version

“Beta” releases contains builds with new features and recommended for testing purposes. Updating to beta version of firmware can be done on the update page. Update all devices at once or update to a specific version or from a file can be done from update page. “Beta” version is visible only if “Load all releases” pressed and marked with “Yellow” icon and border.

All devices flashed with beta version are marked with corresponding “Yellow” logo on “Device view” page

3 - Autopilot Integration Guides

Application

These guides are common to every UAVLAS system that talks to the autopilot over MAVLink: ULS-XCopter, ULS-ProCopter, ULS-Heli and ULS-XSpot. They cover autopilot parameters, link verification and tuning of precision loiter and landing. Product-specific installation, pinouts and wiring are in each product’s Operation Manual and Interface Control Document.

Documents

Each page is generated from the source of the controlled PDF; the numbered PDF can be downloaded from the document portal.

3.1 - ArduPilot Integration Guide

ULSDC-PBIG161026-AP · version 1.0.0 · issued October 16, 2026
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This guide describes how to connect a UAVLAS precision landing system to an ArduPilot (ArduCopter) autopilot, configure the autopilot, verify the link and tune precision loiter and landing.

Intended Audience

Integrators and operators setting up precision landing on ArduPilot vehicles.

Applicability

This guide applies to every UAVLAS precision landing system that connects to the autopilot over MAVLink: ULS-XCopter, ULS-ProCopter, ULS-Heli and ULS-XSpot. Product-specific installation, pinouts and wiring are in each product’s Operation Manual and Interface Control Document.

Integration

Preparing for Integration

• Download the latest version of ULS-Tools. Connect all UAVLAS devices to a PC and update their firmware before proceeding.
• Update the autopilot to the latest ArduCopter version.
• Install the transmitter and receiver(s) and wire the receiver to a free autopilot UART (TELEM) port. Pinouts and wiring diagrams are in the Interface Control Document and Operation Manual of your product.
• Configure the transmitter in ULS-Tools.
• Configure the receiver in ULS-Tools (on dual-receiver systems, configure both receivers).

The system communicates with ArduPilot over MAVLink 2 and reports the target in MAV_FRAME_BODY_FRD.

Example of receiver configuration:

Figure: Receiver Configuration for ArduPilot

Autopilot Configuration

Setup PLND Section

Table: ArduPilot PLND Section Parameters All other PLND parameters should remain at defaults, or be set according to your vehicle requirements.

Figure: PLND Configuration Example

Set Up Serial Communication in SERIALx Section

The example uses SERIAL2; use the number of the port the receiver is wired to.

Table: ArduPilot SERIALx Section Parameters Set up serial stream rates in the SRx section. The sensor requires the following data from the autopilot:

Table: ArduPilot SRx Stream Rate Parameters

Check Setup

When configuration and wiring are correct, GPS is available, and the receiver is in the field of view of the transmitter, you will see the LANDING_TARGET MAVLink message in the MAVLink Inspector (Mission Planner example shown):

Figure: LANDING_TARGET Message in MAVLink Inspector

Setup Precision Loiter Mode

Attach any unused switch to the PrecLoiter option to enable precision loiter mode:

Figure: PrecLoiter Switch Configuration

Activate the switch and confirm messages “PrecLoiter: LOW” and “PrecLoiter: HIGH” appear. After a test flight above the target, check telemetry for PL offset data.

Figure: Telemetry Data Showing PL Offsets

PID Tuning

In case of oscillations or instability during landing, check the PID parameters in ArduPilot Extended Tuning.

It is recommended to tune Position XY, Velocity XY, and Loiter Speed for the best performance:

Figure: ArduPilot Extended Tuning Parameters

For additional information, see the ArduPilot documentation at https://ardupilot.org/ardupilot/

3.2 - PX4 Integration Guide

ULSDC-PBIG161026-PX4 · version 1.0.0 · issued October 16, 2026
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This guide describes how to connect a UAVLAS precision landing system to a PX4 autopilot, configure the MAVLink port, verify the LANDING_TARGET message and fly a precision landing mission.

Intended Audience

Integrators and operators setting up precision landing on PX4 vehicles.

Applicability

This guide applies to every UAVLAS precision landing system that connects to the autopilot over MAVLink: ULS-XCopter, ULS-ProCopter, ULS-Heli and ULS-XSpot. Product-specific installation, pinouts and wiring are in each product’s Operation Manual and Interface Control Document.

Integration

Preparing for Integration

• Download the latest version of ULS-Tools. Connect all UAVLAS devices to a PC and update their firmware before proceeding.
• Update the autopilot to the latest PX4 version. The stock PX4 firmware supports UAVLAS systems; no custom build is needed.
• Install the transmitter and receiver(s) and wire the receiver to a free autopilot UART (TELEM) port. Pinouts and wiring diagrams are in the Interface Control Document and Operation Manual of your product.
• Configure the transmitter in ULS-Tools.
• Configure the receiver in ULS-Tools (on dual-receiver systems, configure both receivers).

The system communicates with PX4 over MAVLink 2 and reports the target in MAV_FRAME_LOCAL_NED.

Example of receiver configuration:

Figure: Receiver Configuration for PX4

Configure PX4 Autopilot

Values are provided as an example (Pixhawk4-mini AP):

Table: PX4 Autopilot Configuration Parameters

Running and Testing

After configuration and wiring, power up the drone and transmitter. In QGroundControl, go to Analyze Tools → MAVLink Inspector and check for the LANDING_TARGET MAVLink message.

If the vehicle is providing a LOCAL_POSITION_NED message to the UAVLAS system and is hovering over the beacon, the field position_valid = 1 will appear in LANDING_TARGET.

To perform precision landing, create a flight plan and enable the Precision Landing option on the landing waypoint.

Figure: LANDING_TARGET Message in QGroundControl

For additional information, see the PX4 documentation at https://docs.px4.io/main/en/

4 - ULS-XCopter Documentation

Application

ULS-XCopter is designed for small vertical take-off and landing aircraft. Its low weight and size fit drones weighing as little as 100 grams, which makes it the usual choice for getting to know the technology and for research institutes running experiments with vehicles.

• Landing on a platform and emergency landing — the small transmitter marks the landing point on any platform; for an emergency landing it is simply placed on the ground and powered.
• Elevated platforms — the system measures the distance to the landing point itself, so landing on masts, tall structures or large vehicles needs no extra sensors or adjustment.
• Balconies and one-sided platforms — tilting the transmitter sets the approach angle, so the drone can land where a vertical descent is impossible. This can be disabled in the receiver settings, for example for moving platforms.
• Wireless charging and contactless delivery — the system gives the horizontal offset and the height, so the drone can hover precisely over a charger or a drop point.

The ULS-XCopter is not dust- or waterproof; for harsh environments see ULS-ProCopter or ULS-Heli.

Documents

Each page is generated from the source of the controlled PDF; the numbered PDF can be downloaded from the document portal.

4.1 - ULS-XCopter-G2 Datasheet

ULSDC-PBDS310325 · version 0.1.0 · issued March 31, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this datasheet is to provide comprehensive technical information about the ULS-XCopter-G2 System family. This includes specifications, performance characteristics, and detailed descriptions of system components, such as transmitters and receivers. By outlining the interfaces between these components, the datasheet aims to facilitate seamless integration and operation for system engineers, integrators, and developers working with the system.

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-XCopter-G2 systems. It provides detailed information on the system components, specifications, interfaces, and operational characteristics.

System Base Components

Transmitter (Ground Unit)

A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the XCopter. This signal contains critical information needed for the operation of the ULS-XCopter, such as positional data, commands, and system status.

Receiver (Onboard Unit)

A receiver is a device that is placed on board an aircraft.

The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Part Numbering

Table: ULS-XCopter-G2 Part Numbers

System Specifications

Common Specification

Table: Common System Specifications

Receiver (Onboard Unit)

Table: Receiver Specifications

Transmitter (Ground Unit)

Table: Transmitter Specifications

Pinout Information

Receiver Pinout

Figure: ULS-XCopter-G2 Receiver Connector

Table: Receiver Pinout (JX1)

Transmitter Pinout

Figure: ULS-XCopter-G2 Transmitter Main Connector

Table: Transmitter Main Connector Pinout (JX1)

Figure: ULS-XCopter-G2 Transmitter Submodule Connectors

Table: Transmitter Submodule Connectors Pinout (JC1-JC4)

Mechanical Dimensions

Receiver (G2) Dimensions

Figure: ULS-XCopter-G2 Receiver Dimensions (mm)

Transmitter (G2) Dimensions

Figure: ULS-XCopter-G2 Transmitter Dimensions (mm)

Environmental Conditions

The system is designed for commercial-grade environmental operation, suitable for outdoor and industrial applications where robust performance under varying environmental conditions is required.

Operating Temperature

The system components are rated for extended temperature operation:

• Normal Operation: -20°C to +45°C when mounted on vehicle PCB

The wide operating temperature range enables deployment in diverse climates, from cold weather operations to hot desert environments.

Environmental Protection

• IP Protection Rating: IP54 (dust protected, splash water resistant)
• Note: While the system offers protection against dust ingress and water splashing, it is not waterproof. Additional protective measures may be required for operation in harsh weather conditions or marine environments.

Storage and Handling

• Storage Temperature: -40°C to +85°C
• Humidity: Up to 95% non-condensing
• Altitude: Operation up to 4000m above sea level

Environmental Considerations

Dust Protection: The IP54 rating provides protection against dust ingress that could interfere with system operation. Regular cleaning is recommended in particularly dusty environments.

Moisture Resistance: Protected against water splashing from any direction. However, avoid direct water jets, submersion, or prolonged exposure to heavy rain without additional protective enclosures.

Thermal Management: Ensure adequate ventilation around system components during operation. Avoid mounting in locations exposed to direct sunlight or near heat sources that could cause components to exceed maximum operating temperature.

Condensation: When moving equipment between environments with significant temperature differences, allow sufficient time for thermal equalization to prevent internal condensation.

Table: Environmental Specifications - Commercial Grade

Performance Characteristics

Figure: ULS-XCopter-G2 Performance Characteristics

Packaging Information

Basic System (PN: ULS-XCopter-G2)

Figure: ULS-XCopter-G2 System Packaging

Advanced System (PN: ULS-XCopter-G2-MRX)

Figure: ULS-XCopter-G2-MRX

Packed systems

Figure: ULS-XCopter-G2 in boxes

4.2 - ULS-XCopter-G2 Interface Control Document

ULSDC-PBICD310325 · version 0.1.0 · issued April 2, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document outlines the interfaces between the ULS-XCopter-G2 system components, including the transmitter, receiver, and autopilot systems (Ardupilot and PX4 and similar).

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-XCopter-G2 systems. It provides detailed information on the interfaces between the system components, ensuring seamless integration and operation.

System Components

Transmitter (Ground Unit)

A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the XCopter. This signal contains critical information needed for the operation of the ULS-XCopter, such as positional data, commands, and system status.

Receiver (Onboard Unit)

A receiver is a device that is placed on board an aircraft.

The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Interface Overview

Figure: ULS-XCopter-G2 Interface Overview

Transmitter to Control PC Interface

Data Type:

• Status information
• Control signals
• Transmitter configuration

Connection Type:

• CAN
• USB
• UART

Transmitter to External Sensors Interface

Data Type:

• Control signals
• External IMU/COMPASS data

Connection Type:

• CAN
• UART

Transmitter to Receiver Interface

The transmitter and receiver use an optical interface to exchange data. Transmission uses IR emission at 940 nanometers. Data transmission is only in the direction from the transmitter to the receiver.

Data Type:

• Position encoded data
• Status encoded data (Transmitter orientation and instructions)

Connection Type:

• Optical IR 940nm (Infrared optical link)

Data Flow:

Data is transmitted unidirectional from the transmitter (ground unit) to the receiver (onboard unit) via infrared optical signals. The receiver decodes the optical signals to extract:

• Positional field information
• Ground unit IMU data
• System status and commands

Transmitter Pinout

Figure: ULS-XCopter-G2 Transmitter Main Connector

Table: Transmitter Main Connector Pinout (JX1)

Figure: ULS-XCopter-G2 Transmitter Submodule Connectors

Table: Transmitter Submodule Connectors Pinout (JC1-JC4)

Receiver to Autopilot and PC Interfaces

Data Type:

• Mavlink messages
• ULS-Blitz frames
• ASCII protocol

Connection Type:

• UART
• CAN
• USB

Data Exchange:

• Control PC is used to configure and view status of the receiver
• Autopilot Communication: Receiver accepts NED (North-East-Down) and attitude information from autopilot to convert coordinate systems
• Position Data: Receiver sends position offset data to autopilot
• Multi-Receiver Communication: Several receivers can communicate to calculate vehicle orientation (YAW)

receiver Pinout

Figure: ULS-XCopter-G2 Receiver Connector

Table: Receiver Pinout (JX1)

Powering Interfaces

Figure: ULS-XCopter-G2 Powering Interfaces

Table: Transmitter Electrical Characteristics

Table: Receiver Electrical Characteristics

Functional Interfaces

Figure: ULS-XCopter-G2 Functional Interfaces

Data Exchange

• Control PC used to configure and view status of transmitter.
• Control PC used to set configuration of receivers.
• Control PC (or embedded equipment instead control pc) can be used to send control signals (On/off, compass override information)
• External IMU/Compass equipment can be used to override internal IMU/compass information.
• Receiver accept data from transmitter over IR signal. This data include position field information and ground unit IMU data.
• Receiver accept NED and Attitude information from autopilot to be able convert coordinate system that can be accepted by autopilot.
• Several Receivers can communicate to be able calculate vehicle orientation YAW.
• Receiver send position offset data to autopilot.

Mechanical Interfaces

Transmitter Mechanical Interface


Figure: Transmitter Mechanical Interface

Figure: Transmitter dimensions

Receiver Mechanical Interface

Figure: Receiver Mechanical Interface

Environmental Conditions

The system is designed for commercial-grade environmental operation, suitable for outdoor and industrial applications where robust performance under varying environmental conditions is required.

Operating Temperature

The system components are rated for extended temperature operation:

• Normal Operation: -20°C to +45°C when mounted on vehicle PCB

The wide operating temperature range enables deployment in diverse climates, from cold weather operations to hot desert environments.

Environmental Protection

• IP Protection Rating: IP54 (dust protected, splash water resistant)
• Note: While the system offers protection against dust ingress and water splashing, it is not waterproof. Additional protective measures may be required for operation in harsh weather conditions or marine environments.

Storage and Handling

• Storage Temperature: -40°C to +85°C
• Humidity: Up to 95% non-condensing
• Altitude: Operation up to 4000m above sea level

Environmental Considerations

Dust Protection: The IP54 rating provides protection against dust ingress that could interfere with system operation. Regular cleaning is recommended in particularly dusty environments.

Moisture Resistance: Protected against water splashing from any direction. However, avoid direct water jets, submersion, or prolonged exposure to heavy rain without additional protective enclosures.

Thermal Management: Ensure adequate ventilation around system components during operation. Avoid mounting in locations exposed to direct sunlight or near heat sources that could cause components to exceed maximum operating temperature.

Condensation: When moving equipment between environments with significant temperature differences, allow sufficient time for thermal equalization to prevent internal condensation.

Table: Environmental Specifications - Commercial Grade

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders.

4.3 - ULS-XCopter-G2 Operation Manual

ULSDC-PBOM310325 · version 0.1.0 · issued April 2, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this operation manual is to provide comprehensive guidance on the installation, configuration, operation, and troubleshooting of the ULS-XCopter-G2 System. This manual is designed to help users effectively integrate and utilize the system for precision landing and navigation applications.

Scope

This document is intended for use by system engineers, integrators, operators, and developers working with ULS-XCopter-G2 systems. It provides detailed information on system operation, configuration procedures, and integration with autopilot systems.

System Base Components

Transmitter (Ground Unit)

A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the XCopter. This signal contains critical information needed for the operation of the ULS-XCopter, such as positional data, commands, and system status.

Receiver (Onboard Unit)

A receiver is a device that is placed on board an aircraft.

The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Operation Theory

All data communication from the transmitter to the receiver is done in the optical band, which eliminates interference with other radio devices and radio signals.

Signal Transmission

The transmitter contains an array of emitting elements that operate in the infrared range. The transmitter emits a modulated signal with each of the transmitter emitters transmitting a unique signal. Each of the transmitter emitters emits in a unique direction.

Video: ULS-XCopter-G2 transmitter in action showing IR LED distributed illumination pattern

Position Calculation

The receiver receives the signal from the transmitter, decodes it, and by analyzing the signal can determine in which direction relative to the transmitter it is located. The distance to the transmitter is determined by the signal strength. Thus the system determines the position in a polar coordinate system with the origin at the center of the transmitter.

Orientation Considerations

The receiver position readings will change when the transmitter orientation is changed, but the change in receiver orientation will have no effect if the transmitter and receiver are within the range of visibility of the systems specified in the specification.

This must be taken into account when working with the system. In order to calculate the position of the receiver without errors in case of orientation changes, the transmitter is equipped with an inertial orientation measurement system. This system allows you to determine the orientation of the module and transmit this information to the receiver by means of an infrared signal so that it can correct the position according to the inclination of the transmitter (transmitter level correction function).

Coordinate System Conversion

The system can then convert the polar coordinate system to a Cartesian coordinate system. In this case, this coordinate system originates at the center of the transmitter.

To navigate and ensure a precise landing, the autopilot needs information about the position of the landing point in a coordinate system either attached to the drone’s body or in a global coordinate system. For this purpose, the receiver requests information from the autopilot about its position and orientation. Then, using this information and information about the orientation of the ground transmitter, the receiver can calculate the position of the transmitter relative to the drone in the required coordinates.

Distance and Azimuth Correction System (DACS)

The unit also has a DACS (Distance and Azimuth Correction System). This allows you to more accurately calculate the YAW (Yaw) of the receiver versus the transmitter. This system serves as an aid in calculating the mutual orientation using a compass or MRX system.

System Applications

It is important to point out that the system will act as a navigation sensor. The information from our system can be used by autopilots and drones for various purposes:

• Landing vehicle on platform
• Hovering over a point of interest
• Accurately dropping a load or precisely lowering it on a tether

Functional Description Diagram

Figure: ULS-XCopter-G2 Functional Description

System Specifications

Common Specification

Table: Common System Specifications

Receiver (Onboard Unit)

Table: Receiver Specifications

Transmitter (Ground Unit)

Table: Transmitter Specifications

Pinout Information

Receiver Pinout

Figure: ULS-XCopter-G2 Receiver Connector

Table: Receiver Pinout (JX1)

Transmitter Pinout

Figure: ULS-XCopter-G2 Transmitter Main Connector

Table: Transmitter Main Connector Pinout (JX1)

Figure: ULS-XCopter-G2 Transmitter Submodule Connectors

Table: Transmitter Submodule Connectors Pinout (JC1-JC4)

Mechanical Dimensions

Receiver (G2) Dimensions

Figure: ULS-XCopter-G2 Receiver Dimensions (mm)

Transmitter (G2) Dimensions

Figure: ULS-XCopter-G2 Transmitter Dimensions (mm)

Integration

Ground Unit Installation (Transmitter)

Figure: Transmitter Mechanical Interface

The transmitter can be installed both indoors and outdoors. However, please note that this version of the system is not equipped with protection against moisture and dust. When installing the transmitter, care should be taken to ensure line-of-sight conditions between transmitter and receiver.

Figure: Transmitter installation variant

The device must be installed on a clean surface to avoid any obstacles. The device must be installed in an open area. There must be no obstacles in the radiation field of the transmitting device. If possible, avoid installing the system near vertical surfaces that can strongly reflect infrared radiation. The 4 holes on the bottom of the device can be used to mount the device. For fastening, use M2 screws, thread depth 2 mm.

It is allowed to install the device under a surface that is optically transparent to infrared radiation by more than 95%. Glass or transparent plastic can act as such a surface. In this case, to increase the coverage of the system at low altitudes, it is recommended to install the transmitter below the level of the platform. This will allow you to expand the coverage of the system to a larger area during touchdown.

Wiring Transmitter

The transmitter only requires power to operate. The transmitter can be powered either via USB-C or via a 6-pin connector located nearby. External compass (IMU) and control data can be sent over UART and CAN protocol. See pinout information of transmitter.

Configure Transmitter in ULS-Tools

Figure: ULS-Tools Transmitter Configuration Interface

Configuration parameters:

Table: Transmitter Configuration Parameters

Compass Calibration

This compass is used to calculate an absolute heading of the ground unit. This information is transmitted to the Receiver and used to calculate NED coordinates. To be able to use compass, it needs to be calibrated before.

To calibrate compass:

1. Press “Reset calibrations”
2. Rotate device in different directions until you get 3 circles on charts (see picture below)
3. Press “Apply calibration” & “Apply configuration”

Figure: Compass Chart Before Calibration

Figure: Compass Chart After Calibration

Emitters Power Indicator

On this field, system shows emitter’s state.

Figure: Emitters Power Indicator

Charts Transmitter

Program displays several parameters of the device on charts:

• IMU data
• Voltage (not valid when powered from USB)
• Temperature data

Figure: Transmitter Charts - IMU and Compass Data

Figure: Transmitter Charts - Voltage and Temperature

LED Indicator

You can check the status of the transmitter by looking at the LED indicator on the transmitter. LED flashes in sequences of colors, so it can flash green-red-off-off or green-off-blue-off.

Table: LED Indicator Status

On-board Unit Installation (Receiver)

The receiver can be installed both inside and outside the vehicle. However, please note that this version of the system is not equipped with protection against moisture and dust. The orientation of the receiver does not matter - however, when installing the receiver, care should be taken to ensure line-of-sight conditions between the transmitter and receiver throughout the entire field of view of the receiver (100 deg). The receiver sensor zone is indicated in the figure.

Figure: Receiver Sensor Zone

Once the receiver is installed, enter the appropriate receiver offset information into the configuration.

Wiring Receiver Pixhawk 4 Autopilot Connection Using UART

Figure: Receiver Pixhawk 4 Autopilot Connection

Wiring for MultiRX Mode (MRX)

Figure: MultiRX Mode Wiring Diagram

Configure Receiver in ULS-Tools

Figure: ULS-Tools Receiver Configuration Interface

Configuration parameters are detailed in the table below.

Status Information Field

In the status display area, you can check the status of the receiver and visualize the position of the receiver relative to the drone. For XCopter-G2, the YAW orientation of the drone received from the DACS system is displayed.

Figure: Receiver Status Information Field

Receiver Charts

Program displays several parameters of the device on charts:

• Angles, Positions in different coordinate systems
• Distance
• Vehicle information (position and velocity)
• Data from Transmitter’s IMU

Figure: Receiver Charts - Position and Distance

Figure: Receiver Charts - Vehicle Data and IMU

Integration Instructions for Ardupilot Based Systems

Preparing for Integration

• Download the latest version of the ULSTools software. It is recommended to connect all sensors to PC and update the firmware for all UAVLAS devices in the system.

• Update autopilot with Arducopter latest version.

• Configure transmitter.

• Configure receiver.

Current version of the system can use MavlinkV2 protocol to communicate with Ardupilot autopilots (for now it supports MAV_FRAME_BODY_FRD).

Example of receiver configuration:

Figure: Receiver Configuration for Ardupilot

Autopilot Configuration

Setup PLND Section

Table: PLND Section Parameters All other parameters in PLND section defaults or use accordingly to your vehicle set up requirements.

On the picture example configuration provided:

Figure: PLND Configuration Example

Set Up Serial Communication in SERIALx Section

Table: Serial Communication Parameters Set up serial communication messages in SRx Section. Sensor requires some data from autopilot to work in different modes.

Table: Stream Rate Parameters

Check Setup

If all settings are done correctly, autopilot has GPS data and receiver is in the field of view of the transmitter, you can find LANDING_TARGET message in mavlink inspector (a screenshot from Mission Planner):

Figure: LANDING_TARGET Message in MAVLink Inspector

Setup Precision Loiter Mode

To enable precision loiter mode you need to attach any unused switch to PrecLoiter option see picture below:

Figure: PrecLoiter Switch Configuration

Try to use this switch and you must get messages: “PrecLoiter: LOW” and “PrecLoiter: HIGH”. After test flight above target check telemetry - you will find PL data contains offsets from landing target.

Figure: Telemetry Data with PL Offsets

PID Tuning

In case of oscillations and other issues at landing stage, please check PID parameters of Ardupilot.

It is recommended to check the Position XY, Velocity XY and Loiter speed parameters in “Extended tuning” section to achieve the best performance.

Figure: Extended Tuning Parameters

For additional information, see Ardupilot manual.

Integration Instructions for PX4 Based Systems

Preparing for Integration

• Download the latest version of the ULSTools software. It is recommended to connect all sensors to PC and update the firmware for all UAVLAS devices in the system.

• Update autopilot with PX4 latest version.

• Configure transmitter.

• Configure receiver.

Current version of the system can use MavlinkV2 protocol to communicate with PX4 autopilots (for now it supports MAV_FRAME_LOCAL_NED).

Example of receiver configuration:

Figure: Receiver Configuration for PX4

Configure PX4 Autopilot

Values are provided as example (in our case, Pixhawk4-mini AP):

Table: PX4 Configuration Parameters

Running and Testing

After configuration and wiring, power up drone and transmitter. On QGround Control, go “Analyze Tools” -> MAVLINK Inspector. Check LANDING_TARGET MAVLINK message.

In case the vehicle provides LOCAL_POSITION_NED message to UAVLAS system, and it hovers over beacon, you get “position_valid = 1” in LANDING_TARGET.

To perform precision landing, you need to create a flight plan and enable Precision Landing option on the landing point.

Figure: LANDING_TARGET in QGround Control

Troubleshooting

Before Starting, Check

• You are using latest version of ULS-Tools, latest firmware on ULS-XCOPTER transmitter and receiver, and latest Ardupilot (PX4) firmware.

No MAVLink Message

• ULS-XCopter transmitter is switched on and receiver is in field of view of transmitter.

• Red light on receiver flashes fast (> 5 times per second). If it flashes 2 times per second it means that transmitter is not switched on, or not in field of view. If it does not flash - check power.

• Check Serial settings on AP params and on receiver. Be sure you have set EXTRA params for corresponding serial port on AP.

• Check wiring power and RX, TX (see pinouts and wiring diagram).

• Check on receiver that MAV_FRAME_BODY_FRD (MAV_FRAME_LOCAL_NED) is enabled.

Not Holding in Precision Loiter Mode But MAVLink Message OK

• Check that you setup Precision loiter mode on AP.

Circular Motions During Landing

• Check compass calibration on ground unit.

• Check compass calibration on AP.

• Check magnetic interference on ground.

• Use compass override mode to debug landing.

• Check precision landing PID settings.

The Landing is Not Precise Enough

• Check the position control PID settings of AP.

• For Ardupilot check Kalman filter settings.

• Check filter smoothness param on receiver.

• Check trajectory Jerk settings on AP.

Safety Information

• Do not expose the system to moisture or dust without proper protection
• Ensure adequate power supply (minimum 3A for USB connection)
• Do not operate beyond specified temperature range

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders.

5 - ULS-ProCopter Documentation

Application

ULS-ProCopter is a ruggedized version of ULS-XCopter for customers who need a more robust system at an affordable price. The IP67 dust- and waterproof transmitter suits harsh environments and industrial applications, and the system works in bright sunlight and at night. A heating option allows operation in heavy snow, and a wide viewing angle (up to 100 degrees) for both transmitter and receiver keeps the system working from height down to touchdown.

The applications are those of ULS-XCopter — platform, elevated and emergency landing, charging stations and contactless delivery — in conditions where the device must be protected from dust and water.

Documents

Each page is generated from the source of the controlled PDF; the numbered PDF can be downloaded from the document portal.

5.1 - ULS-ProCopter Datasheet

ULSDC-PBDS070425 · version 1.0.0 · issued June 14, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this datasheet is to provide comprehensive technical information about the ULS-ProCopter System family. This includes specifications, performance characteristics, and detailed descriptions of system components, such as transmitters and receivers. By outlining the interfaces between these components, the datasheet aims to facilitate seamless integration and operation for system engineers, integrators, and developers working with ULS-ProCopter systems.

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-ProCopter systems. It provides detailed information on the system.

System Base Components

Transmitter (Ground Unit)

Figure: ULS-ProCopter Transmitter

A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the ULS-ProCopter. This signal contains critical information needed for the operation of the ULS-ProCopter, such as positional data, commands, and system status.

Receiver (Onboard Unit)

Figure: ULS-ProCopter Receiver

A receiver is a device that is placed on board an aircraft.

The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Part Numbering

Table: ULS-ProCopter Part Numbers and Descriptions

System specification.

Common specification:

Table: Common System Specifications Receiver (on board unit):

Table: Receiver Specifications Transmitter (on ground)

Table: Transmitter Specifications

Pinout information

Transmitter pinout

Figure: ULS-ProCopter Transmitter Pinout Diagram

Table: Transmitter 8-pin Main Connector Pinout

Table: Transmitter 4-pin Connector Pinout

Receiver pinout

Figure: Receiver Top Side Connector Variant

Figure: Receiver Strait Variant

Figure: ULS-ProCopter Receiver connector

Table: Receiver JX1 Connector Pinout (External Power and Control)

Mechanical dimensions

Figure: ULS-ProCopter Receiver dimensions

Figure: ULS-ProCopter Transmitter Mechanical Dimensions

System performance characteristics

Environmental Conditions - Industrial Grade

Equipment is designed to operate reliably in demanding environmental conditions typical of aerospace, industrial automation, and outdoor applications.

Operating Temperature Range

• Standard operating range: -20°C to +55°C
• Covers most industrial and outdoor applications
• Reliable performance across temperature extremes
• No performance degradation within specified range

Humidity Tolerance

• Relative humidity: Up to 70% (non-condensing)
• Protected against moisture in typical operating conditions
• Suitable for outdoor and semi-protected installations
• Condensation prevention through sealed design

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Suitable for harsh industrial environments
• Protected against rain, splashing, and temporary submersion
• Dust-tight sealing for contaminated environments

Storage Conditions

• Storage temperature: -40°C to +70°C
• Relative humidity: Up to 95% (non-condensing)
• Long-term storage in industrial facilities

Operational Environment Standards

• Designed to meet industrial equipment requirements
• Suitable for UAV/drone applications
• Outdoor installation capable
• Protected against:
  • Dust and particulate matter
  • Water spray and rain
  • Temporary water immersion
  • Temperature fluctuations
  • High humidity

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

5.2 - ULS-ProCopter Interface Control Document

ULSDC-PBICD070425 · version 1.0.0 · issued June 10, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document outlines the interfaces between the ULS-ProCopter system components, including the transmitter, receiver, and autopilot systems (Ardupilot and PX4 and similar).

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-ProCopter systems. It provides detailed information on the interfaces between the system components, ensuring seamless integration and operation.

System Components

Transmitter (Ground Unit)

Figure: ULS-ProCopter Transmitter

A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the ULS-ProCopter. This signal contains critical information needed for the operation of the ULS-ProCopter, such as positional data, commands, and system status.

Receiver (Onboard Unit)

Figure: ULS-ProCopter Receiver

A receiver is a device that is placed on board an aircraft.

The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Interface Overview

Figure: ULS-ProCopter System Interface Overview

Transmitter to control PC interface (external sensors):

Data Type:

• Status information
• Control signals
• Transmitter configuration
• External IMU/COMPASS data

Connection Types

• CAN Bus - For network communication
• USB - For configuration and firmware updates
• UART - For serial communication with external sensors

Pinout:

Figure: ULS-ProCopter Transmitter Pinout Diagram

Table: Transmitter 8-pin Main Connector Pinout

Table: Transmitter 4-pin Connector Pinout

Transmitter to Receiver Interface:

The transmitter and receiver use an optical interface to exchange data. Transmission use IR emission 940 nanometers. Data transmission is only in the direction from the transmitter to the receiver.

Data Type:

• Position encoded
• Status encoded data (Transmitter orientation and instructions)

Connection Type

• Optical IR 940nm - Infrared optical link

Receiver to Autopilot and Receiver to PC Interfaces

Data Type:

• Mavlink messages
• ULS-Blitz frames
• ASCII protocol

Connection Types

• UART - Serial communication with autopilot
• CAN - Network communication
• USB - Direct PC connection

Pinout:

Figure: Receiver Top Side Connector Variant

Figure: Receiver Strait Variant

Figure: ULS-ProCopter Receiver connector

Table: Receiver JX1 Connector Pinout (External Power and Control)

Powering Interfaces

Figure: ULS-ProCopter Powering Interfaces and Electrical Characteristics

Transmitter Electrical Characteristics

• Supply Voltage: 12.0V - 25V
• Supply Current: 2A
• Power Consumption: 18.1 W

Receiver Electrical Characteristics

• Supply Voltage: 5.0V
• Supply Current: 0.6A
• Power Consumption: 3 W

Functional Interfaces


Figure: ULS-ProCopter Functional Interfaces and Data Flow

Data Exchange

• Control PC used to configure and view status of transmitter.
• Control PC used to set configuration of receivers.
• Control PC (or embedded equipment instead control pc) can be used to send control signals (On/off, compass override information)
• External IMU/Compass equipment can be used to override internal IMU/compass information.
• Receiver accept data from transmitter over IR signal. This data include position field information and ground unit IMU data.
• Receiver accept NED and Attitude information from autopilot to be able convert coordinate system that can be accepted by autopilot.
• Several Receivers can communicate to be able calculate vehicle orientation YAW.
• Receiver send position offset data to autopilot.

Mechanical interfaces

Transmitter mechanical interface:

Figure: ULS-ProCopter Transmitter Mechanical Interface and Mounting Dimensions

Receiver mechanical interface:

Figure: ULS-ProCopter Receiver Mechanical Interface and Mounting Dimensions

Environmental Conditions - Industrial Grade

Equipment is designed to operate reliably in demanding environmental conditions typical of aerospace, industrial automation, and outdoor applications.

Operating Temperature Range

• Standard operating range: -20°C to +55°C
• Covers most industrial and outdoor applications
• Reliable performance across temperature extremes
• No performance degradation within specified range

Humidity Tolerance

• Relative humidity: Up to 70% (non-condensing)
• Protected against moisture in typical operating conditions
• Suitable for outdoor and semi-protected installations
• Condensation prevention through sealed design

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Suitable for harsh industrial environments
• Protected against rain, splashing, and temporary submersion
• Dust-tight sealing for contaminated environments

Storage Conditions

• Storage temperature: -40°C to +70°C
• Relative humidity: Up to 95% (non-condensing)
• Long-term storage in industrial facilities

Operational Environment Standards

• Designed to meet industrial equipment requirements
• Suitable for UAV/drone applications
• Outdoor installation capable
• Protected against:
  • Dust and particulate matter
  • Water spray and rain
  • Temporary water immersion
  • Temperature fluctuations
  • High humidity

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

5.3 - ULS-ProCopter Operation Manual

ULSDC-PBOM070425 · version 1.0.0 · issued June 14, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this operation manual is to provide comprehensive guidance on the installation, configuration, operation, and troubleshooting of the ULS-ProCopter System. This manual is designed to help users effectively integrate and utilize the system for precision landing and navigation applications.

Scope

This document is intended for use by system engineers, integrators, operators, and developers working with ULS-ProCopter systems. It provides detailed information on system operation, configuration procedures, and integration with autopilot systems.

System Base Components

Transmitter (Ground Unit)

Figure: ULS-ProCopter Transmitter

A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the ULS-ProCopter. This signal contains critical information needed for the operation of the ULS-ProCopter, such as positional data, commands, and system status.

Receiver (Onboard Unit)

Figure: ULS-ProCopter Receiver

A receiver is a device that is placed on board an aircraft.

The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Operation theory

All data communication from the transmitter to the receiver is done in the optical band, which eliminates interference with other radio devices and radio signals.

The transmitter contains an array of emitting elements that operate in the infrared range. The transmitter emits a modulated signal with each of the transmitter emitters transmitting a unique signal. Each of the transmitter emitters emits in a unique direction. The receiver receives the signal from the transmitter decodes it and by analyzing the signal can determine in which direction relative to the transmitter it is located. The distance to the transmitter is determined by the signal strength. Thus the system determines the position in a polar coordinate system with the origin at the center of the transmitter.

It is worth noting that due to the features described above, the receiver position readings will change when the transmitter orientation is changed, but the change in receiver orientation will have no effect if the transmitter and receiver are within the range of visibility of the systems specified in the specification.

This must be taken into account when working with the system. In order to calculate the position of the receiver without errors in case of orientation changes, the transmitter is equipped with an inertial orientation measurement system. This system allows you to determine the orientation of the module and transmit this information to the receiver by means of an infrared signal so that it can correct the position according to the inclination of the transmitter (transmitter level correction function).

The system can then convert the polar coordinate system to a Cartesian coordinate system. In this case, this coordinate system originates at the center of the transmitter.

Usually, to navigate and ensure a precise landing, the autopilot needs information about the position of the landing point in a coordinate system either attached to the drone’s body or in a global coordinate system.

The system can then convert the polar coordinate system to a Cartesian coordinate system. In this case, this coordinate system originates at the center of the transmitter.

To navigate and ensure a precise landing, the autopilot needs information about the position of the landing point in a coordinate system either attached to the drone’s body or in a global coordinate system. For this purpose, the receiver requests information from the autopilot about its position and orientation. Then, using this information and information about the orientation of the ground transmitter, the receiver can calculate the position of the transmitter relative to the drone in the required coordinates.

It important to point out that the system will act as a navigation sensor. The information from our system can be used by autopilots and drones for various purposes:

• Landing vehicle on platform
• Hovering over a point of interest
• Accurately dropping a load or precisely lowering it on a tether.

Functional description diagram

System specification.

Common specification:

Table: Common System Specifications Receiver (on board unit):

Table: Receiver Specifications Transmitter (on ground)

Table: Transmitter Specifications

Pinout information

Transmitter Pinout

Figure: ULS-ProCopter Transmitter Pinout Diagram

Table: Transmitter 8-pin Main Connector Pinout

Table: Transmitter 4-pin Connector Pinout

Receiver Pinout

Figure: Receiver Top Side Connector Variant

Figure: Receiver Strait Variant

Figure: ULS-ProCopter Receiver connector

Table: Receiver JX1 Connector Pinout (External Power and Control)

Mechanical dimensions

Figure: ULS-ProCopter Receiver dimensions

Figure: ULS-ProCopter Transmitter Mechanical Dimensions

Integration

Ground unit installation (transmitter)

The device must be installed on a clean surface to avoid any obstacles. The device must be installed in an open area. There must be no obstacles in the radiation field of the transmitting device. If possible, avoid installing the system near vertical surfaces that can strongly reflect infrared radiation. Device developed to be installed in panel and bolted with M4 screw. All customers get 3d model of system and cut panel as reference to make integration process more simple.

Panel cut-out drawing.

After installation, it is recommended to verify the correctness of the compass reading and, if necessary, correct the compass calibration.

Wiring Transmitter

The transmitter only requires power to operate. The transmitter can be powered via a 8-pin connector located nearby. External compass (IMU) and control data can be send over UART and CAN protocol. See pinout information of transmitter.

Configure transmitter in ULS-Tools

Table: Transmitter Configuration Parameters

Compass calibration

This compass is used to calculate an absolute heading of the ground unit. This information is transmitted to the Receiver and used to calculate NED coordinates. To be able to use compass, it needs to be calibrated before. To calibrate compass:

• Press “Reset calibrations”.
• Rotate device in different directions until you get 3 circles on charts (see picture below).
• Press “Apply calibration” & “Apply configuration”.

Compass chart after calibration:

Charts Transmitter

Program display several parameters of the device on charts:

• IMU data.
• Voltage (not valid when powered from USB).
• Temperature data.

Led Indicator

You can check the status of the transmitter looking on the LED indicator on the transmitter. LED flashes in sequences of colors, so it can flash green-red-off-off or green-off-blue-off.

Table: LED Indicator Status Colors

On-board unit installation (receiver)

The receiver can be installed both inside and outside the vehicle. However, please note that this version of the system is not equipped with protection against moisture and dust. The orientation of the receiver does not matter - however, when installing the receiver, care should be taken to ensure line-of-sight conditions between the transmitter and receiver throughout the entire field of view of the receiver (100 deg). The receiver sensor zone is indicated in the figure.

Once the receiver is installed, enter the appropriate receiver offset information into the configuration.

Wiring Receiver Pixhawk 4 autopilot connection using UART

Wiring for MultiRX mode (MRX)

Configure Receiver in ULS-Tools

Note:

To apply any changes, press “Apply Config” button at the bottom of the field.

Table: Receiver Configuration Parameters

Status Information field

In the status display area, you can check the status of the receiver and visualise the position of the receiver relative to the drone.

Table: Receiver Status Information Fields

Setup MRX mode

This option enables to use data from two receivers to calculate position. It allows calculating receiver yaw orientation using triangular method. In this mode, compass data (on ground and on board) is not affecting the position estimation, so it is more durable way to land. In this mode the maximum distance is limited by 10 m and at altitude above, it will use compass mode.

To set up and check MRX mode do the following:

• Connect receivers on board with CAN BUS.
• Configure “Receiver offset” for both receivers.
• Configure “Receiver orientation YAW” for both receivers (XCopter-G2).
• Enable option “MRX mode”.
• After set up, hover the drone above the transmitter (1 m - 2 m) and check that Tdistance and Distance are the same (+/- 20%).
• Correct “Receiver offset” option in case of TDistance and Distance are not approximately the same. Increasing position between receivers increases Tdistance and backwards.
• Rotate Drove over transmitter (1 m - 2 m) and check the value of the MRX-YAW on chart “GU Orientation”. It needs to be corresponding to the heading of the drone relatively to the transmitter.

Receiver Charts

Program display several parameters of the device on charts:

• Angles, Positions in different coordinate systems
• Distance
• Vehicle information (position and velocity)
• Data from Transmitters IMU.

Integration instructions for Ardupilot based systems.

Preparing for integration:

• Download the latest version of the ULSTools software. It is recommended to connect all sensors to PC and update the firmware for all UAVLAS devices in the system.
• Update autopilot with Arducopter latest version.
• Configure transmitter.
• Configure receiver.

Example of receiver configuration:

Autopilot configuration

Setup PLND section

Table: Ardupilot PLND Section Parameters All other parameters in PLND section defaults or use accordingly to your vehicle set up requirements.

On a picture example configuration provided.

Set up serial communication in SERIALx Section.

Table: Serial Communication Configuration (SERIALx Section) Set up serial communication messages in SRx Section. Sensor requires some data from autopilot to work in different modes.

Table: Serial Communication Messages (SRx Section) Check setup.

If all settings are done correct, autopilot has GPS data and receiver in the field of view of the transmitter, you can find LANDING_TARGET message in mavlink inspector (a screenshot from Mission Planner)

Setup Precision loiter mode.

To enable precision loiter mode you need attach any unused switch to PrecLoiter option see picture below:

Try to use this switch and you must get messages: “PrecLoiter: LOW” and “PrecLoiter: HIGH” After test flight above target check telemetry - you will find PL data contains offsets form landing target.

PID tuning

In case of oscillations and other issues at landing stage, pls, check PID parameters of Ardupilot.

It is recommended to check the Position XY, Velocity XY and Loiter speed parameters in “Extended tuning” section to achieve the best performance.

For additional information, see Ardupilot manual.

Integration instructions for PX4 based systems.

Preparing for integration:

• Download the latest version of the ULSTools software. It is recommended to connect all sensors to PC and update the firmware for all UAVLAS devices in the system.
• Update autopilot with PX4 latest version.
• Configure transmitter.
• Configure receiver.

Current version of the system can use MavlinkV2 protocol to communicate with PX4 autopilots (for now it supports MAV_FRAME_LOCAL_NED).

Example of receiver configuration:

Configure PX4 autopilot.

Values are provided as example (in our case, Pixhawk4-mini AP)

Table: PX4 Autopilot Configuration Parameters

Running and testing

After configuration and wiring, power up drone and transmitter. On QGround control, go “Analyze Tools” -> MAVLINK Inspector. Check LANDING_TARGET MAVLINK message

In case the vehicle provide LOCAL_POSITION_NED message to UAVLAS system, and it hovers over beacon, you get “position_valid = 1” in LANDING_TARGET

To perform precision landing, you need to create a flight plan and enable Precision Landing option on the landing point.

Troubleshooting

Before of all check:

• You are using latest version of ULS-Tools, latest firmware on ULS-XCOPTER transmitter and receiver, and latest Ardupilot (PX4) firmware.

No mavlink message:

• Transmitter are switched on and receiver in field of view of transmitter.
• Red light on receiver flashes fast ( > 5 times per second ). If it flash 2 times per sec it mean that transmitter not switched on, or not in field of view. If it not flash - check power.
• Check Serial setting on AP params and on receiver be sure you are set EXTRA params for corresponding serial port on AP.
• Check wiring power and RX, TX (see pinouts and wiring diagram)
• Check on receiver that MAV_FRAME_BODY_FRD (MAV_FRAME_LOCAL_NED) enabled.

Not holding in precision loiter mode but mavlink message ok:

• Check that you setup Precision loiter mode on AP

Circular motions during landing:

• Check compass calibration on ground unit.
• Check Compass calibration on AP.
• Check magnetic interference on ground.
• Use compass override mode to debug landing.
• Check precision landing PID settings.

The landing is not precise enough:

• Check the position control PID settings of AP.
• For Ardupilot check Kalman filter settings.
• Check filter smoothness param on receiver.
• Check trajectory Jerk settings on AP.

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

6 - ULS-Heli Documentation

Application

ULS-Heli is designed for autonomous landing of large VTOL drones and helicopters, assisted landing and parking of manually controlled aircraft, and marine-based helicopters. Its dust- and waterproof design is built for challenging environments.

ULS-Heli-G3 uses two identical, equal-priority receivers for redundancy and yaw estimation in MRX mode, and shares its receiver platform with ULS-XSpot-G3.

Documents

Each page is generated from the source of the controlled PDF; the numbered PDF can be downloaded from the document portal.

6.1 - ULS-Heli-G2 Datasheet

ULSDC-PBDS210925 · version 0.2.0 · issued September 21, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this datasheet is to provide comprehensive technical information about the ULS-Heli-G2 System family. This includes specifications, performance characteristics, and detailed descriptions of system components, such as transmitters and receivers. By outlining the interfaces between these components, the datasheet aims to facilitate seamless integration and operation for system engineers, integrators, and developers working system.

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-Heli-G2 systems. It provides detailed information on the system.

System Base Components

Transmitter (Ground Unit)

Figure: ULS-Heli-G2 Transmitter A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing. The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the XCopter. This signal contains critical information needed for the operation of the system, such as positional data, commands, and status.

Receiver (Onboard Unit)

Figure: ULS-Heli-G2 Receiver A receiver is a device that is placed on board an aircraft. The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Part Numbering

Table: Part Numbering

System specification.

Table: Common Specification

Table: Receiver (Slave) Specifications

Table: Receiver (Master) Specifications

Table: Transmitter (Ground) Specifications

Pinout Information

Table: 4 Pin Connector Pinout

Table: 8 Pin Connector Pinout

Table: Transmitter 10 Pin Connector Pinout

Mechanical dimensions

Figure: Slave receiver Mechanical Dimensions

Figure: Master receiver Mechanical Dimensions

Figure: Transmitter Mechanical Dimensions

Packaging information

The device is shipped in a protective case.

Figure: Protective Packaging Case

Environmental Conditions

Environmental Conditions - Industrial Grade

Equipment is designed to operate reliably in demanding environmental conditions typical of aerospace, industrial automation, and outdoor applications.

Operating Temperature Range

• Standard operating range: -20°C to +55°C
• Covers most industrial and outdoor applications
• Reliable performance across temperature extremes
• No performance degradation within specified range

Humidity Tolerance

• Relative humidity: Up to 70% (non-condensing)
• Protected against moisture in typical operating conditions
• Suitable for outdoor and semi-protected installations
• Condensation prevention through sealed design

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Suitable for harsh industrial environments
• Protected against rain, splashing, and temporary submersion
• Dust-tight sealing for contaminated environments

Storage Conditions

• Storage temperature: -40°C to +70°C
• Relative humidity: Up to 95% (non-condensing)
• Long-term storage in industrial facilities

Operational Environment Standards

• Designed to meet industrial equipment requirements
• Suitable for UAV/drone applications
• Outdoor installation capable
• Protected against:
  • Dust and particulate matter
  • Water spray and rain
  • Temporary water immersion
  • Temperature fluctuations
  • High humidity

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

6.2 - ULS-Heli-G2 Interface Control Document

ULSDC-PBICD210925 · version 1.0.1 · issued September 22, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document outlines the interfaces between the ULS-Heli-G2 system components, including the transmitter, receiver, and autopilot systems (Ardupilot and PX4 and similar).

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-Heli-G2 systems. It provides detailed information on the interfaces between the system components, ensuring seamless integration and operation.

System Components

Transmitter (Ground Unit)

Figure: ULS-Heli-G2 Transmitter A transmitter is a device placed on the ground (platform, moving object). It emits a signal in the Infrared range and serves as a kind of beacon. Transmitter marks position for drone landing. The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the XCopter. This signal contains critical information needed for the operation of the system, such as positional data, commands, and status.

Receiver (Onboard Unit)

Figure: ULS-Heli-G2 Receiver A receiver is a device that is placed on board an aircraft. The receiver decodes this signal to derive flight information such as positional coordinates, real-time transmitter status updates, and landing guidance. It interprets the data to navigate accurately and ensure drone follows the intended flight path. It provides feedback to the autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal and safety landing or hovering above.

Interface Overview

Figure: ULS-Heli-G2 System Interfaces Overview

Transmitter to Control PC Interface (External Sensors)

The transmitter can be connected to a control PC or external equipment for configuration, status monitoring, and data exchange.

Data Types

• Status information
• Control signals
• Transmitter configuration
• External IMU/COMPASS data

Connection Types

• CAN Bus - For network communication
• USB - For configuration and firmware updates
• RS422 - For serial communication with external sensors

Transmitter Pinout

Table: Transmitter 10 Pin Connector Pinout

Transmitter to Receiver Interface

The transmitter and receiver use an optical interface to exchange data. Transmission uses IR emission at 940 nanometers. Data transmission is only in the direction from the transmitter to the receiver.

Data Types

• Position encoded
• Status encoded data (Transmitter orientation and instructions)

Connection Type

• Optical IR 940nm - Infrared optical link

Receiver to Autopilot and Receiver to PC Interfaces

Data Types

• MAVLink messages
• ULS-Blitz frames
• ASCII protocol

Connection Types

• UART - Serial communication with autopilot
• CAN - Network communication
• USB - Direct PC connection

Receiver Pinout

Table: 4 Pin Connector Pinout

Table: 8 Pin Connector Pinout

Powering Interfaces

Figure: Power Distribution and Connections

Transmitter Electrical Characteristics

Table: Transmitter Electrical Specifications

Receiver Electrical Characteristics

Table: Receiver Electrical Specifications

Functional Interfaces

Figure: Data Flow and Functional Interfaces

Data Exchange

The ULS-Heli-G2 system implements several data exchange mechanisms:

Control PC Functions:

• Configure and view status of transmitter
• Set configuration of receivers
• Send control signals (On/off, compass override information)

External Equipment:

• External IMU/Compass equipment can be used to override internal IMU/compass information

Receiver Functions:

• Accept data from transmitter over IR signal (position field information and ground unit IMU data)
• Accept NED and Attitude information from autopilot to convert coordinate system
• Multiple receivers can communicate to calculate vehicle orientation (YAW)
• Send position offset data to autopilot

Mechanical Interfaces

Figure: Slave receiver Mechanical Dimensions

Figure: Master receiver Mechanical Dimensions

Figure: Transmitter Mechanical Dimensions

Transmitter Mounting

Use 16 mounting holes to mount transmitter to panel. 3D model of the transmitter can be provided upon request.

Receiver Mounting

Both master and slave receivers have mounting provisions for secure installation. 3D models of the receivers can be provided upon request.

Communication Protocols

Overview

The protocol used by devices for configuration is proprietary and is described in other documents. However, the protocol implements the possibility of transmitting messages (Blitz messages) that can be used by the user to control the device and obtain information. These messages are universal, and the format describes the data that is transmitted by various devices in our system connected to a single network.

Use CMD=6 to send Blitz messages.

In this document, the CAN protocol is specified. RS485 is used to implement custom protocols that can be defined in the future.

CAN Bus Protocol Frame Format

flowchart LR
  A[Sender Device] --> B[GLOBAL]
  B --> C[CMD = 6]
  C --> D[ID]
  D --> E[dsn_lid]
  E --> F[msg_id]
  F --> G[Blitz Payload data <= 8 bytes]
  G --> H[Receiver Device]

The CAN protocol uses the following frame structure:

Table: CAN Protocol Frame Fields

Status Bit Definitions

Most messages include a status byte with the following bit definitions:

Table: Status Bit Definitions

Common Data Structure

Blitz Common Data Structure

Structure: __blitz_common_data_struct

Table: Blitz Common Data Structure The union contains all possible message structures:

• xcg1_rx_raw_measurmet
• rx_raw_measurmet
• rx_pos_in_tx_frame
• rx_mrx
• rx_dacs

Usage: Universal container for all ULS Blitz message types.

Implementation Notes

1. Packed Structures: All structures use __attribute__((packed)) to ensure no padding bytes are added by the compiler.
2. Endianness: The protocol assumes little-endian byte order for multi-byte fields.
3. Angular Precision: Angular measurements use 16-bit signed integers with specific scaling factors for different ranges.
4. Distance Units: Distance measurements may use different units (cm, 10cm increments) depending on the message type.

Message Types

XCG1 Raw Measurement (0x0010)

Message ID: ULS_BLITZ_MSG_ID_XCG1_RX_RAW_MEASURMENT (0x0010)

Structure: __uls_blitz_xcg1_rx_raw_measurmet

Table: XCG1 Raw Measurement Message Format Purpose: Legacy raw measurement data for XCG1 systems with limited angular range.

Raw Measurement (0x0011)

Message ID: ULS_BLITZ_MSG_ID_RX_RAW_MEASURMENT (0x0011)

Structure: __uls_blitz_msg_rx_raw_measurmet

Table: Raw Measurement Message Format Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Standard raw measurement data with full angular range.

Position in TX Frame (0x0012)

Message ID: ULS_BLITZ_MSG_ID_RX_POS_IN_TX_FRAME (0x0012)

Structure: __uls_blitz_msg_rx_pos_in_tx_frame

Table: Position in TX Frame Message Format Purpose: 3D position data relative to the transmitter coordinate system.

MRX Information (0x0013)

Message ID: ULS_BLITZ_MSG_ID_RX_MRX (0x0013)

Structure: __uls_blitz_msg_rx_mrx

Table: MRX Information Message Format Purpose: Multi-receiver (MRX) information for secondary receiver data.

DACS Information (0x0014)

Message ID: ULS_BLITZ_MSG_ID_RX_DACS (0x0014)

Structure: __uls_blitz_msg_rx_dacs

Table: DACS Information Message Format Purpose: DACS (Distance and Azimuth Correction System) data with continuous yaw tracking. Available on VTOL systems only.

Ground IMU Measurement (0x0020)

Message ID: ULS_BLITZ_MSG_ID_GIMU_MEASUREMENT (0x0020)

Structure: __uls_blitz_msg_gimu_data

Table: Ground IMU Measurement Message Format Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Ground unit IMU (Inertial Measurement Unit) orientation data.

IMU Override (0x0030)

Message ID: ULS_BLITZ_MSG_ID_XX_TXC_IMU_OVERRIDE (0x0030)

Structure: __uls_blitz_msg_xx_txc_imu_override

Table: IMU Override Message Format Control Bits:

Table: IMU Override Control Bits Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Override IMU data on ground unit for external orientation control.

Magnetometer Override (0x0031)

Message ID: ULS_BLITZ_MSG_ID_XX_TXC_MAG_OVERRIDE (0x0031)

Structure: __uls_blitz_msg_xx_txc_mag_override

Table: Magnetometer Override Message Format Control Bits:

Table: Magnetometer Override Control Bits Magnetic Field Conversion Formula:

mag_value = (value_int16 * 1.0f) / 32767.0f

Purpose: Override magnetometer data on ground unit for external compass control.

Environmental Conditions

For the Receiver Unit

• Operating temperature range: -40°C to +85°C
• Humidity range: Less than 70%
• Dust and moisture protection: IP67
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)

For the Transmitter Unit

• Operating temperature range: -40°C to +85°C
• Humidity range: Less than 70%
• Dust and moisture protection: IP67
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)

Storage Conditions

• Storage temperature: -40°C to +85°C
• Relative humidity: Up to 70% (non-condensing)

Part Numbering

Table: Part Numbering

Specifications

Table: Common Specification

Table: Receiver (Slave) Specifications

Table: Receiver (Master) Specifications

Table: Transmitter (Ground) Specifications

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

6.3 - ULS-Heli-G2 Operation Manual

ULSDC-PBOM210925 · version 1.0.0 · issued January 26, 2026
The numbered PDF is the controlled copy: download it from the portal.

ULS-Heli-G2 Operation Manual

Table of Contents

1. Introduction
2. Safety Information
3. Getting Started
4. Installation
5. Basic Operation
6. Advanced Features
7. Troubleshooting
8. Maintenance
9. Specifications
10. Support

Introduction

Purpose

The ULS-Heli-G2 is a professional-grade optical positioning system designed to enable precision approach and landing for helicopters and heavy-lift rotary-wing UAVs. It provides reliable short-range positioning in GPS-denied or degraded environments, including maritime and industrial operations.

Scope

This manual covers safe operation, installation, configuration, and routine maintenance of the ULS-Heli-G2 system, including aircraft receivers (Master/Slave) and the ground transmitter (Beacon).

Intended Audience

Pilots, flight technicians, and integration engineers responsible for installing and operating the system on helicopters or heavy-lift rotary UAV platforms.

Safety Information

Important Safety Guidelines

• WARNING: Rotary-wing aircraft operations are inherently hazardous. Only qualified personnel should install and operate this system.
• WARNING: Avoid direct eye exposure to high-intensity optical emitters. Do not stare into the Beacon emission aperture.
• CAUTION: Ensure secure mounting and vibration isolation compliant with airworthiness requirements for your platform.
• CAUTION: Verify electromagnetic compatibility and power budgets when integrating with aircraft systems.
• NOTE: Maintain clear line-of-sight between aircraft receivers and ground Beacon during approach and landing.

Regulatory Compliance

• System components should be installed per applicable aviation regulations and local maritime/industrial standards.
• Environmental considerations: the system is qualified for all-weather operation; verify local restrictions for optical emissions.

Getting Started

What’s in the Box

• 1× Ground Transmitter (Beacon) — heavy-duty IP-rated enclosure
• 1× Master Receiver — aircraft unit with enhanced features
• 2× Slave Receivers — compact aircraft units for redundancy
• Connection cables — USB, CAN, UART interface options
• Mounting hardware — aircraft and ground mounting kits
• Documentation — datasheet and operation manual

System Requirements

• Aircraft power for receivers: 5 V DC, ~3 W per receiver
• Ground power for Beacon: 22–26 V DC, ~10 W
• Supported autopilots: ArduPilot Helicopter (native), PX4 compatible; or custom AP via USB/UART/CAN
• Clear approach corridor ensuring line-of-sight to Beacon

Installation

1. Preparation

• Review aircraft electrical and mechanical integration constraints (space, power, EMI/EMC).
• Identify mounting locations for receivers with unobstructed forward field of view (~90°).
• Select Beacon site providing 60° emission coverage and safe standoff from rotor/obstacles.

2. Ground Transmitter (Beacon) Mounting

• Mount the Beacon on a stable platform (deck/helipad) within the planned landing area.
• Ensure emission aperture faces the approach path; verify no occlusion within 60° working angle.
• Connect 22–26 V DC supply; confirm IP-rated sealing and strain relief on cables.

3. Aircraft Receiver Installation

• Install Master and Slave receivers per platform layout, oriented to maximize forward line-of-sight.
• Provide vibration isolation per aircraft standards; route cables securely away from moving parts.
• Connect power (5 V DC) and chosen data interface (USB, UART, or CAN) to the flight computer/AP.

4. Initial Setup

• Power Beacon and receivers; confirm device enumerations and link status on AP.
• Configure AP integration (ArduPilot/PX4) to accept ULS-Heli-G2 positioning input.
• Perform alignment check: validate that receiver FOVs cover the approach corridor; adjust mounts if needed.

Basic Operation

Power-On Sequence

1. Power Beacon and verify status indicator.
2. Power aircraft receivers; confirm data link availability.
3. Verify AP integration: positioning data visible and updating at 20 Hz.

Approach and Landing

• Establish approach with direct line-of-sight to Beacon within 50 m range.
• Maintain alignment within the 60° working angle.
• Monitor horizontal/vertical offsets on AP/HMI; use cues to correct approach.
• Execute landing per SOPs; system supports <5 cm horizontal and <10 cm vertical accuracy at 1 m (linearly scaling).

Operating Notes

• System operates day/night and in adverse weather (rain, fog, snow, dust) within qualified limits.
• If dual receivers are installed, Master manages fusion and automatic failover.

Advanced Features

Dual Receiver Configuration (Master/Slave)

• Redundancy with automatic failover for critical operations.
• Cross-checking and sensor fusion for enhanced accuracy.
• Independent power supplies recommended.

Interfaces

• USB, UART, CAN for integration to flight computers or custom APs.
• ArduPilot Helicopter: native support; PX4: full compatibility.

Update Rate and FOV

• 20 Hz update rate for smooth positioning.
• Receiver FOV ~90°; Beacon emission angle ~60°.

Troubleshooting

Maintenance

Regular Maintenance

• Clean receiver optics and Beacon aperture; remove salt spray/dust.
• Inspect mounts, fasteners, and cable strain relief.
• Verify firmware/software compatibility with AP after updates.

Preventive Maintenance

• Quarterly alignment verification and functional tests.
• Replace worn vibration isolators per aircraft maintenance schedule.

Specifications

System Performance

• Horizontal Accuracy: <5 cm at 1 m (linear scaling)
• Vertical Accuracy: <10 cm
• Operating Range: up to 50 m
• Update Rate: 20 Hz
• Working Angle (Beacon): 60°

Receiver (Slave)

• Weight: 40 g
• Dimensions: 46 × 26 × 12 mm
• Field of View: 90°
• Power Consumption: 3 W
• Supply Voltage: 5 V DC
• Interfaces: USB, CAN, UART

Receiver (Master)

• Weight: 60 g
• Dimensions: 50 × 50 × 14 mm
• Field of View: 90°
• Power Consumption: 3 W
• Supply Voltage: 5 V DC
• Interfaces: USB, CAN, UART

Beacon (Ground)

• Weight: 4100 g
• Dimensions: 290 × 215 × 48 mm
• Emission Angle: 60°
• Power Consumption: 10 W
• Supply Voltage: 22–26 V DC
• Interfaces: USB, CAN, UART

Support

• Technical Support and Services available via the website contact page.
• For integration assistance (ArduPilot/PX4/custom AP), engage engineering support.

Contact for more information

6.4 - ULS-Heli-G3 Datasheet

ULSDC-PBDS110426 · version 0.1.19 · issued April 11, 2026
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this datasheet is to provide a concise technical overview of the ULS-Heli-G3 system family, including the transmitter and 2 identical, equal-priority RXM receiver units. The document is intended to help customers, evaluators, and integrators understand the product role, key characteristics, and integration fit. Detailed interface definitions remain in the Interface Control Document.

Scope

This document is intended for system engineers, integrators, and developers preparing ULS-Heli-G3 integration.

Intended Audience

This datasheet is intended for customers, sales engineers, system integrators, and technical evaluators.

Product Overview

ULS-Heli-G3 is a generation 3 precision optical positioning system designed for integration with aircraft platforms that require accurate relative positioning and landing guidance. The system architecture consists of one ground transmitter and 2 equal-priority RXM onboard receivers. The dual-receiver architecture supports redundancy and yaw orientation estimation in MRX mode.

System Base Components

Transmitter (Ground Unit)

• Device code: ULSDV-HL-G3-TX
• Primary function: Optical IR field emission for precision positioning
• Optical emission parameters: 940nm, pulsed

Figure: ULSDV-HL-G3-TX Transmitter

Receiver (Onboard Unit)

• Device code: ULSDV-HLXS-G3-RXM
• Primary function: Optical IR field sensor for precision positioning
• Optical central wavelength : 940nm

System architecture uses 2 identical RXM receiver units operating with the same priority.

Both RXM units are used for redundancy and for yaw orientation estimation using a triangular method in MRX mode.

Figure: ULSDV-HLXS-G3-RXM Receiver

RS422–UART Onboard Adapter

When the autopilot has only a UART interface, the ULSDV-HLXS-G3 RS422-to-UART adapter (ULSDV-XX-UART-RS422) is used onboard to connect the ULSDV-HLXS-G3-RXM receiver to the autopilot.

Figure: ULSDV-XX-UART-RS422 Onboard Adapter

USB–RS422 Ground Adapter

The ULSDV-XX-USB-RS422 adapter is used on the ground to connect the ULSDV-HL-G3-TX transmitter to a PC for configuration and control.

Figure: ULS-XX-USB-RS422 Ground Adapter

Key Features

• Dual RXM receiver architecture for redundancy and yaw estimation in MRX mode
• Shared generation 3 receiver platform for improved hardware commonality
• Optical transmitter-to-receiver link for precision positioning data transfer
• RS422-based native hardware interfaces with adapter support for UART-only autopilots

System Applications

• Precision landing and approach guidance
• Platform-relative positioning for autonomous aircraft operations
• Integration with supported autopilot and mission systems

System Wiring Schematics

Figure: HL/XS G3 Ground-Side Wiring Schematic

Figure: HL/XS G3 Onboard Wiring Schematic

Part Numbering

Table: Part Numbering

System Specifications

Table: Common Specification

Table: ULSDV-HLXS-G3-RXM Receiver Specifications

Table: ULSDV-HL-G3-TX Transmitter (Ground) Specifications

Interface Summary

The ULS-Heli-G3 system uses optical, RS422, CAN, USB, and adapter-assisted UART connectivity depending on subsystem role and host platform capability.

• Transmitter to receiver: optical IR link
• Transmitter to control PC: USB to RS422 adapter path
• Receiver to host system: native RS422, CAN, USB, or adapter-assisted UART

For connector, pinout, signal, and protocol definitions, refer to ULSDC-PBICD110426-ULS-Heli-G3-ICD.

Mechanical Dimensions

Table: Mechanical Dimensions

Figure: ULSDV-HL-G3-TX Projection Views (Color)

Figure: ULSDV-HL-G3-TX Transmitter Dimensions

Figure: ULSDV-HLXS-G3-RXM Projection Views (Color)

Figure: ULSDV-HLXS-G3-RXM Receiver Dimensions

Packaging Information

Table: Packaging Information

Figure: ULS-Heli-G3 packaging

Environmental Conditions

Equipment is designed to meet stringent military and maritime operational requirements, providing reliable performance in the most demanding environmental conditions including shipboard operations, offshore platforms, and tactical deployments.

Operating Temperature Range

• Extended operating range: -40°C to +85°C
• Meets MIL-STD-810 requirements for temperature extremes
• Arctic to desert operations capability
• No performance degradation across full temperature range
• Qualified for rapid temperature transitions and thermal shock
• Cold-soak start capability from -40°C

Humidity and Salt Fog Resistance

• Relative humidity: Up to 95% (condensing)
• Salt fog resistant per MIL-STD-810 Method 509
• Maritime environment qualified for shipboard operations
• Corrosion-resistant materials and protective coatings
• Protected against salt spray and marine atmosphere
• Suitable for offshore platform installations

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust, sand, and particulate ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Exceeds requirements for shipboard and maritime operations
• Protected against:
  • Heavy rain and sea spray
  • Temporary submersion (deck washing, wave impact)
  • Sand and dust storms
  • Contaminated environments

Shock and Vibration

• Vibration: MIL-STD-810 Method 514
  • Helicopter vibration profile qualified
  • Shipboard vibration and shock resistant
  • Continuous operation during vibration
• Mechanical Shock: MIL-STD-810 Method 516
  • Drop and impact qualified
  • Transportation and handling shock resistant
  • Crash survival design considerations

Electromagnetic Compatibility

• EMI/EMC: MIL-STD-461 compliant
  • Electromagnetic interference immunity
  • Low electromagnetic emissions
  • RF coexistence with military avionics
  • Lightning protection per MIL-STD-464
• ESD Protection: IEC 61000-4-2
  • Contact discharge: ±8kV
  • Air discharge: ±15kV

Storage Conditions

• Storage temperature: -55°C to +85°C
• Relative humidity: Up to 95% (condensing)
• Long-term storage in uncontrolled environments
• Sealed for preservation and long-term depot storage

Altitude and Pressure

• Operating altitude: -500m to +4500m above sea level
• Storage altitude: -500m to +12000m
• Pressure differential resistant
• Suitable for high-altitude helicopter operations

Maintenance and Serviceability

• Designed for field maintenance and repair
• Minimal preventive maintenance required
• Accessible components for service and inspection
• Environmental seals serviceable in the field
• Long service intervals suitable for deployed operations

Note: All environmental specifications are subject to final qualification testing. Contact UAVLAS for the most current test data and certification documentation. Custom environmental testing and certification to specific standards available upon request.

Optical Radiation Safety (IR Emission)

The transmitter (ground unit) emits pulsed infrared optical radiation with a centre wavelength of 940nm. The receivers are optical sensors only and do not emit optical radiation.

Why This Warning Is Given

Radiation at 940nm is outside the visible range. The protective mechanisms that limit exposure to bright visible sources — the blink reflex, pupil constriction, and the instinct to look away — are not triggered by an invisible source. Exposure time is therefore limited only by operator behaviour, which is why the precautions below are given as operating instructions and not left to the operator’s judgement.

The transmitter is a positioning beacon. It is not an illumination product and is not intended to be viewed at any time.

Operating Precautions

• Do not look directly into the transmitter emitter apertures from a distance of less than 1 metre while the unit is powered.
• Treat the transmitter as emitting whenever supply voltage is applied, including when no receiver is present and no positioning data is being transferred.
• Switch emission off before working directly in front of the transmitter. Use the Illumination parameter in ULS-Tools to disable emission, or disconnect supply power.
• Do not view the powered transmitter through binoculars, telescopes, camera lenses, magnifiers, or any other light-collecting instrument. Such optics concentrate the emission and can raise the exposure at the eye by orders of magnitude compared with unaided viewing.
• Do not add, remove, or modify optical elements of the transmitter. Added optics change the emission characteristics and invalidate any photobiological classification of the unit.
• Position the transmitter so that the emission field is directed away from work positions and walkways where personnel stay for extended periods.
• Servicing personnel working inside the emission field at close range should disable emission first rather than rely on viewing distance.

Classification and Applicable Standards

Table: Optical Radiation Safety Data

For a 940nm source the applicable exposure limits are the retinal thermal hazard (380nm to 1400nm), the retinal thermal hazard for a weak visual stimulus (780nm to 1400nm, which applies specifically to sources that give no visual cue), and the infrared hazard to the cornea and lens (780nm to 3000nm). The corneal and lens limits are intended for chronic exposures longer than 1000s at a daily averaged irradiance of 100 W/m² or more.

Organisations operating this equipment within the European Union are additionally subject to Directive 2006/25/EC on the exposure of workers to artificial optical radiation, which requires the employer to assess worker exposure against the exposure limit values given in Annex I of that directive. UAVLAS provides the emission data needed for that assessment on request.

Compliance and Standards

• Document classification and release control as defined in metadata
• Product-specific compliance statements to be finalized for release

Ordering Information

Use the part numbering section to identify system variants, subassemblies, and related accessories.

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

6.5 - ULS-Heli-G3 Interface Control Document

ULSDC-PBICD110426 · version 0.1.36 · issued April 11, 2026
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document defines the interfaces between ULS-Heli-G3 components, including one transmitter and 2 identical, equal-priority RXM receivers. It records the mechanical, electrical, communication, and functional characteristics needed for correct system integration.

Scope

This document is intended for system engineers, integrators, and developers working with ULS-Heli-G3 systems.

Assumptions and Exclusions

• This document defines interfaces only; product selection and overview information belong in the datasheet.
• Installation, calibration, and operating procedures belong in the operation manual.

System Components

Transmitter (Ground Unit)

• Device code: ULSDV-HL-G3-TX
• Primary function: Optical IR field emission for precision positioning
• Optical emission parameters: 940nm, pulsed

Figure: ULSDV-HL-G3-TX Transmitter

Receiver (Onboard Unit)

• Device code: ULSDV-HLXS-G3-RXM
• Primary function: Optical IR field sensor for precision positioning
• Optical central wavelength : 940nm

System architecture uses 2 identical RXM receiver units operating with the same priority.

Both RXM units are used for redundancy and for yaw orientation estimation using a triangular method in MRX mode.

Figure: ULSDV-HLXS-G3-RXM Receiver

RS422–UART Onboard Adapter

When the autopilot has only a UART interface, the ULSDV-HLXS-G3 RS422-to-UART adapter (ULSDV-XX-UART-RS422) is used onboard to connect the ULSDV-HLXS-G3-RXM receiver to the autopilot.

Figure: ULSDV-XX-UART-RS422 Onboard Adapter

USB–RS422 Ground Adapter

The ULSDV-XX-USB-RS422 adapter is used on the ground to connect the ULSDV-HL-G3-TX transmitter to a PC for configuration and control.

Figure: ULS-XX-USB-RS422 Ground Adapter

Interface Overview

Figure: ULS-Heli-G3 System Interfaces Overview

Physical Interfaces

Figure: ULS-Heli-G3 System Interfaces Overview

Transmitter to Control PC Interface

The transmitter (ULSDV-HL-G3-TX) connects to a PC via the ULS-XX-USB-RS422 ground adapter for configuration and control.

Figure: ULS-XX-USB-RS422 Adapter Pinout

*Table: ULS-XX-USB-RS422 Pinout *

Data Types

• Status information
• Control signals
• Transmitter configuration
• External IMU/COMPASS data

Connection Types

• CAN Bus – For network communication
• USB – Via ULS-XX-USB-RS422 adapter (PC side)
• RS422 – Native transmitter interface; for serial communication with external sensors

Transmitter Pinout

ULSDV-HL-G3-TX Transmitter pinout information.

Figure: Transmitter connector

Table: Transmitter Connector Pinout (ULSDV-HL-G3-TX)

Transmitter to Receiver Interface

The transmitter and receiver use an optical interface to exchange data. Transmission uses pulsed IR emission at 940 nanometers. Data transmission is only in the direction from the transmitter to the receiver.

Data Types

• Position encoded
• Status encoded data (transmitter orientation and instructions)

Connection Type

• Optical IR 940nm (pulsed) – Infrared optical link

Receiver Interfaces (RXM Set A and RXM Set B)

Both RXM receivers (ULSDV-HLXS-G3-RXM) are identical and have the same priority in system operation.

When the autopilot provides only a UART interface, connect the RXM receiver RS422 output through the ULS-XX-UART-RS422 onboard adapter.

Figure: ULS-XX-UART-RS422 Adapter Pinout

Table: ULSDV-XX-UART-RS422-R0 4 pin connector pinout

Table: ULSDV-XX-UART-RS422-R0 6 pin connector pinout

Data Types

• MAVLink messages
• ULS-Blitz frames
• ASCII protocol
• MRX-mode yaw estimation data (triangular method)

Connection Types

• RS422 – Native receiver interface
• UART – Via ULS-XX-UART-RS422 adapter (for UART-only autopilots)
• CAN – Network communication
• USB – Direct PC connection

Receiver Pinout

ULSDV-HLXS-G3-RXM Receiver pinout information.

Figure: Receiver connector

Table: ULSDV-HLXS-G3-RXM Connector Pinout For receiver setup unscrew protection part to get access to usb connector.

Figure: Receiver USB connector

Electrical Interfaces

Figure: Power Distribution and Connections

Transmitter Electrical Characteristics

Table: Transmitter Electrical Specifications

Receiver Electrical Characteristics (Per RXM Set)

Table: Receiver Electrical Specifications

Communication Interfaces

Supported Communication Methods

• Optical IR 940nm pulsed link between transmitter and receiver
• RS422 for native wired subsystem interfaces
• UART via ULS-XX-UART-RS422 where required by the host autopilot
• CAN for network communication
• USB for direct PC access where supported

Data Definitions

Data Categories

• Position-encoded optical data
• Transmitter status and orientation data
• MAVLink messages
• ULS-Blitz frames
• ASCII protocol data
• MRX yaw estimation data

Functional Interfaces

Figure: Data Flow and Functional Interfaces

Data Exchange

The ULS-Heli-G3 system data exchange mechanism:

Control PC Functions:

• Configure and view status of transmitter
• Set configuration of receivers
• Send control signals (On/off, compass override information)

External Equipment:

• External IMU/Compass equipment can be used to override internal IMU/compass information

Receiver Functions:

• Accept data from transmitter over IR signal (position field information and ground unit IMU data)
• Accept NED and Attitude information from autopilot to convert coordinate system
• Multiple receivers (MRX mode) communicate to calculate vehicle orientation (YAW) using triangular method
• Send position offset data to autopilot

Mechanical Interfaces

Table: Mechanical Dimensions

Figure: ULSDV-HL-G3-TX Projection Views (Color)

Figure: ULSDV-HL-G3-TX Transmitter Dimensions

Figure: ULSDV-HLXS-G3-RXM Projection Views (Color)

Figure: ULSDV-HLXS-G3-RXM Receiver Dimensions

Environmental Conditions

Equipment is designed to meet stringent military and maritime operational requirements, providing reliable performance in the most demanding environmental conditions including shipboard operations, offshore platforms, and tactical deployments.

Operating Temperature Range

• Extended operating range: -40°C to +85°C
• Meets MIL-STD-810 requirements for temperature extremes
• Arctic to desert operations capability
• No performance degradation across full temperature range
• Qualified for rapid temperature transitions and thermal shock
• Cold-soak start capability from -40°C

Humidity and Salt Fog Resistance

• Relative humidity: Up to 95% (condensing)
• Salt fog resistant per MIL-STD-810 Method 509
• Maritime environment qualified for shipboard operations
• Corrosion-resistant materials and protective coatings
• Protected against salt spray and marine atmosphere
• Suitable for offshore platform installations

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust, sand, and particulate ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Exceeds requirements for shipboard and maritime operations
• Protected against:
  • Heavy rain and sea spray
  • Temporary submersion (deck washing, wave impact)
  • Sand and dust storms
  • Contaminated environments

Shock and Vibration

• Vibration: MIL-STD-810 Method 514
  • Helicopter vibration profile qualified
  • Shipboard vibration and shock resistant
  • Continuous operation during vibration
• Mechanical Shock: MIL-STD-810 Method 516
  • Drop and impact qualified
  • Transportation and handling shock resistant
  • Crash survival design considerations

Electromagnetic Compatibility

• EMI/EMC: MIL-STD-461 compliant
  • Electromagnetic interference immunity
  • Low electromagnetic emissions
  • RF coexistence with military avionics
  • Lightning protection per MIL-STD-464
• ESD Protection: IEC 61000-4-2
  • Contact discharge: ±8kV
  • Air discharge: ±15kV

Storage Conditions

• Storage temperature: -55°C to +85°C
• Relative humidity: Up to 95% (condensing)
• Long-term storage in uncontrolled environments
• Sealed for preservation and long-term depot storage

Altitude and Pressure

• Operating altitude: -500m to +4500m above sea level
• Storage altitude: -500m to +12000m
• Pressure differential resistant
• Suitable for high-altitude helicopter operations

Maintenance and Serviceability

• Designed for field maintenance and repair
• Minimal preventive maintenance required
• Accessible components for service and inspection
• Environmental seals serviceable in the field
• Long service intervals suitable for deployed operations

Note: All environmental specifications are subject to final qualification testing. Contact UAVLAS for the most current test data and certification documentation. Custom environmental testing and certification to specific standards available upon request.

Optical Radiation Safety (IR Emission)

The transmitter (ground unit) emits pulsed infrared optical radiation with a centre wavelength of 940nm. The receivers are optical sensors only and do not emit optical radiation.

Why This Warning Is Given

Radiation at 940nm is outside the visible range. The protective mechanisms that limit exposure to bright visible sources — the blink reflex, pupil constriction, and the instinct to look away — are not triggered by an invisible source. Exposure time is therefore limited only by operator behaviour, which is why the precautions below are given as operating instructions and not left to the operator’s judgement.

The transmitter is a positioning beacon. It is not an illumination product and is not intended to be viewed at any time.

Operating Precautions

• Do not look directly into the transmitter emitter apertures from a distance of less than 1 metre while the unit is powered.
• Treat the transmitter as emitting whenever supply voltage is applied, including when no receiver is present and no positioning data is being transferred.
• Switch emission off before working directly in front of the transmitter. Use the Illumination parameter in ULS-Tools to disable emission, or disconnect supply power.
• Do not view the powered transmitter through binoculars, telescopes, camera lenses, magnifiers, or any other light-collecting instrument. Such optics concentrate the emission and can raise the exposure at the eye by orders of magnitude compared with unaided viewing.
• Do not add, remove, or modify optical elements of the transmitter. Added optics change the emission characteristics and invalidate any photobiological classification of the unit.
• Position the transmitter so that the emission field is directed away from work positions and walkways where personnel stay for extended periods.
• Servicing personnel working inside the emission field at close range should disable emission first rather than rely on viewing distance.

Classification and Applicable Standards

Table: Optical Radiation Safety Data

For a 940nm source the applicable exposure limits are the retinal thermal hazard (380nm to 1400nm), the retinal thermal hazard for a weak visual stimulus (780nm to 1400nm, which applies specifically to sources that give no visual cue), and the infrared hazard to the cornea and lens (780nm to 3000nm). The corneal and lens limits are intended for chronic exposures longer than 1000s at a daily averaged irradiance of 100 W/m² or more.

Organisations operating this equipment within the European Union are additionally subject to Directive 2006/25/EC on the exposure of workers to artificial optical radiation, which requires the employer to assess worker exposure against the exposure limit values given in Annex I of that directive. UAVLAS provides the emission data needed for that assessment on request.

Integration Wiring Diagrams

Figure: HL/XS G3 Ground-Side Wiring Schematic

Figure: HL/XS G3 Onboard Wiring Schematic

Part Numbering

Table: Part Numbering

Applicable Documents

• ULSDC-PBDS110426-ULS-Heli-G3-Datasheet
• ULSDC-PBOM110426-ULS-Heli-G3-Operation-Manual
• ULSDC-PBDS051125-ULS-DeCoNet Blitz Messages Specification

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

6.6 - ULS-Heli-G3 Operation Manual

ULSDC-PBOM110426 · version 0.1.22 · issued April 11, 2026
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This manual provides installation, configuration, operation, verification, and troubleshooting guidance for the ULS-Heli-G3 system.

Scope

This manual covers one transmitter and 2 identical, equal-priority RXM receivers used in the ULS-Heli-G3 architecture.

Intended Audience

This manual is intended for operators, installers, technicians, and integrators responsible for commissioning and using the system.

Safety Information

• WARNING: The transmitter emits invisible infrared radiation when powered. Do not look into the emitter apertures at close range. See the Optical Radiation Safety section below.
• CAUTION: Do not connect or disconnect the transmitter interface under power.

Optical Radiation Safety (IR Emission)

The transmitter (ground unit) emits pulsed infrared optical radiation with a centre wavelength of 940nm. The receivers are optical sensors only and do not emit optical radiation.

Why This Warning Is Given

Radiation at 940nm is outside the visible range. The protective mechanisms that limit exposure to bright visible sources — the blink reflex, pupil constriction, and the instinct to look away — are not triggered by an invisible source. Exposure time is therefore limited only by operator behaviour, which is why the precautions below are given as operating instructions and not left to the operator’s judgement.

The transmitter is a positioning beacon. It is not an illumination product and is not intended to be viewed at any time.

Operating Precautions

• Do not look directly into the transmitter emitter apertures from a distance of less than 1 metre while the unit is powered.
• Treat the transmitter as emitting whenever supply voltage is applied, including when no receiver is present and no positioning data is being transferred.
• Switch emission off before working directly in front of the transmitter. Use the Illumination parameter in ULS-Tools to disable emission, or disconnect supply power.
• Do not view the powered transmitter through binoculars, telescopes, camera lenses, magnifiers, or any other light-collecting instrument. Such optics concentrate the emission and can raise the exposure at the eye by orders of magnitude compared with unaided viewing.
• Do not add, remove, or modify optical elements of the transmitter. Added optics change the emission characteristics and invalidate any photobiological classification of the unit.
• Position the transmitter so that the emission field is directed away from work positions and walkways where personnel stay for extended periods.
• Servicing personnel working inside the emission field at close range should disable emission first rather than rely on viewing distance.

Classification and Applicable Standards

Table: Optical Radiation Safety Data

For a 940nm source the applicable exposure limits are the retinal thermal hazard (380nm to 1400nm), the retinal thermal hazard for a weak visual stimulus (780nm to 1400nm, which applies specifically to sources that give no visual cue), and the infrared hazard to the cornea and lens (780nm to 3000nm). The corneal and lens limits are intended for chronic exposures longer than 1000s at a daily averaged irradiance of 100 W/m² or more.

Organisations operating this equipment within the European Union are additionally subject to Directive 2006/25/EC on the exposure of workers to artificial optical radiation, which requires the employer to assess worker exposure against the exposure limit values given in Annex I of that directive. UAVLAS provides the emission data needed for that assessment on request.

System Overview

ULS-Heli-G3 is a generation 3 precision optical positioning system built around one ground transmitter and 2 equal-priority RXM receivers. The system supports redundant onboard sensing and MRX-based yaw estimation for platform-relative positioning and landing support.

Package Contents

• 1x Ground transmitter unit
• 2x RXM receiver units.
• 1x ULS-XX-USB-RS422 adapter (ground configuration)
• 2x ULS-XX-UART-RS422 onboard adapters (receiver-to-autopilot UART interface)
• Cables and mounting hardware
• Documentation package (may supply in online form )

Installation

Wiring Schematics

Figure: HL/XS G3 Ground-Side Wiring Schematic

Figure: HL/XS G3 Onboard Wiring Schematic

Transmitter Installation

Figure: ULSDV-HL-G3-TX Transmitter

Figure: ULSDV-HL-G3-TX Dimensions

• Mounting instructions: device can be mounter from top side or from bottom side. Use corresponding M3 screws to mount device on place. 3D model and pad example can be provided by UAVLAS under request.
• Orientation requirements: The device must be positioned with the optical elements facing upward. Make sure that no foreign objects obstruct the optical elements within the transmitter’s entire field of view.

Receiver Installation

Figure: ULSDV-HLXS-G3-RXM Receiver

Figure: ULSDV-HLXS-G3-RXM Dimensions

• Receivers location and orientation: The device must be positioned with the optical elements facing downward. Ensure that the optical elements are not obstructed by foreign objects within the transmitter’s entire field of view.
• Install the receivers at least 0.5 meters apart; this will ensure reliable operation in MRX mode even if one of the transmitters moves out of the system’s field of view.Typically, the first receiver (the one connected to the main autopilot) is located near the center of the landing point, and the second receiver is located at the tail. The maximum installation distance is 3 meters.

Configuration

Connecting Transmitter to PC

Use the ULS-XX-USB-RS422 adapter to connect the transmitter RS422 interface to a PC USB port for configuration and control via ULS-Tools software.

Figure: ULS-XX-USB-RS422 Ground Adapter

Figure: ULS-XX-USB-RS422 Adapter Pinout

Connecting Receiver to UART Autopilot

When the autopilot provides only a UART interface, use the ULS-XX-UART-RS422 onboard adapter between the receiver RS422 output and the autopilot UART port.

Figure: ULS-XX-UART-RS422 Onboard Adapter

Figure: ULS-XX-UART-RS422 Onboard Adapter Pinout

Receiver Pinout

ULSDV-HLXS-G3-RXM Receiver pinout information.

Figure: Receiver connector

Table: ULSDV-HLXS-G3-RXM Connector Pinout For receiver setup unscrew protection part to get access to usb connector.

Figure: Receiver USB connector

Transmitter Pinout

ULSDV-HL-G3-TX Transmitter pinout information.

Figure: Transmitter connector

Table: Transmitter Connector Pinout (ULSDV-HL-G3-TX)

Device Configuration and Integration in ULS-Tools

Use the adapters listed in this manual to connect each device to a PC and complete configuration in ULS-Tools before field operation.

ULS-Tools Device Dashboard

Figure: ULS-Tools Device Dashboard

Configure Transmitter

1. Connect the transmitter through the ULS-XX-USB-RS422 adapter.
2. Open transmitter settings and verify communication parameters.
3. Set required operating parameters and click Apply Config.

Figure: ULS-Tools Transmitter Configuration

Table: Transmitter Configuration Parameters

Configure Receiver (RXM)

1. Connect each receiver and configure one at a time.
2. Set UART protocol/baud rate to match autopilot serial configuration.
3. For dual-receiver installation, verify MRX-related parameters and offsets.
4. Click Apply Config after each update.

Figure: ULS-Tools Receiver Configuration

Table: Receiver Configuration Parameters

Compass Calibration (Ground Unit)

After installation, check compass behavior and perform calibration if required.

1. Press Reset calibrations.
2. Rotate the ground unit through multiple orientations to fill calibration charts.
3. Press Apply calibration and Apply Config.

Figure: ULS-Tools Compass Calibration

Integration Verification in ULS-Tools

• Confirm live device telemetry is visible in charts.
• Verify stable IMU and system parameter traces before flight tests.
• Confirm receiver link and valid position updates prior to autopilot integration tests.

Figure: ULS-Tools System Parameters Chart

Figure: ULS-Tools Receiver Charts

Integration Instructions for Ardupilot Based Systems

Preparing for Integration

• Download the latest version of ULS-Tools (Beta). It is recommended to connect all devices to a PC and update firmware for all UAVLAS devices before proceeding.
• Update the autopilot to the latest Arducopter version.
• Configure the transmitter in ULS-Tools
• Configure both receivers in ULS-Tools

The system communicates with Ardupilot using the MavlinkV2 protocol (supports MAV_FRAME_BODY_FRD).

Autopilot Configuration

Setup PLND Section

Table: Ardupilot PLND Section Parameters All other PLND parameters should remain at defaults, or be set according to your vehicle requirements.

Figure: PLND Configuration Example

Set Up Serial Communication in SERIALx Section

Table: Ardupilot SERIALx Section Parameters Set up serial stream rates in the SRx section. The sensor requires the following data from the autopilot:

Table: Ardupilot SRx Stream Rate Parameters

Check Setup

When configuration and wiring are correct, GPS is available, and the receiver is in the field of view of the transmitter, you will see the LANDING_TARGET MAVLink message in the MAVLink Inspector (Mission Planner example shown):

Figure: LANDING_TARGET Message in MAVLink Inspector

Setup Precision Loiter Mode

Attach any unused switch to the PrecLoiter option to enable precision loiter mode:

Figure: PrecLoiter Switch Configuration

Activate the switch and confirm messages “PrecLoiter: LOW” and “PrecLoiter: HIGH” appear. After a test flight above the target, check telemetry for PL offset data.

Figure: Telemetry Data Showing PL Offsets

PID Tuning

In case of oscillations or instability during landing, check the PID parameters in Ardupilot Extended Tuning.

It is recommended to tune Position XY, Velocity XY, and Loiter Speed for the best performance:

Figure: Ardupilot Extended Tuning Parameters

For additional information, see the Ardupilot documentation at https://ardupilot.org/ardupilot/

Integration Instructions for PX4 Based Systems

Preparing for Integration

• Download the latest version of ULS-Tools (Beta). It is recommended to connect all devices to a PC and update firmware for all UAVLAS devices before proceeding.
• Update the autopilot to the latest PX4 version.
• Configure the transmitter in ULS-Tools.
• Configure both receivers in ULS-Tools.

The system communicates with PX4 using the MavlinkV2 protocol (supports MAV_FRAME_LOCAL_NED).

Configure PX4 Autopilot

Values are provided as an example (Pixhawk4-mini AP):

Table: PX4 Autopilot Configuration Parameters

Running and Testing

After configuration and wiring, power up the drone and transmitter. In QGroundControl, go to Analyze Tools → MAVLink Inspector and check for the LANDING_TARGET MAVLink message.

If the vehicle is providing a LOCAL_POSITION_NED message to the UAVLAS system and is hovering over the beacon, the field position_valid = 1 will appear in LANDING_TARGET.

To perform precision landing, create a flight plan and enable the Precision Landing option on the landing waypoint.

Figure: LANDING_TARGET Message in QGroundControl

For additional information, see the PX4 documentation at https://docs.px4.io/main/en/

Operating Instructions

• Power sequence: Power device after all connectors are plugged in before powering.
• Link check procedure: Link can be checked from the configuration system during system installation, as well as during operation using a third-party device via the appropriate protocols.
• Landing and approach operation notes: The vehicle’s control system independently decides on the appropriate action based on the status of the landing system. The UAVLAS system acts as a sensor—the procedure for handling abnormal situations during operation remains the responsibility of the unmanned vehicle’s control system.
• Equal-priority RXM behavior in MRX mode: Both receivers have the same priority, and either one can be used to receive system status data.

Service and Support

The device requires no maintenance throughout its service life.

Appendices

Technical Reference

Table: Common Specification

Table: ULSDV-HLXS-G3-RXM Receiver Specifications

Table: ULSDV-HL-G3-TX Transmitter (Ground) Specifications

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

References

• ULSDC-PBDS110426-ULS-Heli-G3-Datasheet
• ULSDC-PBICD110426-ULS-Heli-G3-ICD

7 - ULS-XSpot Documentation

Application

ULS-XSpot is built for tethered drone operations: the transmitter has a centre through hole, so the tether cable passes through the unit without obstructing the optical field. It suits stationary or slow-moving tethered drones that need precise positioning over the ground station during flight and landing, over a working distance of up to 50 m.

ULS-XSpot-G3 shares the generation 3 platform with ULS-Heli-G3, including the dual receiver architecture for redundancy and MRX yaw estimation.

Documents

Each page is generated from the source of the controlled PDF; the numbered PDF can be downloaded from the document portal.

7.1 - ULS-XSpot Datasheet

ULSDC-PBDS231125 · version 1.0.1 · issued November 23, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The purpose of this datasheet is to provide comprehensive technical information about the ULS-XSpot System family, specifically designed for tethered drone operations. This includes specifications, performance characteristics, and detailed descriptions of system components, such as the tether-compatible transmitter and receivers. By outlining the interfaces between these components, the datasheet aims to facilitate seamless integration and operation for system engineers, integrators, and developers working with tethered drone systems.

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-XSpot systems in tethered drone applications. It provides detailed information on the system, with special emphasis on tethered drone operation requirements and the 50-meter working range.

Key Differences from ULS-Heli-G2

The ULS-XSpot system is optimized for tethered drone operations and features the following key differences:

1. Tethered Design: Transmitter features a center hole for tether cable passage, enabling integration with tethered drone power and data systems
2. Simplified Optics: Standard IR optical link without DACS technology, over the same 50-meter working distance as ULS-Heli-G2
3. Application Focus: Specifically designed for stationary or slow-moving tethered drone operations with continuous power availability

System Base Components

Transmitter (Ground Unit - Tethered Design)

Figure: ULS-XSpot Transmitter with Center Tether Hole The ULS-XSpot transmitter is specifically designed for tethered drone systems. It features a center hole for tether passage, allowing the drone’s power and data cable to pass through while maintaining optical positioning capabilities. The transmitter is placed on the ground (platform, moving object) and emits a signal in the Infrared range, serving as a positioning beacon for tethered drone landing and station-keeping.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the tethered copter. This signal contains critical information needed for the operation of the system, such as positional data and status. The tethered design allows for extended flight duration while maintaining precision positioning.

Key Features:

• Center hole for tether cable passage (integrated tether management)
• Working range: 50 meters working distance
• Optimized for tethered drone operations
• Continuous power available via tether connection

Receiver (Onboard Unit)

Figure: ULS-XSpot Receiver The receiver is a device that is placed on board the tethered aircraft. The receiver decodes the IR signal to derive flight information such as positional coordinates, real-time transmitter status updates, and positioning guidance. It interprets the data to navigate accurately and ensure the drone maintains its position relative to the ground station. It provides feedback to autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal station-keeping, landing, or hovering operations while connected to the tether.

Key Features:

• Compatible with tethered drone configurations
• Real-time position feedback for station-keeping
• Seamless integration with tether management systems

Part Numbering

Table: Part Numbering

System Specification

Table: Common Specification

Table: Receiver (Slave) Specifications

Table: Receiver (Master) Specifications

Table: Transmitter (Ground) Specifications - Tethered Design

Pinout Information

Transmitter Pinout

Table: Transmitter 10 Pin Connector Pinout

Special Note for ULS-XSpot: The transmitter includes a center hole for tether cable passage. Ensure tether cable routing does not obstruct the IR emission pattern.

Receiver Pinout

Table: 4 Pin Connector Pinout

Table: 8 Pin Connector Pinout

Mechanical Dimensions

Figure: Slave Receiver Mechanical Dimensions

Figure: Master Receiver Mechanical Dimensions

Figure: Transmitter Mechanical Dimensions with Center Tether Hole

Note: The transmitter features a center hole designed for tether cable passage, enabling integration with tethered drone power and data systems.

Packaging Information

Figure: ULS-XSpot System Package

The ULS-XSpot system is packaged in a protective hard case designed for field deployment in tethered drone operations.

Package Contents

• 1x Transmitter unit (with center tether hole)
• 1x Master receiver unit
• 2x Slave receiver units
• Connection cables
• Mounting hardware
• Quick start guide
• USB configuration cable

Package Specifications

Table: Package Specifications

Environmental Conditions - Industrial Grade

Equipment is designed to operate reliably in demanding environmental conditions typical of aerospace, industrial automation, and outdoor applications.

Operating Temperature Range

• Standard operating range: -20°C to +55°C
• Covers most industrial and outdoor applications
• Reliable performance across temperature extremes
• No performance degradation within specified range

Humidity Tolerance

• Relative humidity: Up to 70% (non-condensing)
• Protected against moisture in typical operating conditions
• Suitable for outdoor and semi-protected installations
• Condensation prevention through sealed design

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Suitable for harsh industrial environments
• Protected against rain, splashing, and temporary submersion
• Dust-tight sealing for contaminated environments

Storage Conditions

• Storage temperature: -40°C to +70°C
• Relative humidity: Up to 95% (non-condensing)
• Long-term storage in industrial facilities

Operational Environment Standards

• Designed to meet industrial equipment requirements
• Suitable for UAV/drone applications
• Outdoor installation capable
• Protected against:
  • Dust and particulate matter
  • Water spray and rain
  • Temporary water immersion
  • Temperature fluctuations
  • High humidity

Tethered Operation Guidelines

System Integration

The ULS-XSpot system is specifically designed to work with tethered drone platforms. Key integration considerations include:

1. Tether Routing: Route the tether cable through the center hole of the transmitter
2. Clearance: Maintain minimum 10cm clearance around transmitter for optimal IR propagation
3. Cable Management: Secure tether to prevent interference with optical path
4. Ground Station Setup: Position transmitter at the tether connection point for optimal positioning reference

Advantages for Tethered Drones

• Extended Flight Time: Continuous power via tether enables unlimited operation duration
• Stable Reference: Tether provides additional stability reference for position control
• Simplified Design: Center hole design integrates cleanly with tether management systems
• Enhanced Safety: Physical tether connection adds redundancy to positioning system
• Weather Resilience: Extended operation capability in various weather conditions with continuous power

Change Control

All changes to this document must be reviewed and approved by the relevant technical leads and stakeholders

7.2 - ULS-XSpot Interface Control Document

ULSDC-PBICD231125 · version 1.0.2 · issued November 23, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document outlines the interfaces between the ULS-XSpot system components, including the tether-compatible transmitter, receiver, and autopilot systems (Ardupilot, PX4, and similar). The ULS-XSpot is specifically designed for tethered drone operations with a 50-meter working range.

Scope

This document is intended for use by system engineers, integrators, and developers working with ULS-XSpot systems in tethered drone applications. It provides detailed information on the interfaces between the system components, ensuring seamless integration and operation with tether management systems.

Key Features for Tethered Operations

• Tether-Compatible Design: Center hole in transmitter for cable passage
• Working Range: 50-meter working distance
• Standard IR Optical: No DACS technology required
• Continuous Operation: Designed for 24/7 operation with tethered power

System Components

Transmitter (Ground Unit - Tethered Design)

Figure: ULS-XSpot Transmitter with Center Tether Hole The ULS-XSpot transmitter is specifically designed for tethered drone systems. It features a center hole for tether passage, allowing the drone’s power and data cable to pass through while maintaining optical positioning capabilities. The transmitter is placed on the ground (platform, moving object) and emits a signal in the Infrared range, serving as a positioning beacon for tethered drone landing and station-keeping.

The primary function of the transmitter is to continuously send out a coded signal that can be detected and interpreted by the receiver unit onboard the tethered copter. This signal contains critical information needed for the operation of the system, such as positional data and status. The tethered design allows for extended flight duration while maintaining precision positioning.

Key Features:

• Center hole for tether cable passage (integrated tether management)
• Working range: 50 meters working distance
• Optimized for tethered drone operations
• Continuous power available via tether connection

Receiver (Onboard Unit)

Figure: ULS-XSpot Receiver The receiver is a device that is placed on board the tethered aircraft. The receiver decodes the IR signal to derive flight information such as positional coordinates, real-time transmitter status updates, and positioning guidance. It interprets the data to navigate accurately and ensure the drone maintains its position relative to the ground station. It provides feedback to autopilot systems, such as Ardupilot and PX4, to adjust the flight parameters as needed for optimal station-keeping, landing, or hovering operations while connected to the tether.

Key Features:

• Compatible with tethered drone configurations
• Real-time position feedback for station-keeping
• Seamless integration with tether management systems

Interface Overview

Figure: ULS-XSpot System Interfaces Overview

Note: The ULS-XSpot uses the same interface architecture as ULS-Heli-G2, with the addition of tether-compatible mechanical design.

Transmitter to Control PC Interface (External Sensors)

The transmitter can be connected to a control PC or external equipment for configuration, status monitoring, and data exchange.

Data Types

• Status information
• Control signals
• Transmitter configuration
• External IMU/COMPASS data

Connection Types

• CAN Bus - For network communication
• USB - For configuration and firmware updates
• RS422 - For serial communication with external sensors

Transmitter Pinout

Table: Transmitter 10 Pin Connector Pinout

Tethered System Note: When routing tether cable through the center hole, ensure the cable does not interfere with connector access or IR emission pattern.

Transmitter to Receiver Interface

The transmitter and receiver use an optical interface to exchange data. Transmission uses IR emission at 940 nanometers. Data transmission is only in the direction from the transmitter to the receiver.

Optical Range and Performance

Table: Optical Interface Comparison

Data Types

• Position encoded
• Status encoded data (Transmitter orientation and instructions)

Connection Type

• Optical IR 940nm - Infrared optical link

Tethered Operation: The 50-meter range covers typical tethered drone operating heights. Tether provides stable reference, reducing positioning complexity compared to free-flight applications.

Receiver to Autopilot and Receiver to PC Interfaces

Data Types

• MAVLink messages
• ULS-Blitz frames
• ASCII protocol

Connection Types

• UART - Serial communication with autopilot
• CAN - Network communication
• USB - Direct PC connection

Receiver Pinout

Table: 4 Pin Connector Pinout

Table: 8 Pin Connector Pinout

Powering Interfaces

Figure: Power Distribution and Connections

Transmitter Electrical Characteristics

Table: Transmitter Electrical Specifications Tethered System Power: Transmitter can be continuously powered from ground station power supply. Consider tether voltage drop when sizing power system for long tether runs.

Receiver Electrical Characteristics

Table: Receiver Electrical Specifications Tethered Power Option: Receiver can be powered from flight controller or directly from tether power distribution system.

Functional Diagram

Figure: Functional description of the system

Functional Interfaces

Figure: Data Flow and Functional Interfaces

Data Exchange

The ULS-XSpot system implements several data exchange mechanisms optimized for tethered operations:

Control PC Functions:

• Configure and view status of transmitter
• Set configuration of receivers
• Send control signals (On/off, compass override information)
• Monitor tethered operation parameters

External Equipment:

• External IMU/Compass equipment can be used to override internal IMU/compass information
• Tether management system integration for position reference

Receiver Functions:

• Accept data from transmitter over IR signal (position field information and ground unit IMU data)
• Accept NED and Attitude information from autopilot to convert coordinate system
• Multiple receivers can communicate to calculate vehicle orientation (YAW)
• Send position offset data to autopilot
• Support for tethered flight modes and station-keeping

Tethered System Integration

Ground Station Interface:

• Power distribution to transmitter via ground power supply
• Data connection for configuration and monitoring
• Tether management system coordination

Aircraft Interface:

• Position data from ULS-XSpot receiver to autopilot
• Tether tension and status monitoring (external system)
• Coordinated flight control for tethered operations

Mechanical Interfaces

Figure: Slave Receiver Mechanical Dimensions

Figure: Master Receiver Mechanical Dimensions

Figure: Transmitter Mechanical Dimensions with Center Tether Hole

Note: The transmitter features a center hole designed for tether cable passage, enabling integration with tethered drone power and data systems.

Transmitter Mounting with Tether

The transmitter features a center hole for tether passage. Key mounting considerations:

1. Use 16 mounting holes to secure transmitter to platform
2. Route tether cable through center hole before mounting
3. Ensure tether has adequate strain relief above and below transmitter
4. Maintain 10cm minimum clearance around transmitter for IR emission
5. Verify tether routing does not obstruct 60° emission cone

Receiver Mounting

Both master and slave receivers have mounting provisions for secure installation on tethered aircraft. 3D models of the receivers can be provided upon request.

Tethered Aircraft Considerations:

• Position receivers to avoid tether shadow/obstruction
• Consider tether dynamics in receiver placement
• Maintain clear line-of-sight to ground transmitter

Communication Protocols

Overview

The protocol used by devices for configuration is proprietary and is described in other documents. However, the protocol implements the possibility of transmitting messages (Blitz messages) that can be used by the user to control the device and obtain information. These messages are universal, and the format describes the data that is transmitted by various devices in our system connected to a single network.

Use CMD=6 to send Blitz messages.

In this document, the CAN protocol is specified. RS485 is used to implement custom protocols that can be defined in the future.

CAN Bus Protocol Frame Format

flowchart LR
  A[Sender Device] --> B[GLOBAL]
  B --> C[CMD = 6]
  C --> D[ID]
  D --> E[dsn_lid]
  E --> F[msg_id]
  F --> G[Blitz Payload data <= 8 bytes]
  G --> H[Receiver Device]

The CAN protocol uses the following frame structure:

Table: CAN Protocol Frame Fields

Status Bit Definitions

Most messages include a status byte with the following bit definitions:

Table: Status Bit Definitions

Common Data Structure

Blitz Common Data Structure

Structure: __blitz_common_data_struct

Table: Blitz Common Data Structure The union contains all possible message structures:

• xcg1_rx_raw_measurmet
• rx_raw_measurmet
• rx_pos_in_tx_frame
• rx_mrx
• rx_dacs

Usage: Universal container for all ULS Blitz message types.

Implementation Notes

1. Packed Structures: All structures use __attribute__((packed)) to ensure no padding bytes are added by the compiler.
2. Endianness: The protocol assumes little-endian byte order for multi-byte fields.
3. Angular Precision: Angular measurements use 16-bit signed integers with specific scaling factors for different ranges.
4. Distance Units: Distance measurements may use different units (cm, 10cm increments) depending on the message type.

Message Types

XCG1 Raw Measurement (0x0010)

Message ID: ULS_BLITZ_MSG_ID_XCG1_RX_RAW_MEASURMENT (0x0010)

Structure: __uls_blitz_xcg1_rx_raw_measurmet

Table: XCG1 Raw Measurement Message Format Purpose: Legacy raw measurement data for XCG1 systems with limited angular range.

Raw Measurement (0x0011)

Message ID: ULS_BLITZ_MSG_ID_RX_RAW_MEASURMENT (0x0011)

Structure: __uls_blitz_msg_rx_raw_measurmet

Table: Raw Measurement Message Format Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Standard raw measurement data with full angular range.

Position in TX Frame (0x0012)

Message ID: ULS_BLITZ_MSG_ID_RX_POS_IN_TX_FRAME (0x0012)

Structure: __uls_blitz_msg_rx_pos_in_tx_frame

Table: Position in TX Frame Message Format Purpose: 3D position data relative to the transmitter coordinate system.

MRX Information (0x0013)

Message ID: ULS_BLITZ_MSG_ID_RX_MRX (0x0013)

Structure: __uls_blitz_msg_rx_mrx

Table: MRX Information Message Format Purpose: Multi-receiver (MRX) information for secondary receiver data.

DACS Information (0x0014)

Message ID: ULS_BLITZ_MSG_ID_RX_DACS (0x0014)

Structure: __uls_blitz_msg_rx_dacs

Table: DACS Information Message Format Purpose: DACS (Distance and Azimuth Correction System) data with continuous yaw tracking. Available on VTOL systems only.

Ground IMU Measurement (0x0020)

Message ID: ULS_BLITZ_MSG_ID_GIMU_MEASUREMENT (0x0020)

Structure: __uls_blitz_msg_gimu_data

Table: Ground IMU Measurement Message Format Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Ground unit IMU (Inertial Measurement Unit) orientation data.

IMU Override (0x0030)

Message ID: ULS_BLITZ_MSG_ID_XX_TXC_IMU_OVERRIDE (0x0030)

Structure: __uls_blitz_msg_xx_txc_imu_override

Table: IMU Override Message Format Control Bits:

Table: IMU Override Control Bits Angular Conversion Formula:

degrees = (value_int16 * 180.0f) / 32767.0f

Purpose: Override IMU data on ground unit for external orientation control.

Magnetometer Override (0x0031)

Message ID: ULS_BLITZ_MSG_ID_XX_TXC_MAG_OVERRIDE (0x0031)

Structure: __uls_blitz_msg_xx_txc_mag_override

Table: Magnetometer Override Message Format Control Bits:

Table: Magnetometer Override Control Bits Magnetic Field Conversion Formula:

mag_value = (value_int16 * 1.0f) / 32767.0f

Purpose: Override magnetometer data on ground unit for external compass control.

Tethered System Note: CAN bus protocol can be extended over tether for ground station integration if required.

Environmental Conditions - Industrial Grade

Equipment is designed to operate reliably in demanding environmental conditions typical of aerospace, industrial automation, and outdoor applications.

Operating Temperature Range

• Standard operating range: -20°C to +55°C
• Covers most industrial and outdoor applications
• Reliable performance across temperature extremes
• No performance degradation within specified range

Humidity Tolerance

• Relative humidity: Up to 70% (non-condensing)
• Protected against moisture in typical operating conditions
• Suitable for outdoor and semi-protected installations
• Condensation prevention through sealed design

Ingress Protection

• IP67 rated (Dust tight and water immersion resistant)
  • 6 - Complete protection against dust ingress
  • 7 - Protected against temporary immersion in water (up to 1 meter depth for 30 minutes)
• Suitable for harsh industrial environments
• Protected against rain, splashing, and temporary submersion
• Dust-tight sealing for contaminated environments

Storage Conditions

• Storage temperature: -40°C to +70°C
• Relative humidity: Up to 95% (non-condensing)
• Long-term storage in industrial facilities

Operational Environment Standards

• Designed to meet industrial equipment requirements
• Suitable for UAV/drone applications
• Outdoor installation capable
• Protected against:
  • Dust and particulate matter
  • Water spray and rain
  • Temporary water immersion
  • Temperature fluctuations
  • High humidity

Part Numbering

Table: Part Numbering

Tethered System Specific Interfaces

Tether Cable Specifications

Recommended tether cable specifications for integration with ULS-XSpot: