# Setup with the Ardupilot system

## I. Configure parameters for Pixhawk: <a href="#i.-configure-parameters-for-pixhawk" id="i.-configure-parameters-for-pixhawk"></a>

Change the baud rate of the TELEMETRY port used for the gimbal to **921600.**

&#x20;   *For example: Similar to* [*Section I Cable VioZio Control Cable*](https://docs.gremsy.com/pixy-and-mio/pixy-lr-sp/installation/viozio-control-cable/setup-with-the-ardupilot-system#i.-configure-parameters-for-pixhawk)*.*

Change the parameters in the MNT1 tag as follows :

* MNT1\_DEFLT\_MODE = 3 (RC Targeting)
* MNT1\_RC\_RATE = 90 (0 is the angle mode control, other 0 is the speed mode and 90 is the maximum speed limit)
* MNT1\_TYPE = 6 (Gremsy gimbal definition in the Ardupilot system)

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FayX1AY4KUQ7lHpmWvXmv%2Fevo1.png?alt=media&#x26;token=cce609f1-f33c-4a84-8ec8-3b1beacd2667" alt="" width="453"><figcaption><p><em>Adjusting mounting parameters on Pixhawk.</em></p></figcaption></figure>

## II. Configure parameters for the module Entire Airpixel:

\
The configuration of Uni port-B and Uni port-C of the Entire module is similar to Section 2 of [VioZio Cable](https://docs.gremsy.com/pixy-and-mio/pixy-lr-sp/installation/viozio-control-cable/setup-with-the-ardupilot-system#ii.-configure-parameters-for-the-module-entire-airpixel) but differs in the following points:

* Change the function for Uni port-C  to Disable.
* Change the function for Uni port-B to MAVlink with a baud rate of 230400.&#x20;
* Turn off the Force SBUS mode function in Entire.
* &#x20;Go to Menu -> Miscellaneous -> Gimbal control options -> Gremsy options -> Force SBUS mode.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FjbvG5tVFrInHA5wXSH7t%2Fevo2.jpeg?alt=media&#x26;token=29799bb8-c0d1-493f-9da3-45ebfec4accf" alt="" width="188"><figcaption><p><em>Turn off Force SBUS mode function on Entire.</em></p></figcaption></figure>

After changing, check the function to function normally as follows:

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FKanieaqfZdp59F2MLYut%2Fevo3.jpeg?alt=media&#x26;token=2f40e03f-7bba-4181-aebc-d84b9102ffe5" alt="" width="188"><figcaption><p><em>Entire has received full functionality.</em></p></figcaption></figure>

Significance of the information:

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FAfM97vRrW2Y8PkcUVw2m%2Fevo4.png?alt=media&#x26;token=94b68000-504d-4d76-8081-4c570faac89b" alt=""><figcaption></figcaption></figure>

## III. Camera Configuration

### 1. EXIF Geotagging Configuration

**STEP1**&#x20;

SETUP->USB->USB Connection Mode->MassStorage

![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2Fusb-qfommduv21bv3bi73ihty8u5m50s1ab5b7bweqf1gy.png\&width=768\&dpr=4\&quality=100\&sign=11336a02bdc434b4814c3799b8d6579dc900ba952ec1e9dde6be87fdade5c171)

**STEP 2**

Open camera MENU and navigate to: **NETWORK->Cnct./PC Remote->PC Remote Function->OFF**

![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FPCrmtOFF-qfomp5hr6h499zhgxpkaajp0kzdop7ap0whda2bb18.png\&width=768\&dpr=4\&quality=100\&sign=b66344cedf5794816eb477ceb05dffc36f15932f00d13c821e45ad9d83e9e796)

**STEP 3 – GEOTAGGING TEST**

* Your setup is ready to be used for geotsagging at this point
* ENTIRE has Self-Test routines for GeoTagging to easily check if all wiring is working well
* Make sure that all equipment is turned ON and camera is set to MASS STORAGE MODE
* Click to MENU->Configuration test and let the Entire to do a self-test
  * At the beginning of the test, one photo will be triggered
  * Entire will check if HotShoe sensor has properly recognized trigger
  * Entire will check all necessary input data connections
  * In case of any problems, result will provide hints to solve the issue
  * Test photo will not be geotagged in the test method!

![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2Fselftest-q0r5t221c6damc7qowtymne9g5qfckhvjup5zchqx4.jpg\&width=768\&dpr=4\&quality=100\&sign=a5c48a70e6935261ed2aebc4e7a1405286640e8187b2875bc0e2c7cfa530ae33)

### **2. WiFi Configuration for Control**

**STEP 1**

Open camera MENU and navigate to **NETWORK->Network Option->Access Authen. Settings** Open this item and in submenu DISABLE authentication Confirm all warnings OK Access Authen. Settings should be **OFF**

![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FAuthenOFF-qfoscv2kbvzdfnl1erjjo53b97bevq0hp6bniw9qnm.png\&width=768\&dpr=4\&quality=100\&sign=5ee240fc89e10f6d7e1dfb95a13988d0bc265f9a4725fe5e94b067a123c564c8)

**STEP 2**

Navigate to: **NETWORK->Wi-Fi->Access Point Set** And enter item Wait for scan of available accesspoints

![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-connect-qfosfx1oji5x615akl2w9vc8ra9cwb534ango9qofm.png\&width=768\&dpr=4\&quality=100\&sign=3db364966ae9f6b9fc3bf6fc47a80d8be8743cbe4d947abbbdd6b6795a5e407a)

**STEP 3**

From the list of networks, select Accesspoint of the ENTIRE **Entire\_xxxx** **Confirm OK**

![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-select-qfosifa6rllg4li7xo32x8khs9wlf93bgpa2qu0vve.png\&width=768\&dpr=4\&quality=100\&sign=b51b5981bbedc5ce742ca2e08fa76740146e75699a0c2b724f4ab8ac512efbe8)

**STEP 4**

Camera will connect the ENTIRE via WiFi now Once done, **confirm OK for return to the list**

![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-connectionOK-qfoslppuoq3krgq6q3a2neokmtoud45hwzh97p5a20.png\&width=768\&dpr=4\&quality=100\&sign=27b6c07a5033577e1bad61345eeba201afb888509f20018839ab4d0ec44b9430)

**STEP 5**

Click right (MANUAL SETTINGS) on the ENTIRE’s WiFi item to enter manual IP settings **Scroll to IP Address settings “Auto” and change to “Manual”**

[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-select-1-qfosp4upk0s50drbr2i781lygatxdgqc1wxv2y2pga.png\&width=300\&dpr=4\&quality=100\&sign=59f155f22e9f9d2c1ad3e2d86e2450845320d949348eeab00a4c9c4f281c87a2)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-select-1.png)[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-manual-qfosol43ki148kjzybz19ol9z7j7vtjyz78o04vz1k.png\&width=300\&dpr=4\&quality=100\&sign=1eaa103ee8d1a9052309c01fb025e85e1dbc512abb092da2619378b3d933f639)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-manual.png)

**STEP 6**

Fill IP addresses and masks:

**192.168.122.1** **255.255.0.0** **192.168.10.1**

Confirm OK

Camera will now re-connect the ENTIRE

[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-IP-qfoss7rnygzz2da7reg6e9mcjrn8lqynt5x5pli90o.png\&width=300\&dpr=4\&quality=100\&sign=ecaf37d55cc38ffa6c4a3a8c40e1407df6af2c0ba74f59dfce883feaad0c1c37)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-IP.png)[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-confirmmanula-qfostxt0hjcwcms3p59jytyrr75gprsy1oz7duy9io.png\&width=300\&dpr=4\&quality=100\&sign=aeee26da5195d1b3f2d17bd451571f9048c62fda02882039156884f75fbce542)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-confirmmanula.png)

**STEP 7**

Once connection is done, scroll up to **“Wi-Fi Connect” and turn it ON**

[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWifi_ON-qfoswwym4nfl46ggbfl0v2xbh4hb39mcgfck3ejdx8.png\&width=300\&dpr=4\&quality=100\&sign=70622130559408795c43155cc1a688b477790f7f3593d6b8783673984d3ff2c3)](https://airpixel.cz/wp-content/uploads/2023/11/Wifi_ON.png)[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-searching-qfoszcdls8r93wxh4zdbsyv6pyifz49dsg0pq4xrsm.png\&width=300\&dpr=4\&quality=100\&sign=666c7d1f36aa64685417cfeb5737f3bac0950de6fba07ba84751f29d8f6ccfce)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-searching.png)[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWifi_ON-1-qfot04krh9tus7sikbk4vrr0jinge1dbwbla4frynw.png\&width=300\&dpr=4\&quality=100\&sign=05b6678308e0ec99be676b6dff842e259e45521d34f8101885a59343e672ea41)](https://airpixel.cz/wp-content/uploads/2023/11/Wifi_ON-1.png)

**STEP 8**

Navigate to: **NETWORK->Cnct./PC Remote->PC Remote Function->ON**

[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FPCremoteON-qfot4qy72y5lv72ukth3n3rlopvf8gptj7282exa1g.png\&width=300\&dpr=4\&quality=100\&sign=c3590bbd8a3ac9fcb522736e18f11118219900da63a3a6d52d4cefa2a5e884af)](https://airpixel.cz/wp-content/uploads/2023/11/PCremoteON.png)

**STEP 9**

Now scroll to **PAIRING** and enter item

Wait for initialization

Once pairing confirmation for the ENTIRE shows, confirm OK

**\*\*\* YOU HAVE TO REPEAT THIS STEP AFTER EACH UPDATE OF THE ENTIRE FIRMWARE \*\*\***

[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-PCremoteON-qfot5y6rtbssp9c1kc5xtsut0fyb2jhh152k55564c.png\&width=300\&dpr=4\&quality=100\&sign=204fd6b4326703889acb05a1610e444d61cd4f8076cda2d199ebe9cc15781915)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-PCremoteON.png)[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-pairing-1-qfot6zsbep89lntfgsf0ljd8ruszmfmqib5zc7lf4y.png\&width=300\&dpr=4\&quality=100\&sign=3ebd430316f9e530155622cc73d461f8bb47d16579eff4e3e3db7dbbe4dea018)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-pairing-1.png)[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-pairing-2-qfot7q3sq28amqr773skjcq5en79lyj7xxfkryiecy.png\&width=300\&dpr=4\&quality=100\&sign=962df0373cc404b32d4efa76b9c84f9a80c1a72adae6fc93403b125b16111af6)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-pairing-2.png)[![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2Fairpixel.cz%2Fwp-content%2Fuploads%2Felementor%2Fthumbs%2FWiFi-pairing-OK-qfot8iayf3awb1m8mfzdm5lz87ca0vn61t0569cl4m.png\&width=300\&dpr=4\&quality=100\&sign=9b5fafe51bb71456e33ea32e76d0865e0eaccca06261f8a23f8e0249c0cf7dc9)](https://airpixel.cz/wp-content/uploads/2023/11/WiFi-pairing-OK.png)

**STEP 10 – EXPOSURE CONTROL TEST**

WiFi control should be now available together with the geotagging via USB. You can control exposure values via MavCam / ENTIRE’s web page, AIR Commander Link or MissionPlanner plugin.

## IV. Gimbal Configuration

STEP 1: Connect the gimbal to Gtune software by USB cable

STEP 2: Open Gtune then navigate to **SETTINGS -> PROFILE -> IMPORT -> CHOOSE THE PROFILE EVO Cable -> LOAD**

* Download the cable configuration profile here: [https://github.com/Gremsy/PixyLR-Firmware/releas](https://github.com/Gremsy/PixyLR-Firmware/releases)

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FRFUhYBIJvANus6SYuUIK%2Fimage.png?alt=media&#x26;token=6f44f5ce-a792-4653-abdf-0bc005738b10" alt=""><figcaption></figcaption></figure>

## V. Control the Gimbal and Camera. <a href="#iii.-control-the-gimbal-and-camera" id="iii.-control-the-gimbal-and-camera"></a>

### <mark style="color:orange;">**1. Control the Gimbal.**</mark> <a href="#id-1.-control-the-gimbal" id="id-1.-control-the-gimbal"></a>

This cable cannot switch between Herelink and Joystic mode directly on the MAVCAM application screen, users need to determine the gimbal control mode and select it in advance using gTune.

#### Control gimbal with Mode Herelink:

**Step 1:** Turn on SBUS out on Pixhawk *(More information:* [*VioZio Control Cable*](https://docs.gremsy.com/pixy-and-mio/pixy-lr-sp/installation/viozio-control-cable/setup-with-the-ardupilot-system#id-1.-control-the-gimbal)*)*

**Step 2:** Select Herelink mode on gTune.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FVxnW4zfROmK9BFDdY9s9%2Fevo5.png?alt=media&#x26;token=8daa7a0b-3dc4-43d6-a5bc-f0d9bc152e6c" alt=""><figcaption></figcaption></figure>

**Step 3:** Reboot system and control gimbal with "Scroll Wheel" and "CAM short press" buttons.

#### Control gimbal with Mode MAVlink:

**Step 1:** Select MAVlink mode on gTune.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FsDnqZt6clPfVViRJi8B6%2Fevo6.png?alt=media&#x26;token=bd5a4c45-b6d0-4d27-9706-2984b3cb97fa" alt=""><figcaption></figcaption></figure>

**Step 2:** There are two cases:

* If the customer's remote has enough "Scroll Wheel" or stick for three axis of gimbal, the setup controls the gimbal using the following [link.](https://ardupilot.org/copter/docs/common-mount-targeting.html)
* If there are not enough nodes for the axis, the client can control the PAN/TILT gimbal using the MAVCAM app's Joystick and the following functional buttons:

<div><figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F7xTUKF587aIpIiH21F0q%2Fevo7.png?alt=media&#x26;token=fa9d2e1e-052d-4be7-a013-fa577e1c49f1" alt=""><figcaption><p>Quick control of Tilt up/down axis.</p></figcaption></figure> <figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FS1cBj8FkUQHUQMJgepS9%2Fevo8.png?alt=media&#x26;token=6bbf435c-8e35-4127-9285-ee32c6b1c3c1" alt=""><figcaption><p>Re-center Gimbal Pan/tilt.</p></figcaption></figure> <figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FQUIxKUlNs8HLz6IZhyt7%2Fevo9.png?alt=media&#x26;token=e008ac6d-ca0d-45e5-8d57-3f5e80795dad" alt=""><figcaption><p>Enable/Disable control bằng Joystick.</p></figcaption></figure></div>

### [**2. Control the camera.**](https://docs.gremsy.com/pixy-and-mio/pixy-lr-sp/installation/viozio-control-cable/setup-with-the-ardupilot-system#id-2.-control-the-camera)

## &#x20;VI. Setup mapping mission

This gimbal cable is connected directly to Pixhawk so users can create maps as usual using the QGroundControl and Mission Planner applications.

More information about creating maps: [Link Here](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/pattern_survey.html)