# 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

<figure><img src="/files/W4mrAJwe3zr3YaBCZ2BE" alt="" width="563"><figcaption></figcaption></figure>

## 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:

<figure><img src="/files/cdmpIHOqU7aWi6RMSwva" alt=""><figcaption></figcaption></figure>

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

<figure><img src="/files/CSf0cNVeMArUVLXAaypJ" alt=""><figcaption></figcaption></figure>


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