> 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/set-up-with-px4.md).
# Set up with PX4
## Hardware Setup
Connect the Pixy LR UART (CTRL port) to the Telem2 on the PX4 system
## Setting on the remote control
Pixy LR is compatible with the Remote Control (RC) that supports the QGroundControl app (QGC). In this manual, all settings are made on **Herelink Remote Control;** the other controller does the same.
### SBUS channel settings
Pixy LR needs to set up 2 channels to control the gimbal: one channel is for controlling **rotation**, and the other is for choosing the controlling **axis.**
### Set up channels controlling the gimbal
Gimbal rotation control channel: CH6 (or any channels); use the wheel button on the Herelink remote:
Gimbal axis selection channel: CH8 (or any channels); use the camera button on the Herelink remote.
## Setting parameters
### Firmware Requirement
• Version: update to the latest version.
\
• Support Mavlink v2 protocol
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### Set up the telemetry baud rate
Pixy LR connects to FC at the baud rate of **115200**. In case of connecting Pixy LR to FC at any telemetry, note the telemetry setting at the corresponding baud rate.
**Example for telemetry 2:**
• MAV\_1\_CONFIG: “TELEM 2”
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• SER\_TEL2\_BAUD: “115200 8N1"
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• MAV\_1\_FORWARD: "1"
### Set mount parameters
• MNT\_MODE\_IN: “RC”
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• MNT\_MODE\_OUT: “Unknown: 2”
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• MNT\_RC\_IN\_MODE: “1”
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• MNT\_MAN\_PITCH: “AUX3” // PAN/TILT choose axis
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• MNT\_MAN\_ROLL: “AUX2” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out (current: only using mode control by angle)
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• MNT\_MAN\_YAW: “AUX1” // PAN/TILT move
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• COM\_RC\_IN\_MODE: “Unknown: 3”
### Set RC map channels
• RC\_MAP\_AUX1: “Channel 6” // set channel 6 to AUX1 (Yaw)
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• RC\_MAP\_AUX2: “Channel 7” // set channel 7 to AUX2 (Roll)
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• RC\_MAP\_AUX3: “Channel 8” // set channel 8 to AUX3 (Pitch)
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