# Set up with PX4

## Hardware Setup

Connect the Pixy LR UART (CTRL port) to the Telem2 on the PX4 system

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FVZgikDqM2Q8bxEvxv4nJ%2Fimage.png?alt=media&#x26;token=94889492-23ae-4af6-b6c9-94bc84b142e6" alt="" width="563"><figcaption></figcaption></figure>

## 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:

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FGRnxbEwyiYqB4duNwi07%2Fimage.png?alt=media&#x26;token=521c3a5f-6b9b-4542-997e-694fce7502ad" alt=""><figcaption></figcaption></figure>

Gimbal axis selection channel: CH8 (or any channels); use the camera button on the Herelink remote.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2Fmzcbeqc4aD7qMQufQcs9%2Fimage.png?alt=media&#x26;token=0c314c98-f927-4029-b6b2-2d2e3d7b1275" alt=""><figcaption></figcaption></figure>

## Setting parameters

### Firmware Requirement

• Version: update to the latest version.
\
• Support Mavlink v2 protocol

{% embed url="<https://github.com/Gremsy/PixyLR-Firmware/releases/latest>" %}

### 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.&#x20;

**Example for telemetry 2:**

• MAV\_1\_CONFIG: “TELEM 2”
\
• 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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