# Skynode

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

* Yes, the T3PE is specially design for the Skynode and Pixhawk Payload Bus which Gremsy called by Linear Quick Release.

## Software configuration 

*
* Download and install the latest gTune [here](https://github.com/Gremsy/gTuneDesktop/releases/download/1.4.7.2/gTuneDesktop1.4.7.2_Windows.rar), along with the Windows USB drivers available [here](https://www.silabs.com/documents/public/software/CP210x_Universal_Windows_Driver.zip) 
* Download the latest Gremsy gimbal firmware for your specific model [here](https://github.com/Gremsy/MAVLink-Protocol-V2-Firmware/releases) and use gTune to flash it onto your gimbal
* Power on the Gimbal, attach it to your computer using a micro-USB cable and then connect to it with gTune.
* Select "Controls" and then "Herelink". Do **not** enable Herelink, but use this tab to set the tilt deadzone to zero

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F0oT2W44E6P4aJj5jWNn1%2Fcap2.PNG.png?alt=media&#x26;token=f2274439-8060-48c6-a8a9-113ba8ddc546" alt=""><figcaption><p>Herelink Configuration</p></figcaption></figure>

* Still under "Controls", select "Mavlink", this time select YES when prompted to enable MAVLink input

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FfM624Mea7p4xaUSADPG4%2Fcap3.PNG.png?alt=media&#x26;token=df4ee829-382e-4260-9c0c-3f798376af3b" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
You may need to configure and tune your gimbal further for your specific payload depending on it's weight, center of gravity and desired behavior
{% endhint %}

* Power on Skynode, connect to it via USB-C and change the following parameters using Auterion Mission Control's [Advanced mode](https://docs.gremsy.com/gimbals/gremsy-t3pe/broken-reference)
  1. `MAV_2_CONFIG` = 401 (PPB)
  2. `MAV_2_MODE` = 10 (Gimbal)&#x20;
  3. `SER_PPB_BAUD` = 115200&#x20;
  4. `MAV_2_FORWARD` = 1&#x20;
  5. `MAV_S_FORWARD` = 1&#x20;
  6. `MNT_MODE_IN` = 4 (MAVLink Gimbal v2)
  7. reboot
  8. refresh parameters or restart AMC
  9. `MNT_MODE_OUT` = 2 (MAVLink Gimbal v2)

## Hardware setup&#x20;

* On the payload side, the AUX channels of the gimbal can be leveraged to route the required signals such as U, Ethernet and power through the gimbal. A custom cable will typically need to be made to match your payload.&#x20;

{% hint style="warning" %}
Note that the first two pins of the gimbal's AUX port are connected to the 12V supply rail and ground. These can be used to power a payload, but they are not suitable to carry data signals through the gimbal. Applying 12V to a data line could seriously damage a camera!
{% endhint %}

* Use Gremsy's Pixhawk UART cable to connect the gimbal's **COM2** to the Pixhawk Payload Bus UART port labelled **GPS2** and use your custom cable to grab the payload data signals from the gimbal's AUX channels and feed them into the Pixhawk Payload bus.&#x20;
* A finalized bench setup could look something like this
* ![](https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FXRRw6LIgQVIvPF5a92Fq%2Fimage.png?alt=media\&token=177cf16d-26df-46a0-a764-82fa8ec8fdd0)

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

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