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.
