Quick Start Guide for Freefly ASTRO

This Quick Start Guide provides the first steps needed to operate any of the AP-LiDAR Series Gen II sensors with the Freefly ASTRO drone.

Install the GNSS antennas

Use the M3 screws provided as indicated using thread-lock.

Install one of the GNSS antennas provided on the Right side of ASTRO, in front of the strap, as shown.

Install the other GNSS antenna provided on the Left side of ASTRO, in front of the strap, as shown.

Mount the sensor on the ASTRO

Insert the Flash Drive into the sensor and connect AP-LiDAR Series Gen Il to the ASTRO Smart Dovetail connector. Secure the connection with the red lever.

Connect each antenna cable to its corresponding connector. The antenna on the Right side of ASTRO connects to the R Port, and the antenna on the Left side of ASTRO connects to the L Port. Pull slightly from the cable to check that it is properly locked.

Setup your GNSS Base Station

To process the LiDAR data, a RINEX file is required to post-process the GNSS data from both antennas. This RINEX file contains the raw observation of the GNSS satellites during the scan from a fixed position on Earth. With this information, the computed GNSS position from the LiDAR can be improved dramatically, pushing its accuracy down to the millimetre level.

If you have your own base station capable of logging at least the L1 and L5 GNSS in a RINEX file, set it up now and leave it logging during the whole scan.

If you do not have your own base station, check that there is a nearby permanent station from which you can download a RINEX file after your flight. There are available several GNSS networks from which these RINEX files can be downloaded, such as the HxGN SmartNet from Hexagon.

Plan a mission on your preferred ground station app

Depending on your preferred mission planning app, mission setup might differ. Plan an area survey mission with the following settings:

	AP-LiDAR-One Gen II	AP-LiDAR-M Gen II
Flight Height:	Between 20 m to 150 m, depending on surrounding obstacles.	Between 20 m to 150 m, depending on surrounding obstacles.
Track Separation:	Same as Flight Height; For a 50m height flight, keep 50m of track separation.	1/2 of Flight Height; For a 50 m height flight, keep 25 m of track separation.
Speed:	2 to 15 m/s, depending on the point density required. The slower, the higher the point density.	2 to 15 m/s, depending on the point density required. The slower, the higher the point density.

Start LiDAR capture and execute the mission

When you are ready to execute your planned mission, power on the drone. The LiDAR sensor will start loading, and the LED will blink blue. Once it is ready for data capture, the LED will turn solid green.

Before takeoff, push the REC button to start capturing LiDAR data. The LED will turn solid red, then fly your mission as usual. There is no need for calibration figures or particular paths.

After landing, push the REC button to stop recording. The LED will start blinking magenta, indicating the Flash Drive is busy. Once it is ready, the LED will go back to solid green.

	Blinking Blue	Sensor loading
	Blinking Yellow	GNSS starting and acquiring satellites
	Blinking Magenta	Flash drive missing, not ExFAT formatted or busy after recording.
	Solid Green	Sensor ready to start LiDAR capture. Standby.
	Solid Red	Sensor recording.

Process your LiDAR data in the field just after landing

Remove the Flash Drive from the LiDAR sensor and connect it to the iPad to process the data as described in the tutorial.