> For the complete documentation index, see [llms.txt](https://docs.theseus.us/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.theseus.us/cyclops/cyclops-computer/preconfigured-cyclops-system.md). # 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. {% hint style="info" %} To purchase a Preconfigured Cyclops System, please reach out to . {% endhint %} ## 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](/vozilla-gcs-software/vozilla-app.md) 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. {% hint style="info" %} The **Preconfigured Cyclops System** comes with a camera calibration file for the provided ArduCam module. If you plan on using a different camera, you will need to make a new calibration. See [Camera calibration](/cyclops/uav-integration/camera-calibration.md) for more info. {% endhint %} {% stepper %} {% step %} ### 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. {% hint style="info" %} It can take up to 45 seconds for the Pi to boot up. Vozilla will auto-detect and connect to the Pi over Ethernet. {% endhint %} You can verify the connection by seeing the "*Disconnected*" message change to "*Cyclops Stopped*" in the top right corner of Vozilla.
{% endstep %} {% step %} ### 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. {% hint style="info" %} The **Preconfigured Cyclops Systems** are shipped with the username, password, and address below. We recommend you leave the Pi address as a static IP. ``` Username: pi Password: pi Address: 192.168.218.100 ``` {% endhint %} {% hint style="danger" %} 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` {% endhint %} {% endstep %} {% step %} ### 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](/vozilla-gcs-software/vozilla-app/maps/creating-maps.md). {% hint style="warning" %} 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. {% endhint %} {% hint style="info" %} You must have a map large enough for the mission. Cyclops will fail if your UAV exits the map bounds. {% endhint %} {% endstep %} {% step %} ### 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](/vozilla-gcs-software/vozilla-app/vehicles/creating-a-vehicle-configuration.md). {% endstep %} {% step %} ### 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/autopilot-integration/ardupilot/ardupilot-parameters.md). {% hint style="info" %} The sysid on your flight controller and Pi 5 must match. See [Troubleshooting](/cyclops/troubleshooting.md) for info. {% endhint %} {% endstep %} {% step %} ### 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](/vozilla-gcs-software/vozilla-app/settings/vozilla-lab.md). {% endstep %} {% step %} ### Ready for flight Once you have configured the parameters above and connected your system to the flight controller, Reboot your drone. The Cyclops status indicator in Vozilla should change from "*Cyclops Stopped"* to "*Cyclops Running"*.
{% hint style="info" %} Cyclops has a 60s MAVLink heartbeat timeout. If you see "*Failed to find MAVLink heartbeat*" on the diagnostics panel, refer to the step above to properly configure your flight controller. {% endhint %} {% endstep %} {% endstepper %}