Integration

Integrating IF1200 for use with Headwall Co-Aligned

The following page contains dedicated instructions for integrating necessary components for Headwall CoAligned with the Inspired Flight IF1200A aircraft.

Headwall CoAligned, with GRYFN custom integration, integrates the Freefly Smart Dovetail for both mechanical mounting and electrical connection on all aircraft integrations. Developed by Freefly, in conjunction with Pixhawk, to become the new standard for payload mounting with Pixhawk Payload Bus interfaces, used on nearly all Pixhawk and Ardupilot based flight controllers.

Please see Freefly's own words below, but do note that this dovetail is not hotswappable. Therefore, the payload should be attached to the aircraft before being powered, and not removed from the aircraft until after power is turned off.

No hotswap protection. Do not mate or demate Smart Dovetail while the aircraft is powered.

If the payload has even modest capacitance or other inrush current the connector contacts on both aircraft and payload side will be eroded.

Setup

• IF1200 comes installed with Gremsy Damping Plate Pro 2.0, customized with Inspired Flight Quick Release and Pixhawk Standard Dovetail

  • Both Headwall CoAligned and GRYFN Gobi can mount to the Pixhawk Standard Dovetail

  • With IF1200, the Pixhawk Dovetail is powered via the IF1200 power rails. Headwall CoAligned uses the dovetail for mechanical mounting, but requires a JST ZPDR 26 Pin connector to XT60, and an XT60 to XT30 adapter to power the CoAligned

Installation

• For users with both GRYFN Gobi and Headwall CoAligned, install two GNSS antenna mast base plates on the IF1200.

• For users with only Headwall CoAligned, install only the front left (A1) antenna mast base plate on the IF1200.

STEP	ACTION
1	Using existing screw holes, remove four screws and washers at the front left (A1) and back right (A2) corners of the IF1200.
2	Place the antenna mast base plate on the aircraft over the screw holes, aligning the triangular cutout with the hull's interior lip.
3	Place washer over screw hole on base plate, and install M4x14mm screws.
4	Repeat process for second antenna mast base plate.
5	Route coax cables through vibration damper, zip tie cable to damper to keep safe from spinning propellers.
6	When in the field, install antenna mast A1 (front left) with Trimble AV18 antenna.

Headwall CoAligned will use a single 8" antenna mast, A1 (front left), installing the included Trimble AV18 antenna onto the mast. GRYFN Gobi will use both 8" antenna masts, installing the two included Maxtena M7HCT antennas.

APX-15 Configuration

After receiving your CoAligned and integrating with the IF1200 aircraft, ensure GNSS antenna and IMU lever arms are configured correctly.

1. Connect to SWIR Ethernet port

2. In web browser, access 10.0.65.51:8080

3. Open Receiver Configuration -> INS tab

Ensure values match the table below:

GNSS Lever Arm tab

Ref to Primary GNSS LA	X	Y	Z
IF1200A, front left hull antenna (Pixhawk Dovetail)	0.213	-0.089	-0.436

IMU Lever Arm tab

Ref to IMU LA	X	Y	Z
IF1200A, front left hull antenna (Pixhawk Dovetail)	0.000	0.000	0.000