# 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="/files/6KTm6bFZ8J9G5y6tKnhk" 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="/files/thcwvEtwxHCy6B7x5SgS" 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](broken://pages/-MNQOJVuCaNamg_5kvlY)
  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
* ![](/files/sNPkGmzNy98bEi0VtYDd)

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

<br>


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