> For the complete documentation index, see [llms.txt](https://docs.gremsy.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.gremsy.com/gimbals/pixy-lr-s-port-v2/autopilot-setup.md).

# AUTOPILOT SETUP

## 1. HARDWARE SETUP

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FllRnUtuVbgVFaV68GdSY%2Fimage.png?alt=media&amp;token=acbb1903-5064-4fda-9717-515e289ce41c" alt=""><figcaption></figcaption></figure>

Connect the Pixy LR S-port UART to the Telem2 on the Ardupilot systems.

## 2. PARAMETER SETTING

### FIRMWARE REQUIREMENT

* Version: Ardupilot 4.3 or Higher
* Support Mavlink v2 Protocol

### SETUP TELEMETRY&#x20;

| Parameter             |   Value  | Description                     |
| --------------------- | :------: | ------------------------------- |
| **SERIAL2\_PROTOCOL** |    `2`   | MAVLink2                        |
| **SERIAL2\_BAUD**     | `230400` | Baud rate for Pixy LR S-PORT V2 |
| **SR2\_ADSB**         |    `0`   | Disable                         |
| **SR2\_EXT\_STAT**    |    `0`   | Disable                         |
| **SR2\_EXTRA1**       |    `0`   | Disable                         |
| **SR2\_EXTRA2**       |    `0`   | Disable                         |
| **SR2\_EXTRA3**       |    `0`   | Disable                         |
| **SR2\_PARAMS**       |    `0`   | Disable                         |
| **SR2\_POSITION**     |    `0`   | Disable                         |
| **SR2\_RAW\_CTRL**    |    `0`   | Disable                         |
| **SR2\_RAW\_SENS**    |    `0`   | Disable                         |
| **SR2\_RC\_CHAN**     |    `0`   | Disable                         |
| **MNT1\_DEFLT\_MODE** |    `3`   | RC Control Mode                 |
| **MNT1\_TYPE**        |    `6`   | MAVLink Gimbal                  |
| **MNT1\_RC\_RATE**    |   `240`  | Gimbal control rate/speed       |
| **CAM1\_TYPE**        |    `5`   | Camera type                     |

{% hint style="info" %}

* ArduPilot (4.3 or higher) configuration: In Mission Planner, set all SR2 parameters to “0”
* Reboot the Pixhawk after changing any parameters.
  {% endhint %}

## 3. GIMBAL CONFIGURATION

Connect Gimbal via USB to your PC and launch the gTune application. Navigate to:

{% stepper %}
{% step %}

### CONTROLS -> MAVLINK -> BAUDRATE

{% endstep %}

{% step %}

### Set COM2 baud rate to `230400` Click REBOOT

{% endstep %}
{% endstepper %}

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/mjQf4jGgYVyDmX2ev1sJ" %}
[GTUNE DESKTOP](/gremsy-app/gtune-desktop.md)
{% endcontent-ref %}

## 4. TAG-E CONFIGURATION

### ACCESS CONFIGURATION

### Q-Ground Control

* Open **QGroundControl (QGC)** and wait for the vehicle to connect.
* Open **Vehicle Setup** → **Parameters**.
* In the parameter list, expand **Component 100**.
* If **Component 100** is not displayed, the MAVLink connection between the **TAG-E** and the **Cube** may not be configured correctly. Please verify that:
  * `SERIAL2_PROTOCOL = MAVLink2`
  * `SERIAL2_BAUD = 230400`

{% hint style="info" %}
**Note:** TAG-E parameters may take a few seconds longer to load than standard vehicle parameters. Please wait for the parameter list to finish loading before troubleshooting the connection.
{% endhint %}

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FOFteSBdOEuNTiJSYZy2l%2Fimage.png?alt=media&amp;token=d6d86a3a-40ec-4b6f-b109-f43e5acb936e" alt=""><figcaption></figcaption></figure>

{% hint style="danger" %}

> **⚠️ PARAMETERS ARE NOT SAVED AUTOMATICALLY!**
> {% endhint %}

TAG-E does not automatically save configuration changes to permanent memory. If you want the configuration to persist after power cycling, you must manually save the parameters.

Set the following parameter:

| Parameter         | Value | Description                                              |
| ----------------- | ----- | -------------------------------------------------------- |
| **FW\_SAVE\_CFG** | `1`   | Save the current TAG-E configuration to permanent memory |

After the configuration is successfully saved, **`FW_SAVE_CFG` automatically reverts to `0`**.

### TAG-E Communication Parameters

| Parameter     | Value  | Description         |
| ------------- | ------ | ------------------- |
| **IOB\_MODE** | `1`    | MAVLink             |
| **IOB\_BAUD** | `2304` | 230,400 bps         |
| **IOC\_MODE** | `2`    | MAVLink PassThrough |
| **IOC\_BAUD** | `2304` | 230,400 bps         |

{% hint style="success" %}
**Important:** After changing the TAG-E communication parameters, make sure to set **`FW_SAVE_CFG = 1`** to permanently save the configuration.
{% endhint %}

## 5. CAMERA CONFIGURATION

{% stepper %}
{% step %}

### Step 1

Enter camera MENU and navigate to: **`SETUP > USB > USB Connection Mode > PC Remote`**&#x20;

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FF8PJiAnQ9sVKuJrpH4Fm%2Fimage.png?alt=media&amp;token=03b042f9-67a4-4c2a-be63-008f9bbd4b80" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Step 2

If you previously used another system for remote control using WiFi, make sure the WiFi is disabled or the remote controller is disconnected to avoid control interference.

**`NETWORK > WiFi > WiFi Connect > OFF`**&#x20;

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FiIbGOxoeEHlRBE3zjWpl%2Fimage.png?alt=media&amp;token=234b24de-1a38-452d-a5d8-f52982199247" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Step 3

Configure save destination for your data.
\
**`NETWORK > Cnct./PC Remote > Remote Shoot Setting > Still Img. Save Dest. >`**
\
**`Camera Only`**&#x20;

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FafFTZFfcuwN5aNRfOejw%2Fimage.png?alt=media&amp;token=14c92256-81e8-41c5-9bb0-a3d598ca3a9c" alt=""><figcaption></figcaption></figure>
{% endstep %}
{% endstepper %}

{% hint style="warning" %}
Remember to turn the camera OFF by power off switch!&#x20;

**DO NOT DISCONNECT POWER** otherwise all settings will be lost and you will have to start over!
{% endhint %}

## 6. CAMERA CONTROL

{% hint style="info" %}
Testing was performed using the following QGroundControl (QGC) versions:

* **v4.4.3**
* **v4.4.4**
* **v4.4.5**
* **v5.0 – Release Candidate 4**
* **v5.0 or later**

> **Note:** Do not use **QGC v5.0 Release Candidate 1, 2, or 3**.

#### Installation

1. Go to the [QGroundControl Releases](https://github.com/mavlink/qgroundcontrol/releases) page.
2. Select the QGroundControl version you would like to install.
3. Open the **Assets** section of the selected release.
4. Select the appropriate installation file:
   * **PC:** `QGroundControl-installer.exe`
   * **Android (HereLink or SIYI):** `QGroundControl.apk`
     {% endhint %}

#### **LAUNCH QGC**

* Launch QGC in a PC or RC system.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F0GeQ59cScZN2bxdcWgmC%2Fimage.png?alt=media&amp;token=c0d3b771-4f5c-4b25-9878-afcb57384dbd" alt=""><figcaption></figcaption></figure>

#### **CONTROL PANEL**

* Once the programprogram is connected to the drone (connection is done automatically), you will see control panel for the camera on the right.

#### PHOTO / VIDEO

* By icons of Photo / Video camera you can switch between Movie and Photo mode of the RED button below. When red button is pressed, TAG-E will trigger photo or start/stop movie recording.
* Under trigger button you will amount of currently triggered photos, or length of recording of the movie.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F4AGEcUHgtO9nWqcpJUFI%2Fimage.png?alt=media&amp;token=cbe48365-023d-4150-871f-737f3a4faaca" alt=""><figcaption></figcaption></figure>

#### OTHER CONTROLS

* For other configuration, click to wheel under trigger button.
* QGC will show a newnew window with camera configuration

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F1AS93TXWbSMpYueeH2WT%2Fimage.png?alt=media&amp;token=81a41fa3-2a24-4f8c-8414-2b279492fb20" alt=""><figcaption></figcaption></figure>


---

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