Spatial Dual Firmware Field Update
The Spatial Dual provides GPS position and attitude information to the Peregrine. On rare occasions,
it may be necessary to update the firmware of the Spatial Dual on SR while deployed in the field. This
procedure requires coordination with SkySpecs Technical Support.
1. Inform Technical Support that you are ready by providing the peregrine### and FZG1-###.
2. Perform the normal update procedure and verify that the drone updates to a firmware version
with the modifier spatial_update. The GCS should update to the same version without a
modifier, as shown below.
3. Eject the back up hard drive front the tablet but leave the SR connected to the GCS tablet via
4. Reboot the drone and GCS tablet.
5. Press package and wait for logs to package. They will not download.
6. Close Statham and open the Spatial Dual Manager that has appeared on the desktop of the
7. In the top left corner, select the following settings:
a. Either /dev/ttyUSB0 OR /dev/ttyUSB1. If 0 doesn’t work for the following step, try 1.
b. 2 million (highest)
8. Press the Connect button. If connection is successful, the block in the top left corner will turn
green and read Connected. Physically moving the SR should be reflected by the artificial horizon.
9. In the top toolbar, go to Tools > Firmware Update.
10. On the Firmware Update popup, select the appropriate .anfw file per instructions from Tech Support.
11. Press the Upload button. Within 10 seconds, the progress bar should begin to move. Wait for
the upload to complete and Status: Firmware Update Complete .
12. Close the Firmware Update popup.
13. In the top toolbar, go to View > Device Information.
14. Send a picture of the Device Information popup to Tech Support to verify the update. At this
time also inform Technical Support of any firmware modifiers required for the job, directDrive,
15. Once cleared by Technical Support, close the Device Information popup.
16. Press the Disconnect button in the top left.
17. Close the Spatial Dual Manager.
18. Reboot the SR.
19. Perform a normal update procedure and verify the firmware and modifiers are correct. (This
includes installing the hard drive and pushing the update slider to on)
20. Reboot the GCS before proceeding.
21. Send Technical Support the Spatial Dual serial number, SD-###. This label is usually visible
with a flashlight through the gap in the front panel to the right of the gimbal roll motor.
Otherwise, remove the front panel to see the label.
4.15. SR GPS Cable Replacement
In some cases the GPS arm cable will break and need replacement in the field
● REplacement GPS cable
● SMA Torque Wrench
● Electrical Tape
● 2.0 mm Allen wrench
1. Remove the GPS arm from the sensor rig as you normally would for packing with the
2. Remove all electrical tape from the broken cable and Velcro strap if still on, note which
side of the GPS arm the cable is taped to, it will make it easier to determine which is
which during everyday installation.
3. Using the SMA torque wrench, loosen the cable from the bottom of the GPS antenna.
4. Remove the cable from the antenna, unscrewing it by hand. Check the port in the
bottom of the antenna for any damage or debris.
5. Check the straight end of the new cable for any removable hardware such as hex nut or
star washers. These will interfere with proper mounting and are usually removed prior
6. Check that the connectors on both ends of the new cable are secure on the cable with
no play in the joint.
7. Start threading the new GPS cable into the antenna port until it is hand tight. Then, use
the SMA torque wrench to further tighten the cable until the torque wrench clicks. Do
not tighten past that point.
8. Wrap about 6 inches of electrical tape around the straight GPS connector and the
adjacent vertical arm joint of the 3D printed GPS antenna mount as shown below.
Tightly wrapping the electrical tape, keeping tension against the hex profile of the
connector can help to keep it tight in the antenna port.
9. Apply more electrical tape around the GPS cable and vertical arm tube about half way
between the GPS antenna and the elbow joint of the GPS arm as shown below. Make
sure the cable is routed in the backside of the arm to make installation easier.
10. Re-install the GPS arm onto the SR and secure the right-angle connector of the new GPS cable to the rear of the SPatial Dual using the torque wrench as usual, as if preparing to fly.When connecting to the spatial make sure you are careful not to break the end of the cable. If you twist the cable too hard trying to straighten it, the end will break and spin easily on the cable. Take your time to manipulate the cable to make sure the connection twists on straight. Use the torque wrench to tighten the cable fully. 11. Secure the new GPS cable to the horizontal arm tube by wrapping it with electrical tape in at least 2 places as shown below. This electrical tape should secure the cable such that the amount of loose cable is minimal to reduce vibration while also not interfering with the mounting of the rear SR panel and not subjecting the cable to an excessively tight bend.
4.16. SR INS (Spatial Dual) Replacement
On rare occasions, the inertial navigation system (INS) in the Sensor Rig, commonly referred to as the
Spatial Dual, may need to be replaced. Skyspecs Tech Support will advise when this is necessary after
1. Ensure that the system is powered off.
2. Remove the camera from the camera gimbal.
3. Remove the two GPS arms from the Sensor Rig as is normal procedure during disassembly. These
arms do not need to be disassembled at the angle joint unless the Sensor Rig is being packed for
4. Remove the front and rear panels of the Sensor Rig by removing and retaining the eight thumb
screws that secure them.
5. Remove all connections from the rear of the Spatial Dual which is mounted to the bottom plate of the
Sensor Rig. Use the SMA torque wrench to remove the tow GPS cable connectors. The barrel data
connector may be removed by gripping the forward portion of the exposed connector and pulling
6. Gently pry up the two components that are secured to the bottom plate with dual lock. This will be
the telemetry radio on one side and the GCU board on the other.
7. Disconnect the Sensor Rig from the aircraft and set it down gently, inverted, resting on the flat top of
8. Use a hemostat and 2.0 mm hex driver to remove the M3 X 8 mm socket head screw and lock nut that
secures one of the three right-angle gimbal mounting brackets to the bottom plate of the Sensor Rig.
9. Remove and retain the eight M3 X 8 mm socket head screws around the perimeter of the bottom
plate of the Sensor Rig in order to release the bottom plate which the Spatial Dual is mounted to. In
some cases, it may be necessary to cut zip ties to release the bottom plate.
10. With the bottom plate removed, use a 2.0 mm hex driver and the 5.5 mm socket driver to remove
and retain the four M3 X 25 mm socket head screws, 8 mm nylon spacers, and M3 lock nuts which
secure the Spatial Dual to the bottom plate.
11. Use the 2.0 mm hex driver and the 5.5 mm socket driver to install the new Spatial Dual onto the
bottom plate with the four M3 X 25 mm socket head screws, 8 mm nylon spacers, and M3 lock nuts.
The Spatial Dual should be oriented so that the connectors are facing away from the gimbal notch in
the front of the bottom plate. The heads of the screws should be on the non-shiny side of the plate
while the lock nuts should be on top of the Spatial Dual and the spacers should be between the
Spatial Dual and the shiny side of the bottom plate. Tighten the four screws so that they are secure
but the nylon standoffs will compress under excessive pressure.
12. The bottom plate of the Sensor Rig with the new Spatial Dual may now be reinstalled using a 2.0 mm
hex driver to reinstall the eight M3 X 8mm socket head screws around the perimeter of the bottom plate.
13. Use the hemostats and a 2.0 mm hex driver to reinstall the M3 X 8 mm socket head screw and M3
lock nut which secures one of the three right-angle gimbal mounting brackets to the bottom plate of
the Sensor Rig. The head of the screw should be on the non-shiny side of the bottom plate while the
lock nut should be on the opposite side of the right-angled bracket.
14. The Sensor Rig may now be mounted on the aircraft again.
15. Secure the telemetry radio and the GCU board to the dual lock on the bottom panel of the Sensor
16. Reconnect the barrel data connector to the rear of the Spatial Dual by aligning the red dots on the
Spatial Dual casing and the connector and then inserting the connector fully. The connector is secure
if it cannot be pulled out without pulling back on the forward part of the connector.It is not necessary
to reconnect the GPS cables at this point.
17. Reinstall the camera on the camera gimbal.
18. Power on only the Sensor Rig using the wall adapter and connect to it using the GCS. Verify that the
GCS displays “GNSS: Spatial active.”
19. Power down the Sensor Rig and reassemble it as necessary. The GPS cables should be reinstalled on
the rear of the Spatial Dual using the SMA torque wrench before the Sensor Rig panels are replaced.
20. Perform Pre-Job Checks before attempting to fly.