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# Setup with the Ardupilot System
VioZio Control Cable Update April 2026
## HARDWARE SETUP
Connect the Pixy LR S-port UART to the Telem2 on the ArduPilot systems.
## PARAMETER SETTING
**Firmware Requirement**
* Version: Ardupilot 4.3 or higher
* Support Mavlink v2 protocol
**Set up the telemetry baud rate**
*Typically, the telemetry port used on a Pixhawk is Telemetry 2, which corresponds to SERIAL2. If another telemetry port (e.g. Telemetry X) is used, it will correspond to SERIALX accordingly.*
Pixy LR SP connects to FC at the baud rate of 1250000.
* SERIAL2\_PROTOCOL: “Mavlink2”
* SERIAL2\_BAUD: “1250000"
**Set mount params**
***Ardupilot 4.3 or higher***
* MNT1\_DEFLT\_MODE: "3" (RC control mode)
* MNT1\_TYPE: “6” (MAVLink gimbal)
* MNT1\_RC\_RATE: “240” // change control gimbal by speed
***Ardupilot lower 4.3***
* MNT\_TYPE: “SToRM32 MAVLINK"
**Settings stream rate to receive forward messages from telemetry 2 (from Autopilot)**
* SR2\_POSITION: "10" // receive GPS messages
* SR2\_EXT\_STAT: "2" // receive GPS lock signal
**Set cam type**
* CAM1\_TYPE: "5"
**Note**: Reboot the Pixhawk after changing any parameters.
## SETTING APP QGroundControl
**Setup video streaming**
* Use HDMI: Choose "Herelink AirUnit.
## Enable SBUS Output on Pixhawk (Optional Feature)
> **Note:** SBUS Output is an optional feature and is not required for normal operation.
**Step 1: Enable SBUS Output on the Pixhawk**
Configure the following parameters in the Pixhawk:
* **BRD\_SBUS\_OUT** = `1`
* **SERVO9\_FUNCTION** = `59`
* **SERVO10\_FUNCTION** = `60`
**Step 2: Configure the Herelink Remote Controller**
Assign the following channels on the Herelink remote controller:
* **Channel 9** → **CAM Short Press**
* **Channel 10** → **Scroll Wheel**
This configuration enables **Herelink Mode** for controlling the gimbal.
> **Important:** Ensure that both the **Default Value** and **Active Value** are configured exactly as shown in the reference image. Incorrect values may prevent the controls from functioning properly.
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