> 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-for-siyi-remote.md).

# Setup with the Ardupilot system for Siyi Remote

## Configure parameters for Pixhawk: 

### Change the baud rate of the **TELEMETRY** port used for the gimbal to **115200**

*For example: The image below uses the TELE2 port*

**Step 1:** Change the parameter **SERIAL2\_BAUD to 115**

<figure><img src="/files/FOzAfPWxRe474GecsIR1" alt=""><figcaption><p> Setting parameters for TELE2 port</p></figcaption></figure>

**Step 2:** Click "Write Param" in the upper right corner of the screen and receive a notification as shown.

<figure><img src="/files/vrZmWUbt9tJh85QEWVJW" alt=""><figcaption><p>Write new parameters to PIXHAWK</p></figcaption></figure>

### Enable SBUS out feature on PIXHAWK&#x20;

*<mark style="color:red;">(optional feature: can be used or not)</mark>*

Note: must plug SBUS out from CUBE as shown below:

<figure><img src="/files/9XjkWUHXOp7AqUKYFulV" alt=""><figcaption></figcaption></figure>

**Step 1:** Adjust PIXHAWK parameters to enable SBUSout feature.

> * BRD\_SBUS\_OUT = 1
> * BRD\_SAFETY\_MASK = 14336
> * SERVO9\_FUNCTION = 59 (rc 9 to control the tilt axis)
> * SERVO10\_FUNCTION = 60 (rc 10 to control the pan axis)
> * SERVO11\_FUNCTION = 61 (rc 11 to switch lock-follow-mapping mode)
> * SERVO12\_FUNCTION=62 (rc 12 to control the speed of tilt and pan axis)

<figure><img src="/files/P7V7JQw8sTmp22JPsSKD" alt=""><figcaption></figcaption></figure>

**Step 2:** Connect the gimbal to GTune and upload the profile to the Zio/Vio control cable as shown below:

<figure><img src="/files/RLlCowBqEMpzzp3zhz3b" alt=""><figcaption></figcaption></figure>

**Step 3:** Then go to Setting on Gtune, select Control, then switch to SBUS and select the options as below:

<figure><img src="/files/vtlUaPB0HnuwgCA7TS5S" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/b4uKoYhBy61UDLtXRaVA" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/KC9yC5dbnpi6PsU3o4HK" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/f76MEypHlVfL1KvCwrZU" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/jJ9aQXvpdCu5JrO2r8Ie" alt=""><figcaption></figcaption></figure>

**Step 4**: Setting on SiYi REMOTE:

> * Left Dia LD ( set channel 9 to control the tilt axis).
> * Right Dia RD (set channel 10 to control the pan axis).
> * 3-Stage Switch SA ( set channel 11 to switch the lock-follow-mapping mode).
> * 3-Stage Switch SB ( set channel 12 to change the speed of the tilt axis and pan axis).

<figure><img src="/files/XruZ1Vh0N37rUQs7uGxB" alt=""><figcaption></figcaption></figure>


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