# CONTROL GIMBAL & CAMERA
### **INSTALLATION OF MAVCAM FOR HERELINK**
1\) [***Download***](https://share.airpixel.cz/MavCamHL.zip?9&_gl=1*yjrkxs*_ga*NTIxMzI4NDYwLjE3NTA3NDE4MjI.*_ga_GRL2Y7G52R*czE3NzIxNzU5NzgkbzM5JGcxJHQxNzcyMTc2OTA0JGo2MCRsMCRoMA..) and Unzip file MavCamHL.apk\
2\) Copy file to microSD card\
3\) Insert SD card to your Herelink\
4\) Click to notification – “New SD card detected”\
5\) Select “USE as portable storage” and confirm NEXT and DONE\
6\) Re-open notification area, click to “SD Card for transferring photos and media”\
7\) Click to MavCamHL.apk\
8\) Allow external sources if necessary\
9\) Install\
10\) Open app\
11\) Confirm “drawing over other apps” (this needs to be done only first time)\
12\) Click home button\
13\) In right bottom corner open list of installed applications\
14\) Run MavCam
### **Tips and Tricks**
***Swipe shortcuts***
Main handle is used as shortcut to other menus via Swiping:\
1\) **SWIPE RIGHT** – MavCam configuration\
2\) **SWIPE UP** – Camera configuration (Shutterspeed / Aperture / etc.)\
• Camera configuration panel has small handle at right edge, which will expand panel with information about Entire status, and Entire configuration\
3\) **SWIPE LEFT** – hide MavCam\
• This is handy when you need to use software keyboard, where sometimes MavCam interfere with ENTER key. Swipe up in the middle of bottom screen to re-open MavCam.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-02/feSimage.png)
***Control via C & D buttons***
You can enable capturing of C & D buttons on the HereLink by MavCam. Then you can use C & D buttons to control exposure or zoom.
**1) LONG PRESS D** – will open popup window, where you can select function to be controlled
**2) SHORT PRESS C or D** – will execute selected function (Button C increases the value, Button D decreases the value.)
Last used function for CD tool is saved, so after reboot will be set automatically. If you lastly used ZOOM, after reboot will CD buttons control ZOOM again.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-02/enPimage.png)
{% hint style="warning" %}
***Warning*** : C & D buttons must be disabled in other applications, otherwise will execute also other configured functions under QGC or Solex, or HereLink settings.
{% endhint %}
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-02/vvhimage.png)
### **CONTROL GIMBAL**
**Use tilt wheel to control tilt**
Under the gimbal section select “HW Wheel” option. Now physical tilt wheel on the HereLink body will control your gimbal tilt via MavLink. MavCam will generate mavlink command data to the Cube or ENTIRE (selected automatically per usage scenario) for control of the gimbal tilt. No SBUS connection is needed i nthe gimbal or Cube. The ENTIRE must be connected to Gremsy via COM for this feature or you need to use Ardupilot gimbal control feature.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-02/T9Kimage.png)
{% hint style="warning" %}
***Warning***: The wheel function must be disabled in other applications, otherwise will execute also other configured functions under QGC or Solex, or HereLink settings.
{% endhint %}
**Use "Joystick" for gimbal control**
On-Screen joystick is handy tool for control of gimbal / camera attitude. Gimbal has also few shortcut buttons for quick swap between horizon / down angle and recentering. Available buttons may change depending on usage scenarios.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-02/oHZimage.png)
* **Camera with two arrows button (1)**
* This button sets camera tilt down if tilt up at least 90deg to the horizon.
* This camera sets camera to look horizon if tilt is down more than 90deg.
* This button is used when you need to quickly switch between horizon/down camera position.
* **Recenter gimbal button (2)**
* This button is used to re-center the camera attitude.
* When user is lost about where drone nose is relative to gimbal, press “recenter button” and gimbal will re-set to defualt YAW and tilt to horizon
* **Switch button (3)**
* This icon is available with new Ardupilot implementation
* When Ardupilot MavLink gimbal control (between Ardupilot and the Gimbal) control is used, user may choose multiple control channels of the gimbal (RCx\_OPTION, MavLink, GPS point targeting, etc.). When MavCam’s joystick is used, MavCam takes over the control and Ardupilot refuses all other control channels. When user needs to release control to other control channels -> press Switch button
* When control by MavCam is released by Switch button icon, attitude of the gimbal remains unchanged, just control is released for other sources.
* When Joystick is used again, control is back locked to MavCam.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-02/QZUimage.png)
{% hint style="info" %}
***Note:*** Only one function, either the Swap pitch dir. or the joystick, can be used at a time.
{% endhint %}
**Use "swap pitch" to control tilt**
This feature controls the pitch using a slider. Dragging the slider left or right corresponds to the camera tilting up or down.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/image.png)
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/Gknimage.png)
* ***NADIR***: Pressing this button will immediately make the camera rotate perpendicularly downwards 90° (MAPPING MODE).
* ***HORIZON***: Press to immediately rotate the camera to face directly forward (0°).
* ***ANGLE INDEX (0°)***: Displays the camera's current angle relative to the horizontal.
{% hint style="info" %}
***Note:*** Only one function, either the Swap pitch dir. or the joystick, can be used at a time.
{% endhint %}
### **CONTROL CAMERA**
**Trigger photo/movie with HW button**
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/rQFimage.png)
* You can enable “HW photo button” in the MavCam settings (swipe right). Then MavCam will capture short press of photo button and trigger photo when button is pressed.
* You can also select “HW movie button” option in the same menu. Now long press of photo button trigger movie start/stop in the ENTIRE.
{% hint style="warning" %}
**Warning:** The photo button short press event must be disabled in other applications, otherwise will execute also other configured functions under QGC or Solex, or HereLink settings.
{% endhint %}
**Trigger photo/movie with on-screen button**
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/VX5image.png)
This feature allows you to take photos/videos directly using the photo/movie button on the screen.
**Exposure Settings**
You can enable “Exposure Settings” in the MavCam settings (swipe up)
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/3ITimage.png)
Press the PLUS or MINUS buttons to increase or decrease the exposure tool values.
### **Geotagging**
Press the "GTG" button to open the geotag popup.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/0qyimage.png)
* **Start**: Press this button to activate the GPS coordinate recording system. When you press Start, the status in the "***STATUS***" box will change to active recording.
* **Stop**: Press this button when you want to stop recording coordinates or when the mission is finished.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/8NAimage.png)
* **GTG:** When the entire system successfully checks all necessary conditions, the "GTG" icon will turn green. (The camera will take a picture to verify the system).
* **Running**: Displays the operating status (Running).
* **The number in parentheses (0)**: This is usually the number of files (images/locations) that have been successfully geotagged. As you start capturing, this number will increase.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/4qaimage.png)
### **Takeoff detection**:
This function automates tagging based on the device's status.
* **ENABLED**: The system automatically starts geotagging when the device takes off from the ground and automatically stops when it lands. (This helps filter out noisy data or test images taken while the device is still on the ground during the mapping mission.)
* **DISABLED**: Use the "Start" and "Stop" buttons for manual setup.
[](https://bookstack.gremsy.vn/uploads/images/gallery/2026-03/iRCimage.png)
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