# Cube Pilot

### **Q 1:** Does the Gremsy T3PE support Pixhawk FC?

* Yes, it supports both single RC control and auto mission via Pixhawk control.

### **Q 2:** How to setup with Pixhawk FC?

Connect the Gimbal’s COM2 port to one of the autopilot’s Serial/Telemetry ports like Telem2 as shown above.

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Connect with a ground station and set the following parameters:

* [MNT\_TYPE](https://ardupilot.org/copter/docs/parameters.html#mnt-type) to “4” for “SToRM32 MavLink”
* [SERIAL2\_BAUD](https://ardupilot.org/copter/docs/parameters.html#serial2-baud) to “115” for 115200 bps. “SERIAL2” can be replaced with another serial port (i.e. SERIAL1) depending upon the physical connection
* [SERIAL2\_PROTOCOL](https://ardupilot.org/copter/docs/parameters.html#serial2-protocol) to 2 for “MAVLink2”
* [SR2\_EXTRA1](https://ardupilot.org/copter/docs/parameters.html#sr2-extra1) to 10
* [SR2\_POSITION](https://ardupilot.org/copter/docs/parameters.html#sr2-position) to 10

The gimbal’s maximum angles can be set using these parameters:

* [MNT\_ANGMIN\_ROL](https://ardupilot.org/copter/docs/parameters.html#mnt-angmin-rol) to -3000 to allow leaning left up to 30deg
* [MNT\_ANGMAX\_ROL](https://ardupilot.org/copter/docs/parameters.html#mnt-angmax-rol) to 3000 to allow leaning right up to 30deg
* [MNT\_ANGMIN\_TIL](https://ardupilot.org/copter/docs/parameters.html#mnt-angmin-til) to -9000 to allow pointing 90deg down
* [MNT\_ANGMAX\_TIL](https://ardupilot.org/copter/docs/parameters.html#mnt-angmax-til) to 3000 to allow pointing 30deg up
* [MNT\_ANGMIN\_PAN](https://ardupilot.org/copter/docs/parameters.html#mnt-angmin-pan) to -18000 to allow turning around to the left
* [MNT\_ANGMAX\_PAN](https://ardupilot.org/copter/docs/parameters.html#mnt-angmax-pan) to 18000 to allow turning around to the right

To control the gimbal’s lean angles from a transmitter set:

* [MNT\_RC\_IN\_TILT](https://ardupilot.org/copter/docs/parameters.html#mnt-rc-in-tilt) to 6 to control the gimbal’s tilt (aka pitch angle) with the transmitter’s Ch6 tuning knob
* [MNT\_RC\_IN\_ROLL](https://ardupilot.org/copter/docs/parameters.html#mnt-rc-in-roll) to some input channel number to control the gimbal’s roll angle
* [MNT\_RC\_IN\_PAN](https://ardupilot.org/copter/docs/parameters.html#mnt-rc-in-pan) to some input channel number to control the gimbals’ heading

For reference, [Gremsy’s setup instructions can be found here](https://support.gremsy.com/support/solutions/articles/36000189926-how-to-setup-gremsy-gimbal-with-pixhawk-cube).