# Ardupilot

## Payload Telemetry & Gimbal Mount Settings

### **Ardupilot 4.3 or higher**

<table><thead><tr><th>Category</th><th width="186">Parameter</th><th width="101" align="center">Value</th><th>Description</th></tr></thead><tbody><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_PROTOCOL</code></td><td align="center"><code>2</code></td><td>Use MAVLink2 protocol</td></tr><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_BAUD</code></td><td align="center"><code>115</code></td><td>Set baud rate to 115200</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCx_OPTION</code></td><td align="center"><code>214</code></td><td><p>x is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: PAN control</li><li>Gremsy mode:PAN/TILT move (speed-based control)</li></ul></td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCy_OPTION</code></td><td align="center"><code>212</code></td><td><p>y is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: Roll control</li><li>Gremsy mode: not applicable</li></ul></td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCz_OPTION</code></td><td align="center"><code>213</code></td><td><p></p><p>z is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: TILT control</li><li>Gremsy mode: Select axis: PAN or TILT</li></ul></td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_TYPE</code></td><td align="center"><code>6</code></td><td>MAVLink Gimbal Type</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_DEFLT_MODE</code></td><td align="center"><code>3</code></td><td>Default to RC Targeting mode</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_RC_RATE</code></td><td align="center"><code>240</code></td><td>Speed control rate for gimbal</td></tr><tr><td><strong>Camera Settings</strong></td><td><code>CAM_TYPE</code></td><td align="center"><code>6</code></td><td>MAVLink Camera integration</td></tr></tbody></table>

***

### **Ardupilot lower 4.3 (limited support from Ardupilot)**

<table><thead><tr><th width="232">Category</th><th width="184">Parameter</th><th width="101">Value</th><th>Description</th></tr></thead><tbody><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_PROTOCOL</code></td><td><code>2</code> </td><td>Use MAVLink v2 protocol on Telemetry 2</td></tr><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_BAUD</code></td><td><code>115</code> (<code>115200</code>)</td><td>Set telemetry baud rate to 115200</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC6_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC7_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC8_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_PAN</code></td><td><code>6</code></td><td>PAN/TILT move (assigned to RC channel 6)</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_ROLL</code></td><td><code>7</code></td><td>Zoom control (High = Zoom In, Neutral = Stop, Low = Zoom Out)</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_TILT</code></td><td><code>8</code></td><td>Axis select (assigned to RC channel 8)</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT_TYPE</code></td><td><code>4</code> (<code>SToRM32 MAVLINK</code>)</td><td>Set gimbal mount type to SToRM32 MAVLink</td></tr></tbody></table>

## **Data Stream Rate Settings (Telemetry 2)**

To receive essential positioning and status information:

* `SR2_POSITION` = `10` → **GPS Position**
* `SR2_EXT_STAT` = `2` → **GPS Lock Status**

***

## **GPS Configuration via CAN**

If using a UAVCAN GPS unit:

#### **CAN Port Driver Enable**

* `CAN_P1_DRIVER` = `1` → **Enable CAN1**
* `CAN_P2_DRIVER` = `1` → **Enable CAN2**

#### **GPS Type Selection**

* `GPS_TYPE` = `9` → **UAVCAN GPS**

***

## &#x20;**Notification LED Settings**

* `NTF_LED_TYPES` = `231` → **Enable Standard Notification LEDs**

**Gremsy**’s instructions can be found below:

* [How to setup **Gremsy** gimbal with Pixhawk Cube](https://support.gremsy.com/support/solutions/articles/36000189926-how-to-setup-gremsy-gimbal-with-pixhawk-cube)
* [Control **Gremsy** Gimbal with Herelink & Cube](https://support.gremsy.com/support/solutions/articles/36000222529-control-gremsy-gimbal-with-herelink-cube-pilot)

#### Control from a Ground Station (MAVLink Targeting)

Ground stations can send MAVLink commands to control the gimbal. While each GCS’s interface is different below are the controls provided by Mission Planner.

The gimbal’s angles can be controlled as follows

· Set the mode to “MAVLink Targeting” using the Data screen’s Actions tab’s bottom left drop-down and then push the “Set Mount” button (see image above).

· Use the Payload Control tab to adjust the gimbal’s roll, pitch or yaw angles.<br>

<figure><img src="/files/CqYyPbgjdXgCjLz181Gj" alt=""><figcaption></figcaption></figure>

·Use the Aux Function tab to switch the yaw between “follow” and “lock” modes.

<figure><img src="/files/SJ6H9nGuJPEYR5Nb7QLo" alt=""><figcaption></figcaption></figure>

To point the gimbal at a particular location (e.g. lat, lon, alt), on the Data screen, right-mouse-button click on the map and select, “Point Camera Here” and enter an altitude above home.

<figure><img src="/files/ypzibPJb6mlWUrJen1Qp" alt=""><figcaption></figcaption></figure>

Settings stream rate to receive forward messages from telemetry 1 (from Autopilot)

* SR2\_POSITION: "10" // receive GPS messages
* SR2\_EXT\_STAT: "2" // receive GPS lock signal


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.gremsy.com/gimbals/general/autopilot-setup/ardupilot.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.