Ardupilot

We recommend connecting the gimbal’s COM2 port to one of the autopilot’s Serial/Telemetry ports like Telem2, as shown above.

Payload Telemetry & Gimbal Mount Settings

Ardupilot 4.3 or higher

Category	Parameter	Value	Description
Telemetry Setup	SERIAL2_PROTOCOL	2	Use MAVLink2 protocol
Telemetry Setup	SERIAL2_BAUD	115	Set baud rate to 115200
RC Channel Options	RCx_OPTION	214	x is desired channel match with remote/ground station button (joystick) Standard mode: PAN control Gremsy mode:PAN/TILT move (speed-based control)
RC Channel Options	RCy_OPTION	212	y is desired channel match with remote/ground station button (joystick) Standard mode: Roll control Gremsy mode: not applicable
RC Channel Options	RCz_OPTION	213	z is desired channel match with remote/ground station button (joystick) Standard mode: TILT control Gremsy mode: Select axis: PAN or TILT
Mount Settings	MNT1_TYPE	6	MAVLink Gimbal Type
Mount Settings	MNT1_DEFLT_MODE	3	Default to RC Targeting mode
Mount Settings	MNT1_RC_RATE	240	Speed control rate for gimbal
Camera Settings	CAM_TYPE	6	MAVLink Camera integration

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Ardupilot lower 4.3 (limited support from Ardupilot)

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

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

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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

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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

• Control Gremsy Gimbal with Herelink & Cube

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.

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

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.

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