Inertial Labs RESEPI Hesai XT-32 and XT-32M2x Data Gathering Steps

Owned by Bryan Cubbins
Last updated: Jul 28, 2023

  1. Mount RESEPI payload onto WISPR drone

  2. Ensure payload's GNSS antenna is securely mounted to the WISPR drone

  3. Connect GNSS cable to primary antenna port (designated PRI or PRM depending on the time the unit was built). The antenna must be secure and cannot move or change position during the flight.

  4. Connect power cable between the source and RESEPI payload (if applicable)

  5. Turn on drone and remove the camera’s lens cap (if applicable)

  6. Turn on RESEPI payload by pressing power button (single press once)

  7. Verify camera initialization by listening for 2 camera clicks (this process can take up to 3 minutes. If there are no clicks, stop, turn the payload off and restart process)

  8. Verify GNSS visibility by checking GNSS led blinking between red and green. If it is not blinking between red and green, please wait until the unit has a GNSS fix.

  9. Start recording by pressing the power button once. Boot light will blink between green/red. If there is a mounted camera, you will hear the mechanical shutter taking photos on the set timed interval.

  10. Wait 30 seconds for initial static alignment (do not move anything during this time). You can program and upload or upload your mission to the drone during this time.

  11. Proceed with your flight plan. This requires the pilot to manually take off the drone to the programmed height, fly to the outside of the planned mission to press the controller’s calibration button. Do not exceed 2 m/s vertical movement. After you press the lidar calibration button, you will notice that the drone flies a straight line for 4 seconds at over 4 m/s then performs a figure-8 automatically. After calibration, the drone will automatically begin the planned mission.

  12. The drone will complete the planned mission.  You can proceed with hot swap battery change without having to recalibrate the RESEPI payload. If you shut down the payload, you will need to restart at the beginning.

  13. The best practice is to perform a final straight line for at least 4 seconds and equal or greater than 4 m/s, to a figure-8 at the end of your dataset collection before proceeding with the next step.

  14. Once the drone has landed, wait 30 seconds for final static alignment. Do not move anything during this time. The payload will continue logging data during the 30 seconds.

  15. Stop recording by pressing the power button once. If you have an RGB camera, you will then hear the mechanical shutter stop).

  16. Shut-down the payload by holding the power button for 4 seconds.  If the unit does not shut down, wait, as the unit may still be writing necessary files. As a last resort, after you have waited more than 3 minutes, a 10 second press will force a shutdown. This forced shutdown should be used only if necessary.

  17. Turn off drone (ONLY after ALL LEDs on RESEPI are off)

  18. Place lens cap back on camera (if applicable), unplug cables, unmount payload and secure it safely it is designated case.