PX4

Parameter Setup

• Version: update to the latest version.

• Support Mavlink v2 protocol

Parameter	Value	Description
Firmware Version	Latest	Required for MAVLink v2 support and gimbal features
MAV_1_CONFIG	TELEM2	Assign MAVLink instance 1 to telemetry port 2 (TELEM2)
SER_TEL2_BAUD	115200 8N1	Set TELEM2 baud rate to 115200, 8 data bits, no parity, 1 stop bit
MAV_1_FORWARD	1	Enable forwarding of MAVLink messages
MNT_MODE_IN	RC	Mount input mode: manual control via RC channels
MNT_MODE_OUT	2	Mount output mode (specific to hardware/protocol)
MNT_RC_IN_MODE	1	RC input mode: angular control
MNT_MAN_PITCH	AUX3	Manual control for pitch (tilt) assigned to AUX3
MNT_MAN_ROLL	AUX2	Manual control for roll (zoom) assigned to AUX2
MNT_MAN_YAW	AUX1	Manual control for yaw (pan) assigned to AUX1
RC_MAP_AUX1	Channel 6	Maps RC channel 6 to AUX1 (yaw control)
RC_MAP_AUX2	Channel 7	Maps RC channel 7 to AUX2 (zoom control)
RC_MAP_AUX3	Channel 8	Maps RC channel 8 to AUX3 (pitch control)
COM_RC_IN_MODE	3	RC input mode blending (e.g., RC + MAVLink)

FOR EXAMPLE

Hardware Setup

Connect the Pixy LR UART (CTRL port) to the Telem2 on the PX4 system

Setting on the remote control

Pixy LR is compatible with the Remote Control (RC) that supports the QGroundControl app (QGC). In this manual, all settings are made on Herelink Remote Control; the other controller does the same.

SBUS channel settings

Pixy LR needs to set up 2 channels to control the gimbal: one channel is for controlling rotation, and the other is for choosing the controlling axis.

Set up channels controlling the gimbal

Gimbal rotation control channel: CH6 (or any channels); use the wheel button on the Herelink remote:

Gimbal axis selection channel: CH8 (or any channels); use the camera button on the Herelink remote.