MicaSense Altum™ and DLS 2  

Integration Guide 
 

 
Revision 10 

June 2020 

Seattle, WA    

© 2020 MicaSense, Inc  MSPN 900-00021-01 

 
June 2020 
Page 1 of 21 

Table of Contents 
Table of Contents 1 

Introduction​ 2 

Firmware 2 

What’s Included? 2 

Lens and Imager Information 3 

Center wavelengths and bandwidth 4 
Cameras with serial number AL05 or higher 4 
Cameras with serial number AL04 or lower 5 

Imager/band number and output 5 

Measurements and Attachment Points 5 

Recommendations​ ​for​ ​Installation 7 

Configuration Options 8 
Default + Overlap mode 8 
Default + trigger by HTTP API 9 
MAVLink with PixHawk or similar flight controller 9 
DLS 2 with Aircraft GPS 10 
HTTP Connection 10 
Serial Connection 10 

Input and Output 11 

Host Interface Connector (Power and Data I/O) 12 
Power supply specifications 12 
Input and Output 13 
USB Storage and Ethernet 13 
Capture Rate 14 
Accessory Port (ACC) 14 

Automatic Capture/Triggering 14 

Overlap (recommended) 14 
Timer 15 
External Triggering 15 
External Trigger 15 
HTTP API (Ethernet and Wi-Fi) 15 
Serial API 16 

© 2020 MicaSense, Inc 

 
June 2020 
Page 2 of 21 

Disabled 16 

Thermal Non-Uniform Calibration (NUC) 16 

Downwelling Light Sensor 2 (DLS 2) 17 

Measurements and Attachment Points 18 
DLS 2 Connectors and Buttons 18 
DLS 2 Installation Guidelines 20 
Fixed-wing 20 
Multirotor 20 

Example Integration 21 

Introduction​ 
MicaSense Altum provides multiple options for integration - from stand-alone (where you only 
provide power to the sensor) to fully customized integrations. Advanced integrations take 
advantage of flexible interfaces including Ethernet, serial, and PWM/GPIO trigger, for seamless 
integration with any aircraft. 

Firmware 
It is important to have the latest version of firmware installed on your sensor. Please see the 
following page to get the latest version and learn how to update your firmware: 
https://www.micasense.com/firmware-updates 

What’s Included? 
For the most up-to-date information on what’s included with the Altum sensor kit, please see 
the ​Altum packing list​. 
 
 
 
 
 

© 2020 MicaSense, Inc 

 
June 2020 
Page 3 of 21 

Lens and Imager Information 

 
  Multispectral  Thermal 

Pixel size  3.45 μm  12 μm 

Resolution  2064 x 1544 px   160 x 120 px 

(3.2 MP x 5 imagers)  (0.01 K) 

Aspect ratio  4 : 3  4 : 3 

Sensor size  7.12 x 5.33 mm   1.92 x 1.44 mm 

(8.9 mm diagonal) 

Focal length  8 mm  1.77 mm 

Field of view (h x v)  48º x 36.8º  57º x 44.3º  

Thermal sensitivity  n/a  < 50 mK 

Thermal accuracy  n/a  +/- ​5 K 

Output bit depth  12-bit  14-bit 

GSD @ 120 m (~400 ft)  5.2 cm  81 cm 

GSD @ 60 m (~200 ft)  2.1 cm  41 cm 

© 2020 MicaSense, Inc 

 
June 2020 
Page 4 of 21 

Center wavelengths and bandwidth 

 
Cameras with serial number AL05 or higher 
 
Name  Center  Bandwidth 

Blue  475 nm  32 nm 

Green  560 nm  27 nm 

Red  668 nm  16 nm 

Red edge  717 nm  12 nm 

Near infrared  842 nm  57 nm 

Thermal  11 μm  6 μm 

 
 
 
 
 
 
 
 
© 2020 MicaSense, Inc 
 
June 2020 
Page 5 of 21 

Cameras with serial number AL04 or lower   

 
Name  Center  Bandwidth 

Blue  475 nm  20 nm 

Green  560 nm  20 nm 

Red  668 nm  10 nm 

Red edge  717 nm  10 nm 

Near infrared  840 nm  40 nm 

Thermal  11 μm  6 μm 

 

Imager/band number and output 

 
1  Blue 

2  Green 

3  Red 

4  NIR 

5  Red edge 

6  Thermal 

Measurements and Attachment Points 

There are four M3 screw holes at 60 mm x 35 mm on-center. The sensor can be attached to 
the host aircraft using at least two of the four provided threaded mounting points and M3 x 0.5 
screws. If using only two mounting points, it is important to choose two threaded points 
opposite of each other.  

© 2020 MicaSense, Inc 

 
June 2020 
Page 6 of 21 

 
 
Length  82 mm 

Width  67 mm 

Height  64.5 mm 

Weight  357 g 
   

© 2020 MicaSense, Inc 

 
June 2020 
Page 7 of 21 

Recommendations​ ​for​ ​Installation 

The Altum should be installed such that it has a clear view of the area directly below the 
aircraft. The “cone” of the lenses, especially thermal, which has the widest field of view (57º 
HFOV), should be considered in the process of deciding where to mount the sensor on the 
aircraft or payload bay. 
 
Avoid putting windows or covers in front of the thermal sensor. Many materials that are 
transparent in visible bands are opaque in LWIR (thermal), so any coverings may prevent data 
collection. Even materials that are mostly transparent in LWIR will negatively affect the 
radiometric accuracy of the sensor output. 
 
The multispectral sensors feature a global shutter and can withstand some vibration without 
degrading image quality; nevertheless, we recommend vibration isolation between the sensor 
mounting platform and the aircraft. 
 
Make sure the sensor points straight down (with respect to the earth) at all times during flight. 
The best way to ensure this is to use a gimbal. 
 
Airflow over all surfaces of the sensor is necessary for proper heat dissipation. Do not run Altum 
on the bench or in the field for extended periods of time without airflow. Do not completely 
cover or insulate the back surface of the sensor. 
 
Normally, the sensor should be in landscape orientation. If you plan to mount the sensor in a 
portrait orientation, remember to swap the vertical and horizontal parameters in your mission 
planner. 
 
Ensure that the sensor is completely protected during landing. Note that we do not 
recommend using a lens cover during flight as it can filter the wavelengths that the sensor 
measures. Instead, protect the sensor with a recessed installation or by using landing gear.  
 
Use the provided lens cover when storing Altum, and do not set Altum lens-side-down as it will 
rest on and scratch the lenses. 
 
More integration guidelines for the DLS 2 are in the DLS 2 section of this guide.  

   

© 2020 MicaSense, Inc 

 
June 2020 
Page 8 of 21 

Configuration Options 
There are many ways to configure Altum. The following summaries will help you choose the 
one that meets your needs. Many other options are possible. If you have any questions about 
your integration, please contact ​[email protected]  

Default + Overlap mode 

 
 
The default configuration uses the DLS 2’s integrated GPS. Use the provided cable to connect 
the DLS 2 to the DLS 2 board on the HOST connector. Ensure the DLS 2’s physical installation 
meets the requirements outlined later in the DLS 2 section of this guide. Connect a ​compatible 
power supply​ to pins 1 and 2 on the HOST connector. For more details about power, see the 
Input and Output section of this guide. 
 
Once attached to the aircraft, use the ​Flight Calculator​ to determine the necessary overlap 
percentage for your desired Ground Sample Distance and Target Altitude, then input the 
parameters into the Overlap settings, outlined in the Triggering section in this guide. The 
sensor will begin capturing once it is within the Target Altitude Tolerance of your Target 
Altitude. It will capture often enough to maintain your overlap percentage at your desired 
altitude. This will ensure enough coverage to create a mosaic of your flight area with your 
preferred photogrammetry software.  
 
 

© 2020 MicaSense, Inc 

 
June 2020 
Page 9 of 21 

Default + trigger by HTTP API  

 
With this configuration, instead of automatically capturing with an automatic triggering mode, 
the HTTP API (see below) is used with an onboard computer to trigger the camera at intervals 
determined by your computer. See examples of the HTTP API here: ​Integration examples for 
MicaSense sensors​. 
 

MAVLink with PixHawk or similar flight controller  

 
The Altum can be triggered with a PixHawk flight control system using the serial API. 
MicaSense cameras currently use the MAVLink v1.0 messaging protocol for the serial API, 
which the camera uses to interact with PixHawk. You can read more detailed information here: 
Guide for MicaSense Sensors and PixHawk​.  

© 2020 MicaSense, Inc 

 
June 2020 
Page 10 of 21 

DLS 2 with Aircraft GPS 

 
 
For more control, advanced users can communicate with Altum by HTTP (Ethernet, Wi-Fi) or 
serial (MAVLink) using the MicaSense APIs (Application Programming Interfaces). The APIs can 
be used in lieu of the DLS 2 GPS to provide the sensor with a position and attitude data (from 
the aircraft GPS, for example). Anytime GPS data is sent to the sensor via the API commands, it 
will be written to the image metadata, overriding the DLS 2 internal GPS data for five seconds 
(or until another update is sent via the API). 
 
 

HTTP Connection 
Attach a USB Ethernet adapter or USB Wi-Fi adapter to one of the USB 3 ports. See the ​User 
Guide for MicaSense Sensors​ for connection details and information. For HTTP API details, visit 
https://www.micasense.com/api 

Serial Connection 
Use the provided pigtail from the host connector cable to connect to your serial device. See 
the Input and Output section of this document for pin layout and details. Visit 
https://www.micasense.com/api​ to learn more about communicating with the MAVLink API. 

© 2020 MicaSense, Inc 

 
June 2020 
Page 11 of 21 

Input and Output 

 
The Altum & DLS 2 sensor kit includes all necessary cables for integration. If extending the 
cables, ensure that the voltage at the camera is at acceptable levels as outlined in the 
“Powering” section of this guide.  
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

© 2020 MicaSense, Inc 

 
June 2020 
Page 12 of 21 

Host Interface Connector (Power and Data I/O) 

 

 
Connector type/part number: (provided as pigtail assembly with every Altum integration kit from MicaSense) 
Samtec - 14pin, 2.00mm Tiger Eye™: PN# T2M-107-01-S-D-RA-WT 
 
 

13 11 9 7 5 3 1
DLS RX DLS AUX OUT DLS CAM HOST CAM RX CAM POWER
CAM TXF CAM INF POWER PPS IN HOST TX PPS OUT

14 12 10 8 6 4 2
DLS TX DLS PPS OUT DLS ISO GND TRIG IN CAM TX GND
CAM RXF CAM PPS IN GND HOST RX

Power supply specifications 

 
Voltage  5.2 V - 25.2 V 

Standby  5.5 W 

Average  7 W 

Peak  10 W 
 
 

© 2020 MicaSense, Inc 

 
June 2020 
Page 13 of 21 

Altum requires 5.2 V DC for operation, with a maximum operating voltage of 25.2 V. The 
supply must be able to provide 10 W peak. Power can be provided to the sensor in two main 
ways: 
 
● shared power from aircraft's main battery pack 
● a rechargeable Lithium-Ion battery pack (a two-cell LiPo will provide optimal efficiency). 
 
Ensure the power source conforms to the specifications listed above and can supply the 
required voltage at the power port of the camera, accounting for any losses in the wiring. 

Input and Output 

 
Nominal IO Voltage*  3.3 V DC 

IO Voltage Range*  0.0 V DC to 5.5 V DC 

Absolute Maximum IO Voltage*  5.6 V DC 

PWM Trigger Expected Range  1.0 ms to 2.0 ms 

VIH High-level input voltage*  2.0 V to 5.5 V 

VIL Low-level input voltage*  0.0 V to 0.8 V 

 
*All 3.3V HOST IO lines are referenced to ISO GND (Pin 8). To ensure proper operation of 
Trigger, Serial, and PPS lines, make sure ISO GND is connected to your host system’s IO 
ground. This ground is isolated from the Altum power supply ground and must be connected 
for the IO to function properly. 

USB Storage and Ethernet  

Altum features two high-speed USB 3 ports which support USB 3 compatible devices. Tested, 
compatible devices include: 
 
● Samsung MUF-64BA 128 GB flash drive 
● Edimax Wi-Fi adapters: 
○ EW-7811Un 
○ EW-7611ULB (requires Altum firmware version 2.0.0 or higher) 
● AmazonBasics USB 3.0 to 10/100/1000 Gigabit Ethernet Internet Adapter 
● Cable Matters USB to Ethernet Adapter (USB 3.0 to Ethernet) 

© 2020 MicaSense, Inc 

 
June 2020 
Page 14 of 21 

Most USB external flash storage devices (thumb drives, hard drives, and others) should work, 
but you should perform a thorough ​bench test​ before flight. 
 
For details on how the sensor writes files to the storage device, see the File Storage section of 
the ​Sensor User Guide​. 

Capture Rate 
Altum’s capture rate is heavily dependent on the storage device. The Altum kit includes a 128 
GB flash drive which has a maximum capture rate of about 1.5 seconds per capture. Using a 
USB 3 drive with a fast write rate, such as a 2242 M.2 SATA USB 3 drive, will ensure the fastest 
capture rate possible (about one capture per second). When setting up a mission or flight plan, 
adjust the desired overlap, flight altitude, and speed so that the capture interval does not 
exceed the maximum capture rate. 

Accessory Port (ACC) 

The accessory port can be used with the ​Altum SD Card Adapter​. When other uses of this port 
are available, we will update this guide. 

Automatic Capture/Triggering 
Altum supports three methods for capturing images: Overlap, Timer, and External Trigger. To 
learn more about how to configure these settings, please see the ​User Guide for MicaSense 
Sensors​. 

Overlap (recommended) 
In Overlap mode, when the aircraft climbs to within your chosen Target Altitude Tolerance 
below your Target Altitude, Altum will start capturing and only take a capture if it has traveled 
forward enough distance to ensure the overlap percentage you have specified. Prior to Altum 
firmware release 2.0.0, the Target Altitude Tolerance was fixed at 50 meters, but this can now 
be specified by the user. When the sensor's altitude is below the Target Altitude Tolerance 
from the Target Altitude, the sensor stops capturing. Overlap mode only calculates the forward 
overlap, and cannot account for the side overlap, which must be calculated in a flight planner, 
using the sensor’s field of view to create an appropriate row spacing. 
 
We recommend this mode because it helps ensure proper overlap (75% or higher), which is 
essential in order to produce high-quality output when processing the data in standard 
photogrammetry software. 

© 2020 MicaSense, Inc 

 
June 2020 
Page 15 of 21 

Timer 
When in timer mode, Altum will capture according to the timer period, which is every two 
seconds by default. If the timer period is set to capture faster than the storage device can write 
the captures, inconsistent capture intervals may result. The capture rate is heavily dependent 
on the write speed of the attached storage device, and is prone to unreliable physical capture 
spacing if the aircraft does not travel at a constant ground speed. See the USB Storage and 
Ethernet and Capture Rate headings in this guide for more details. 

External Triggering 
For more control, you can enable external trigger mode to talk to Altum by PWM or edge 
triggering. See the ​Host Interface Connector​ section of this document for detailed pin 
information.  

External Trigger 
The sensor can be set to trigger by the rising-edge of a pulse, the falling-edge of a pulse, or a 
PWM signal (such as is typically used with standard servos). When using a PWM signal as the 
trigger, the sensor detects a transition from a “long” PWM to a “short” PWM (or vice-versa). 
When using PWM, rising-edge, or falling-edge, ​ensure that the input signal’s ground is 
connected to the isolated ground pin 8 on the Altum​. 
 

HTTP API (Ethernet and Wi-Fi) 

The HTTP API is the most powerful way to interface with the Altum. You can use this API using 
either the Ethernet connector or the camera’s Wi-Fi access point.  
 
The API is accessed via HTTP connection to port 80 at the sensor IP address. Most data is 
exchanged in the JSON format. 
 
The actual value of the IP address depends on the configuration. When accessing the sensor 
via its Wi-Fi access point, the sensor IP address will be 192.168.10.254. When the sensor is 
connected to an Ethernet network, the sensor IP address will be 192.168.1.83 by default. 
 
The sensor can be commanded to take a capture by either a GET or POST request to the 
/capture URL. 
 
For more information, please see ​https://www.micasense.com/api 
For examples, please see these articles:  
● Integration examples for MicaSense sensors 

© 2020 MicaSense, Inc 

 
June 2020 
Page 16 of 21 

● Inputs and outputs for MicaSense sensors 

Serial API 
 
The Serial API provides a MAVLink interface to the Altum. You can use this API by connecting 
your MAVLink-capable system to the host serial port on the sensor.  
 
The API is accessed via serial messages in the MAVLink format. MAVLink provides an open 
data format for interaction as well as a suite of tools to assist the programmer in developing 
and testing the interface. Altum uses MAVLink v1.0 messages and communicates with the host 
at 57600 baud. 
 
For more information and examples, please see ​https://www.micasense.com/api 

Disabled 
“Disabled” should be set when triggering via Skyport (PSDK), HTTP API, or the serial (MAVLink) 
API. This mode disables the camera’s automatic triggering functions, and will require trigger 
commands directly from the drone via PSDK, HTTP, or MAVLink, depending on the integration. 
 

Thermal Non-Uniform Calibration (NUC) 

 
Performing Non-Uniform Calibrations on (NUCing) thermal images helps reduce image noise, 
resulting in better thermal image quality. The auto-NUCing feature is enabled on boot, and 
ensures that the calibration is up to date with NUCs occuring every five minutes or when the 
temperature of the camera changes by 2 Kelvin. Altum firmware version 2.0.0 and newer has a 
manual NUCing feature available through the ​HTTP API​ and through the ​serial API​, which 
allows the user or autopilot to request a NUC, instead of depending on the auto-NUCing 
feature. Once a manual NUC is commanded, auto-NUCing will remain disabled until the 
camera is turned off and then back on again. Manual NUCing can ensure that NUCs don’t 
occur at inopportune times during data collection, but may lead to poor data quality if NUCs 
aren’t performed as often as needed. 
 
 

© 2020 MicaSense, Inc 

 
June 2020 
Page 17 of 21 

Downwelling Light Sensor 2 (DLS 2) 

 
The Downwelling Light Sensor (DLS 2) is an advanced incident light sensor that connects 
directly to Altum. During a mission, the DLS 2 measures the ambient light and sun angle and 
records this information in the metadata of the TIFF images captured by the camera. This 
information can then be used by specialized processing tools (like Pix4Dmapper) to correct for 
global lighting changes in the middle of a flight, such as those that can happen due to clouds 
covering the sun.  
 
In addition, the DLS 2 provides GPS data to Altum unless GPS data is provided from an 
external source as outlined earlier in this guide. If using an alternative GPS source, the GPS 
receiver will remain on at low power. 

© 2020 MicaSense, Inc 

 
June 2020 
Page 18 of 21 

Measurements and Attachment Points 

 
Height  14.03 mm 

Width  46.00 mm 

Length  63.50 mm 

Weight  49 g 

DLS 2 Connectors and Buttons 

The sensor kit includes all required interface cables to connect to the DLS 2. 

© 2020 MicaSense, Inc 

 
June 2020 
Page 19 of 21 

The LED camera status indicator mimics the LED signals on Altum. The signal types are 
outlined in the ​User Guide for MicaSense Sensors​. The camera trigger button will command a 
capture on the Altum. This is useful for capturing a preflight image of the calibration panel, but 
care should be taken not to cover or shade any of the light sensors when pressing the button.  
 

 
Older DLS 2 have an RF connector. This connector is not used by the DLS 2 or camera. 

   

© 2020 MicaSense, Inc 

 
June 2020 
Page 20 of 21 

DLS 2 Installation Guidelines 

The DLS 2 should always be the highest object on the aircraft in order to avoid shadows or 
reflections. It contains an integral GPS sensor that may be utilized for geotagging of the Altum 
imagery if system GPS signals are not provided to the sensor by other means. Install the 
module where it will have a clear view of the sky, far away from any devices that could interfere 
with GPS signals (like a data link or video transmitters). 
 
When the DLS 2 starts up, it attempts to calibrate, which requires it to be still and motionless. 
Ensure that there is no vibration or movement until the DLS 2 has completed this procedure, 
indicated by normal LED status lights (shown in the ​User Guide for MicaSense Sensors​). 

NOTE 

The 6-pin connector on the DLS 2 should be facing forward, in the flight direction. 
Mounting it in the opposite direction will cause the magnetometer calibration 
process​ to be backwards, but will otherwise still work. 

Fixed-wing 
Always install the DLS 2 at the high-point of the fuselage (if possible) to avoid any shadowing 
or reflections from the aircraft fuselage, tail, or propellers.  
 
Do not recess or embed the DLS 2 sensor body below the metallic base.  
 
Local reflections could impact light sensor measurements. Avoid bright or metallic paint near 
the DLS 2 light sensor as this may interfere with incoming light values.  

Multirotor 
Install the DLS 2 on a rigid post such that it is the highest object on the aircraft. 
 
Ensure that there are no obstructions in the DLS 2’s field of view to the sky, including 
propellers and other items on the aircraft. 
 
Keep the DLS 2 away from the aircraft GPS. Installing the DLS 2 near the aircraft GPS may 
impact the aircraft’s GPS reception. 

© 2020 MicaSense, Inc 

 
June 2020 
Page 21 of 21 

Example Integration 

 
Altum and DLS 2 on a Matrice 200. The sensor draws power directly from the Matrice via the Skyport.  
The DLS 2 is the highest object on the aircraft. 
 
 
MicaSense Altum and DLS 2 Integration Guide 
Revision 10 
June 2020 
MSPN 900-00021-01 
MicaSense, Inc. 
Seattle WA 98103 
 
 
 
● The contents of this guide are subject to change without notice 
● MicaSense, Inc. assumes no liability for incidental or consequential damages arising 
from the use of this product, and any claims by a third party. 
● Copying of the contents of this guide, in whole or in part is prohibited under the 
copyright law. 
 
 
 
© 2020 MicaSense, Inc 
 
June 2020 
Page 22 of 21 

Revision History 
 
Revision  Description  Date 
08  Initial Release  26 Apr 2019 

09  Added inputs and outputs  18 Jun 2019 

10  Updated band wavelengths,  02 June 2020 

added NUC info, updated 
“What’s included?”clarified 
USB Ethernet options, noted 
the need to be on latest 
firmware version  
 

© 2020 MicaSense, Inc