# 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)


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.gremsy.com/gimbals/pixy-lr-sp/installation/evo-control-cable/setup-with-the-ardupilot-system.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.