> 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-sp/installation/viozio-control-cable/setup-with-the-ardupilot-system.md).
# Setup with the Ardupilot System
## 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.
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