Preconfigured Cyclops System
This page walks through the setup of your Preconfigured Cyclops System purchased from Theseus. Using a preconfigured system is the fastest way to integrate Cyclops on your UAV; however, the information below is still relevant if you are setting up your Cyclops system from scratch.
Hardware
The package includes:
Pre-flashed Raspberry Pi 5 Cyclops computer
Power (XT30 & BEC) and Serial (JST-GH 6 pin UART) cables
ArduCam wide angle camera module with USB cable
You will need:
Computer running Windows or Linux
Ethernet cable
Internet connection
Theseus account
You should have created a Theseus account by providing one of our team members with an email to use during device hand-off. If you have not set this up yet, contact a team member to get started.
Download Vozilla software
We have made set up of the Cyclops device very simple with the Vozilla GCS app. Installation instructions can be found in our Vozilla App docs. Once you have downloaded Vozilla, sign in with your Theseus Account.
Cyclops setup
The Cyclops box includes two trial licenses. These can be used for integrating and testing Cyclops on your UAV. The system's software is pre-flashed on the Pi 5; you only need to configure a few parts specific to your CONOP.
Power device & connect over Ethernet
Power the Pi either from the XT30 connector or opening the case and powering with USB-C. Then connect the Pi to your laptop running Vozilla over Ethernet. The LED on the Pi will change to green when the Pi has booted properly, and you will see green/orange lights on Ethernet connector while plugged in.
You can verify the connection by seeing the "Disconnected" message change to "Cyclops Stopped" in the top right corner of Vozilla.
Activate license
You will notice the diagnostics tab at the bottom of the screen says to activate your license. The best way to do this is under Settings>Device. From there, you can access all of the licenses on your account and upload a license to Cyclops.
If the device activation fails through Vozilla.
SSH into the Pi, default configuration of the pi is the following command:
ssh pi@192.168.218.100
then activate the license with this command:
cyclops_exe --activate-license
Generate a map
After activating your license, you will need to generate and upload a map to your device. This can take up to an hour depending on the size of your map, and will require internet to start the map generation and to download the map. For an in depth tutorial on map creation and generation, see Creating maps.
It will take about 1 hour to generate a 1000 km^2 map. This will take about 30 minutes to download with a fast internet connection, and even longer if the internet connection is slow or spotty.
Create a vehicle configuration
Cyclops uses a vehicle configuration to understand the orientation of your flight controller relative to incoming visual data. This is required to give an accurate position estimate. Vozilla has a tool to define this relationship and save it to a file. For an in depth tutorial on creating a vehicle config, see Creating a vehicle configuration.
Connect to flight controller
You can use the provided serial cable to connect the Pi 5 to a serial port on your flight controller. There are a few parameters you must change to ensure the system works properly. For information on serial setup and ArduPilot, see ArduPilot parameters.
Cyclops options
Cyclops is shipped with VIO and Map Matching enabled for fixed wing and multirotor platforms. You can change the platform and settings in the Vozilla Lab.
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