# GREMSY DOCUMENTATION

**Welcome to Gremsy Documentation**\
Here you’ll find comprehensive manuals, user guides, and technical resources for all Gremsy products. Whether you're setting up a new gimbal or troubleshooting an issue, this is your go-to knowledge base.

If you can't find the information you need or require further assistance, feel free to contact us at **<support@gremsy.com>** — we're here to help.

#### What you can expect:

* Up-to-date documentation for all current products
* Step-by-step setup and configuration guides
* Firmware update instructions
* Troubleshooting tips and FAQs
* Technical specifications and integration resources

<table data-view="cards"><thead><tr><th align="center"></th><th data-hidden data-card-cover data-type="files"></th><th data-hidden data-type="content-ref"></th><th data-hidden data-type="content-ref"></th><th data-hidden data-type="content-ref"></th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td align="center">Gremsy Support Team</td><td><a href="/files/yaPqyeDsb6c7duKoI8Pm">/files/yaPqyeDsb6c7duKoI8Pm</a></td><td><a href="https://support.gremsy.com/support/tickets/new">https://support.gremsy.com/support/tickets/new</a></td><td></td><td></td><td><a href="https://support.gremsy.com/support/tickets/new">https://support.gremsy.com/support/tickets/new</a></td></tr><tr><td align="center">Gremsy Sales Team</td><td><a href="/files/WV6w22aHYRSrlUWPMjSx">/files/WV6w22aHYRSrlUWPMjSx</a></td><td></td><td><a href="https://gremsy.com/contact?srsltid=AfmBOorNPw-mcL3ZxH4TyW596sGkpOnOgkOdJAi0BcErtz7P_BVPBrj_">https://gremsy.com/contact?srsltid=AfmBOorNPw-mcL3ZxH4TyW596sGkpOnOgkOdJAi0BcErtz7P_BVPBrj_</a></td><td></td><td><a href="https://gremsy.com/contact">https://gremsy.com/contact</a></td></tr><tr><td align="center">Gremsy Github</td><td><a href="/files/1D4xfhOAVcKK7fJkC9Gs">/files/1D4xfhOAVcKK7fJkC9Gs</a></td><td></td><td></td><td><a href="https://github.com/Gremsy">https://github.com/Gremsy</a></td><td><a href="https://github.com/Gremsy">https://github.com/Gremsy</a></td></tr></tbody></table>

***

*Contact to <support@gremsy.com> to get more information*


# GENERAL

Welcome to the Gremsy Payload Support page, your one-stop destination for expert assistance with Gremsy's cutting-edge payload solutions. Whether you’re integrating our advanced payload systems into your projects or need troubleshooting guidance, our dedicated support team is here to ensure optimal performance and seamless operation.

On this page, you’ll find detailed product manuals, firmware updates, and FAQs tailored to address common inquiries. For personalized support, connect with our support team via <support@gremsy.com> who can provide step-by-step assistance, helping you get the most out of your Gremsy products. We're committed to your success and are here to support you every step of the way.

***

<table data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="files"></th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td><strong>ORUS-L</strong></td><td></td><td><a href="/files/PlWoIG47x2KPbPpYPiLd">/files/PlWoIG47x2KPbPpYPiLd</a></td><td><a href="/pages/Oj30puUwqNwKk2o6e3Xz">/pages/Oj30puUwqNwKk2o6e3Xz</a></td></tr><tr><td><strong>VIO</strong></td><td></td><td><a href="/files/mCVDsiRSgQplGhEWk5Ja">/files/mCVDsiRSgQplGhEWk5Ja</a></td><td><a href="/pages/Gm58o5xpHrxTRMUprt8O">/pages/Gm58o5xpHrxTRMUprt8O</a></td></tr><tr><td><strong>ZIO</strong></td><td></td><td><a href="/files/dMCGYV4HjRmBscjU3myz">/files/dMCGYV4HjRmBscjU3myz</a></td><td><a href="/pages/V2I9IqlI8uuFf2WQjuGB">/pages/V2I9IqlI8uuFf2WQjuGB</a></td></tr></tbody></table>


# GREMSY PAYLOAD CONTROL TYPE

The Gremsy payload is designed for many different UAV platforms, so the control types are also diverse to serve each specific setup. This Articel will help you understand and know the correct setup steps for your remote control type.

## 1. Diagram <a href="#bkmrk-1.-diagram" id="bkmrk-1.-diagram"></a>

<figure><img src="/files/kuW56Tk3jKPEiSujlp8s" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/eCVVCEMGlGPgcykE1WES" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/jDJLGl6eNQMhz3mj4QcM" alt=""><figcaption></figcaption></figure>

#### 2. Explanation <a href="#bkmrk-2.-explaination" id="bkmrk-2.-explaination"></a>

> ***Control Mode:***
>
> * Disable
> * Raw Input: Control Gremsy Payload by sbus from gimbal
> * Autopilot Convert: Control Gremsy Payload by sbus from autopilot
>
> ***Image Capture:*****&#x20;Select push button. Capture Image when pressing button**
>
> ***Video record:*****&#x20;Select push button. Pressing the first time will start record video, pressing the next time will stop record video**
>
> ***Zooming:*****&#x20;Select stick with 3 states. 3 states: zoom tele, stop zoom, zoom wide**
>
> ***Tilt:*****&#x20;Select rotate button. Control tilt axis**
>
> ***Roll:*****&#x20;currently not in use.**
>
> ***Pan:*****&#x20;Select rotate button. Control Pan axis**
>
> ***Mode:*****&#x20;Select stick with 3 states. 3 states corresponding to 3 gimbal mode: OFF, LOCK, FOLLOW**
>
> &#x20;***Return Home:*****&#x20;Select push button. Gimbal return home when press button**


# CONTROL MODE

#### There will be two different control mode based on the Mavlink protocol

Settings on the Camera Settings - QgroundControl when you connect the Gremsy Payload.

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

## 1. Standard RC Mode

<figure><img src="/files/3VZ8XCJDqEunC43HJtQ3" alt=""><figcaption></figcaption></figure>

* The control signal will be sent directly to gimbal via RC in the MAVlink-out protocol
* The user can control 3 axis of gimbal by using 3 RC channels independently

## 2. Gremsy RC Mode

<figure><img src="/files/SBrANzCefC7b4D3brOga" alt=""><figcaption></figcaption></figure>

* In this case, the user only have a dial wheel to control gimbal and a button to select which axis will be controlled.
* In this mode, the PAN signal will be used to control TILT or PAN axis depending on the selection change by TILT signal (assign to a button).
* The ROLL axis is always '0'


# SETTING REMOTE CONTROL MODE

## 1. Setting Payload Default channels on the Webserver app <a href="#bkmrk-1.-setting-channels" id="bkmrk-1.-setting-channels"></a>

* Go to "REMOTE CHANNELS" on the Webserver app

<figure><img src="/files/yWp14r7ZeXYGN7LeJDPm" alt=""><figcaption></figcaption></figure>

* Params explanation

> ***Control Mode:***
>
> * Disable
> * Raw Input: Control Gremsy Payload by sbus from gimbal
> * Autopilot Convert: Control Gremsy Payload by sbus from autopilot
>
> ***Image Capture:*****&#x20;Select push button. Capture Image when pressing button**
>
> ***Video record:*****&#x20;Select push button. Pressing the first time will start record video, pressing the next time will stop record video**
>
> ***Zooming:*****&#x20;Select stick with 3 states. 3 states: zoom tele, stop zoom, zoom wide**
>
> ***Tilt:*****&#x20;Select rotate button. Control tilt axis**
>
> ***Roll:*****&#x20;currently not in use.**
>
> ***Pan:*****&#x20;Select rotate button. Control Pan axis**
>
> ***Mode:*****&#x20;Select stick with 3 states. 3 states corresponding to 3 gimbal mode: OFF, LOCK, FOLLOW**
>
> ***Return Home:*****&#x20;Select push button. Gimbal return home when press button**

{% hint style="info" %}
*<mark style="color:red;">**Notes: If the channels will not be use, please set it to "-1."**</mark>*
{% endhint %}

## 2. Setup ArduPilot parameters <a href="#bkmrk-2.-setup-ardupilot-p" id="bkmrk-2.-setup-ardupilot-p"></a>

### **2.1 Disable control by SBUS/PPM. Only use MAVlink to control the payload.**

<figure><img src="/files/v3BTI8y8rkoxdXxDV05t" alt=""><figcaption></figcaption></figure>

* Setting App:
  * Select `Disable` in `Control Mode`
* Set param Ardupilot:
  * ***RC6\_OPTION***: “214”
  * ***RC7\_OPTION***: “212”
  * ***RC8\_OPTION***: “213”

### **2.2 SBUS/PPM directly to gimbal**

<figure><img src="/files/nNgBaqHbBAV7r4T1yTMJ" alt=""><figcaption></figcaption></figure>

* Setting App:
  * Select `Raw Input` in `Control Mode`
  * Select the channel of the function to be controlled on App Setting

### **2.3 SBUS/PPM from Autopilot SBUS-OUT**

<figure><img src="/files/YrZKf4tfigXHquhBuq6v" alt=""><figcaption></figcaption></figure>

* Select `Raw Input` in `Control Mode`
* Set param Ardupilot:

  * ***BRD\_SBUS\_OUT:*** 50Hz (1)

  * ***BRD\_SAFETY\_MASK:*** 0 (Uncheck channel control)

  * ***RCx\_OPTION:*** 0

  * ***SERVOx\_FUNTION:*** RCINx

  > ***x*****&#x20;is the channel number you want to Sbus out**
  >
  > ***Ex:*** RC6\_OPTION: 0, SERVO6\_FUNTION: RCIN6 --> Sbus out channel 6

### **2.4 Control by Autopilot RC-MAVLink convert**

<figure><img src="/files/MWiMJO2Zm8BP6IPx1cPC" alt=""><figcaption></figcaption></figure>

* Setting App:
  * Select `Autopilot convert` in Control Mode
  * Select the channel of the function to be controlled
* Set param Ardupilot:
  * ***SR2\_RC\_CHAN:*** 10Hz


# UPGRADE FIRMWARE & SOFTWARE

The information about UPGRADE FIRMWARE for ZIO PAYLOADS and VIO PAYLOADS.

Before upgrading firmware, please download the latest firmware and install requirment software:

* ZIO PAYLOADS: [DOWNLOAD](https://docs.gremsy.com/payloads/zio/download)
* VIO PAYLOADS: [DOWNLOAD](https://docs.gremsy.com/payloads/vio/download)

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/xAmPpzWv23i7qJQrzzjl" %}
[UPGRADE GIMBAL FIRMWARE](/payloads/general/upgrade-firmware-and-software/upgrade-gimbal-firmware)
{% endcontent-ref %}

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/FxKjN2aQvli3KgAgZpb0" %}
[UPGRADE PAYLOAD SOFTWARE](/payloads/general/upgrade-firmware-and-software/upgrade-payload-software)
{% endcontent-ref %}


# UPGRADE GIMBAL FIRMWARE

The information about UPGRADE FIRMWARE for ZIO PAYLOADS and VIO PAYLOADS.

### **Option 1: Auto Upgrade**

**Step 1: Before the upgrade**

1. Download the latest Software version for MAC or Windows if not installed yet.
2. Unplug the Remote Receiver (SBUS, JR, …) if it was plugged into the gStabi system.
3. Power on the gimbal.
4. Connect Gimbal to your Mac or PC by USB cable.

**Step 2: Upgrade firmware**

1. Run the gTune Desktop software.
2. Click on the “Connect” button.
3. Go to “UPGRADE” -> "UPGRADE FIRMWARE" tab.

<figure><img src="/files/lMfV8Eif7a7QrjSWXHDZ" alt=""><figcaption></figcaption></figure>

4. Click "AUTO UPGRADE"

<figure><img src="/files/LF2CGzY1dDsI8a6m8Ko1" alt=""><figcaption></figcaption></figure>

5. Make sure the RF receiver (if available) is already removed.
6. Select Gimbal firmware version to upgrade

<figure><img src="/files/mHZPbxOK6QmqLTGTQxYG" alt=""><figcaption></figcaption></figure>

7. Click “Upgrade” button. The process will take about 2 minutes. When the firmware is upgraded successfully, click "DONE", the gimbal will be restarted automatically.

<figure><img src="/files/tBMxB8jE496EXR3SYHIf" alt=""><figcaption></figcaption></figure>

### **Option 2: Manual upgrade**

**Step 1: Before the upgrade**

1. Download the latest Software version for MAC or Windows if not installed yet.
2. Unplug the Remote Receiver (SBUS, JR, …) if it was plugged into the gStabi system.
3. Power on the gimbal.
4. Connect Gimbal to your Mac or PC by USB cable.

**Step 2: Upgrade firmware**

1. Run the gTune Desktop software.
2. Click on the “Connect” button.
3. Go to “UPGRADE” -> "UPGRADE FIRMWARE" tab.

<figure><img src="/files/lMfV8Eif7a7QrjSWXHDZ" alt=""><figcaption></figcaption></figure>

4. Click "MANUAL UPGRADE"

<figure><img src="/files/LF2CGzY1dDsI8a6m8Ko1" alt=""><figcaption></figcaption></figure>

5. BROWSE” to firmware file from your computer.

<figure><img src="/files/0yQtChFlHUSfDdiKnqFP" alt=""><figcaption></figcaption></figure>

6. Disconnect any RC or COM port that are being connect with gimbal before upgrading.
7. Click “Upgrade” button. The process will take about 2 minutes. When the firmware is upgraded successfully, click "DONE", the gimbal will be restarted automatically.

<figure><img src="/files/c7duJN2r3kGtIGI0tFJC" alt=""><figcaption></figcaption></figure>

<br>


# UPGRADE PAYLOAD SOFTWARE

The information about UPGRADE SOFTWARE for Gremsy Payload


# ZIO PAYLOAD

## Step 1: Access to the boot mode of Zio

* Power on ZIO
* Plug-in USB-C cable on the camera side.
* Press Reset button

## Step 2: Upgrade firmware

GremsyFlashTools app supports update with file ".zip" and ".7z"

* Download file zip file[ for ZIO ](https://docs.gremsy.com/payloads/zio/download#bkmrk-gremsy-flash-tools-v-1)
* After downloading the zip file, extract this file and make sure that The Firmware folder includes two files “setting.json” and “upgrade.7z”. These files must be in the same folder

<figure><img src="/files/KUVcg2Itftg7sBHpLchp" alt=""><figcaption></figcaption></figure>

> ***NOTE:***
>
> * Do not save the folder on Network Drive
> * Do not rename the folder or files. If you want to move the files to another place, copy the whole folder.
> * The firmware folder link must not have space (blank) or special characters. Ex: link on the picture above.

#### Open the Gremsy Flash tool then choose “Payload Zio”.

<figure><img src="/files/QZQqsbtqzxkH22baHISc" alt=""><figcaption></figcaption></figure>

#### Choose “OPEN FILE” and browse the “upgrade.7z” firmware file or whole ".zip" file

<figure><img src="/files/N33dvUaSlrufCDfdesnx" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/lqkcWXCPAtqW5XNq2Bmv" alt=""><figcaption></figcaption></figure>

#### On the Gremsy Flash Tool, choose “CHECK DEVICE” and then the connection successfully will show

<figure><img src="/files/tMDZWXEfD7NZag2rZAyk" alt=""><figcaption></figcaption></figure>

#### Choose “FLASH PAYLOAD ZIO” and wait for 3 -5 minutes for the process to complete:

<figure><img src="/files/qsXyu8x7Z7V5QgeP0Pwv" alt=""><figcaption></figcaption></figure>

## Step 3: Remember to exit boot mode after upgrading

* Plug-out USB-C from the payload
* Reset the power or press the Reset button

## Troubleshooting

### The firmware folder name has space (blank)

<figure><img src="/files/bqllQ4m7ktAQyQQcH5XN" alt=""><figcaption></figcaption></figure>

This problem will be fixed when saving the folder where the path has no spaces or special characters.

Example: C:\Users\Admin\Desktop\PixySM300\_SoM\_Firmware\Pixy\_SM\_v2.1.0.38 (no spaces and special characters)

### Lost file setting.json

<figure><img src="/files/fr9kTmCDBgwjOF3Tt6Kd" alt=""><figcaption></figcaption></figure>

This error will be fixed by extracting the firmware again and not moving the files contained in the folder after decompression.

During the loading process, if there are other errors, please capture the error code and contact our support team by email: <support@gremsy.com>


# VIO PAYLOAD


# Using OTA update

Process OTA Update Software for Zio Payloads and Vio Payloads.

## **1. Overview**

* This section will be used to do OTA software update for the Vio/Zio payload
* The Vio payload support 2 ways to update their software: using GremsyFlashTools or using this feature
* This feature will be connect to Gremsy server and download the latest software package.
* The customer must make sure that the Vio/Zio payload was connected to the Internet before applying this feature.

## **2. Process OTA update**

### **Step 1:** Connect Vio/Zio to the Internet.

<figure><img src="/files/MNDo41xjdiJccqc47ujh" alt=""><figcaption></figcaption></figure>

### Step 2: Open "`Update Payload Software"`

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2023-11/scaled-1680-/image-1699937223309.png" alt=""><figcaption><p><em>The current version</em></p></figcaption></figure>

* The customer can see the current version of all apps in the Vio/Zio payload system before they deceide to do upgrade their Vio/Zio system.

### Step 3: Click "`Update"` the "`OK"` to perform this feature.

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2023-11/scaled-1680-/image-1699937353333.png" alt=""><figcaption></figcaption></figure>

### Step 4: Wait for the download and update process to be successful.

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2023-11/scaled-1680-/image-1699937428735.png" alt=""><figcaption></figcaption></figure>

* The result of the OTA progress.

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2023-11/scaled-1680-/image-1699937488371.png" alt=""><figcaption></figcaption></figure>

### Step 5: Reboot the system after updating. The boot process can take 3-5 minutes for the system to update completely.

> **Note:** do not turn off the power during the update process.

### Step 6: App version information after successful update

<figure><img src="/files/89OH2lZM9ik3CfJR5OvY" alt="" width="563"><figcaption></figcaption></figure>

### Step 7: After successfully updating, select `Setup Custom Models`

<figure><img src="/files/srh2T5kgSielRfxCDup9" alt="" width="563"><figcaption></figcaption></figure>

<figure><img src="/files/nmhXq8EtgLRpx3huSuU8" alt="" width="511"><figcaption><p>The interface of Setup Custom Models</p></figcaption></figure>

Click `Apply` to apply 2 models, COCO and CUSTOM for Payload Vio. The service will be restarted then checked for object detection.

## **3. Troubleshooting**

* The notification only pop up when the host PC is connecting to the Setting app via USB.
* In this case, the Vio/Zio payload has 2 connection: USB to the host PC and Ethernet to the Internet router

### **3.1 No internet connection**

* The Settings app will send a notify to the user when this problem was detected.
* Please check the Internet connection for the Vio/Zio payload.

### **3.2 The Internet connection broken while the OTA progress performing**

* If the Internet connection to the Vio/Zio payload was not stable, a notify will be pop up and the OTA progress will be canceled.
* Please check the Internet connection for the Vio/Zio payload and try again

### **3.3 Lost the power while the OTA progress performing**

* Please make sure the Vio/Zio payload will be not powered off while the OTA performing.


# Using GremsyFlashTools

Zio Payloads and Vio Payloads.

## 1. Using GremsyFlashTools <a href="#bkmrk-1.-using-gremsyflash" id="bkmrk-1.-using-gremsyflash"></a>

### **1.1 Install the latest version of GremsyFlashTools**

* Follow [link download](https://github.com/Gremsy/GremsyFlashTools/releases)

### **1.2 Download the SoM's firmware for the Vio/Zi**o **payload**

* Recommend using the latest version.
* Download for [VIO PAYLOADS](https://github.com/Gremsy/Vio-Software/releases)
* Download for [ZIO PAYLOADS](https://docs.gremsy.com/payloads/zio/download#bkmrk-gremsy-flash-tools-v-1)

### **1.3 Do updating**

* Open the firmware package, Please open the zip file and do not unzip.

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-01/scaled-1680-/image-1705907201593.png" alt=""><figcaption></figcaption></figure>

* Checking the connection between GremsyFlashTools app and the Vio/Zio payloads.

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-01/scaled-1680-/image-1705907251966.png" alt=""><figcaption></figcaption></figure>

* Waiting for the updating process to finish.

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-01/scaled-1680-/image-1705907285611.png" alt=""><figcaption></figcaption></figure>

* Flash Success.

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-01/scaled-1680-/image-1705913680937.png" alt=""><figcaption></figcaption></figure>


# GREMSY PAYLOAD SDK

Designed for developers and integrators, the Gremsy Payload SDK provides the tools you need to customize and control your Gremsy Payload and Gimbal system for unique applications.

<https://github.com/Gremsy/PayloadSdk/tree/payloadsdk_v2>

### Hardware

* Ubuntu PC (x86\_64)
* Jetson platform (aarch64)
* Raspberry Pi

### Clone the project

```
git clone -b develop --recurse-submodules https://github.com/Gremsy/PayloadSdk.git

cd PayloadSdk/libs/gSDK/
git checkout gSDK_V3_alpha
git pull origin gSDK_V3_alpha
```

### Hardware setup

PayloadSDK supports 2 control conections, that's configured at payloadsdk.h:

<figure><img src="https://github.com/Gremsy/PayloadSdk/raw/master/PayloadSDK_HW_Setup.png" alt=""><figcaption></figcaption></figure>

**Figure 1:** Hardware setup use Ethernet or UART connection

### How to build

* Install required lib

```
sudo apt-get install libcurl4-openssl-dev libjsoncpp-dev
```

* Build project

```
cd PayloadSdk
mkdir build && cd build

cmake -Dpayload ../
e.g. cmake -DVIO=1 ../
     cmake -DGHADRON=1 ../
     cmake -DZIO=1 ../

make -j6
```


# Mavlink Command List

## Table of contents <a href="#bkmrk-table-of-contents" id="bkmrk-table-of-contents"></a>

* Table of contents
* Version history
* MAVLINK Messages

**Set Camera Commands**

1. [Set camera running mode](#set-camera-running-mode)
2. [Set camera record source](#set-camera-record-source)
3. [Set camera view source](#set-camera-view-source)
4. [Set EO camera zoom mode](#set-eo-camera-zoom-mode)
5. [Set EO camera zoom - Super Resolution](#set-eo-camera-zoom-super-resolution)
6. [Set EO camera index zoom - Combine](#set-eo-camera-index-zoom-combine)
7. [Set camera zoom type](#set-camera-zoom-type)
8. [Set camera focus type](#set-camera-focus-type)
9. [Set camera IR palette](#set-camera-ir-palette)
10. [Set payload camera start capture image](#set-payload-camera-start-capture-image)
11. [Set payload camera stop capture image](#set-payload-camera-stop-capture-image)
12. [Set payload camera start record video](#set-payload-camera-start-record-video)
13. [Set payload camera stop record video](#set-payload-camera-stop-record-video)
14. [Set camera video flip](#set-camera-video-flip)
15. [Set camera video defog](#set-camera-video-defog)
16. [Set camera video defog level](#set-camera-video-defog-level)
17. [Set camera video auto exposure](#set-camera-video-auto-exposure)
18. [Set camera video shutter speed](#set-camera-video-shutter-speed)
19. [Set camera video aperture value](#set-camera-video-aperture-value)
20. [Set camera video bright value](#set-camera-video-bright-value)
21. [Set camera video white balance](#set-camera-video-white-balance)

**Set Gimbal Commands**

1. [Set gimbal mode](#set-gimbal-mode)
2. [Set gimbal RC mode](#set-gimbal-rc-mode)
3. [Set gimbal move to angle](#set-gimbal-move-to-angle)
4. [Set gimbal move by speed](#set-gimbal-move-by-speed)

**Get Payload Information**

1. [Get payload camera information](#get-payload-camera-information)
2. [Get payload camera streaming information](#get-payload-camera-streaming-information)
3. [Get payload storage](#get-payload-storage)
4. [Get payload capture status](#get-payload-capture-status)
5. [Get payload camera mode](#get-payload-camera-mode)

## Version history <a href="#bkmrk-version-history" id="bkmrk-version-history"></a>

| Version | Publish date | Description                                                                                                                                                                                                                                                                                |
| ------- | ------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| 1.0.0   | 06 Jan 2023  | <p>Add example to do Connect payload<br>Add example to do Load payload settings<br>Add example to do Set payload settings<br>Add example to do Image capture with the payload<br>Add example to do Video record with the payload<br>Add example to do Get video streaming from payload</p> |
| 1.0.1   | 25 May 2023  | <p>Included Gremsy gSDK to communicate and control gimbal<br>Add examples to move gimbal in Angle mode and Angular rate mode using Mavlink Gimbal Protocol v2</p>                                                                                                                          |
| v1.1.0  | 30 July 2024 | <p>Add some examples<br>Get LRF status for VIO<br>Payload define</p>                                                                                                                                                                                                                       |
| v2.0.0  | 16 Aug 2024  | <p>Replace gSDK by MAVLINK interface<br>Provide MAVLINK command list<br>Publish resource</p>                                                                                                                                                                                               |

## MAVLINK Messages <a href="#bkmrk-mavlink-messages" id="bkmrk-mavlink-messages"></a>

| Encode a command\_long struct | Values | Description                      |
| ----------------------------- | ------ | -------------------------------- |
| target\_system                | 1      |                                  |
| target\_component             | 191    | MAV\_COMP\_ID\_ONBOARD\_COMPUTER |
| chan                          | 0      | MAVLink channel                  |

### **Set camera running mode**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                            | Description                                |
| ----------------- | --------- | --------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                 | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)      | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_SET\_CAMERA\_MODE (530) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                 |                                            |
| param2            | float     | <p>0<br>1</p>                     | <p>Photo mode<br>Video mode</p>            |

### **Set camera record source**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                          | Description                                                |
| ----------------- | ---------- | ------------------------------- | ---------------------------------------------------------- |
| target\_system    | uint8\_t   | 1                               | System ID                                                  |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)    | MAVLINK Camera Component ID on Web setting                 |
| param\_id         | char\[16]  | "C\_V\_REC"                     |                                                            |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"5"</p> | <p>Record both<br>Record EO<br>Record IR<br>Record OSD</p> |
| param\_type       | uint8\_t   | UINT32                          | MAV\_PARAM\_EXT\_TYPE                                      |

### **Set camera view source**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                 | Description                                         |
| ----------------- | ---------- | -------------------------------------- | --------------------------------------------------- |
| target\_system    | uint8\_t   | 1                                      | System ID                                           |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)           | MAVLINK Camera Component ID on Web setting          |
| param\_id         | char\[16]  | "C\_SOURCE"                            |                                                     |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"3"<br>"4"</p> | <p>EO/IR<br>Only EO<br>Only IR<br>IR/EO<br>Sync</p> |
| param\_type       | uint8\_t   | UINT32                                 | MAV\_PARAM\_EXT\_TYPE                               |

### **Set EO camera zoom mode**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                       | Description                                |
| ----------------- | ---------- | ---------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t   | 1                            | System ID                                  |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting |
| param\_id         | char\[16]  | "C\_V\_ZM\_MODE"             |                                            |
| param\_value      | char\[128] | <p>"0"<br>"2"</p>            | <p>Combine<br>Super Resolution</p>         |
| param\_type       | uint8\_t   | UINT32                       | MAV\_PARAM\_EXT\_TYPE                      |

### **Set EO camera zoom - Super Resolution**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                                                                                                    | Description                                                                                                    |
| ----------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------- |
| target\_system    | uint8\_t   | 1                                                                                                                         | System ID                                                                                                      |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)                                                                                              | MAVLINK Camera Component ID on Web setting                                                                     |
| param\_id         | char\[16]  | "C\_V\_ZM\_SR\_LV"                                                                                                        |                                                                                                                |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"3"<br>"4"<br>"5"<br>"6"<br>"7"<br>"8"<br>"9"<br>"10"<br>"11"<br>"12"<br>"13"<br>"14"<br>"15"</p> | <p>1X<br>2X<br>4X<br>6X<br>8X<br>10X<br>12X<br>14X<br>16X<br>18X<br>20X<br>22X<br>24X<br>26X<br>28X<br>30X</p> |
| param\_type       | uint8\_t   | UINT32                                                                                                                    | MAV\_PARAM\_EXT\_TYPE                                                                                          |

### **Set EO camera index zoom - Combine**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                               | Description                                           |
| ----------------- | ---------- | ---------------------------------------------------- | ----------------------------------------------------- |
| target\_system    | uint8\_t   | 1                                                    | System ID                                             |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)                         | MAVLINK Camera Component ID on Web setting            |
| param\_id         | char\[16]  |                                                      | "C\_V\_ZM\_CB\_LV"                                    |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"3"<br>"4"<br>"5"<br>"6"</p> | <p>1X<br>10X<br>20X<br>40X<br>80X<br>120X<br>240X</p> |
| param\_type       | uint8\_t   | UINT32                                               | MAV\_PARAM\_EXT\_TYPE                                 |

### **Set camera zoom type**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                                                                                                   | Description                                                                                                              |
| ----------------- | --------- | ------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------ |
| target\_system    | uint8\_t  | 1                                                                                                                        | System ID                                                                                                                |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)                                                                                             | MAVLINK Camera Component ID on Web setting                                                                               |
| command           | uint16\_t | MAV\_CMD\_SET\_CAMERA\_ZOOM (531)                                                                                        | MAV\_CMD                                                                                                                 |
| confirmation      | uint8\_t  | 1                                                                                                                        |                                                                                                                          |
| param1            | float     | <p>0<br>1<br>2</p>                                                                                                       | <p>ZOOM\_TYPE\_STEP<br>ZOOM\_TYPE\_CONTINUOUS<br>ZOOM\_TYPE\_RANGE</p>                                                   |
| param2            | float     | <p>-1 for wide, 1 for tele<br>-1 for wide, 1 for tele, 0 to stop zooming<br>A percentage value between 0.0 and 100.0</p> | <p>Zoom one step increment<br>Continuous zoom up/down until stopped<br>Zoom value as proportion of full camera range</p> |

### **Set camera focus type**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                    | Description                                         |
| ----------------- | --------- | ----------------------------------------- | --------------------------------------------------- |
| target\_system    | uint8\_t  | 1                                         | System ID                                           |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)              | MAVLINK Camera Component ID on Web setting          |
| command           | uint16\_t | MAV\_CMD\_SET\_CAMERA\_FOCUS (532)        | MAV\_CMD                                            |
| confirmation      | uint8\_t  | 1                                         |                                                     |
| param1            | float     | <p>1<br>4</p>                             | <p>FOCUS\_TYPE\_CONTINUOUS<br>FOCUS\_TYPE\_AUTO</p> |
| param2            | float     | -1: focusing in, 1: focusing out, 0: stop | Continuous focus up/down until stopped              |

### **Set camera IR palette**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                                                    | Description                                                                                                                                                                                                                                                                                               |
| ----------------- | ---------- | ------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| target\_system    | uint8\_t   | 1                                                                         | System ID                                                                                                                                                                                                                                                                                                 |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)                                              | MAVLINK Camera Component ID on Web setting                                                                                                                                                                                                                                                                |
| param\_id         | char\[16]  | "C\_T\_PALETTE"                                                           |                                                                                                                                                                                                                                                                                                           |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"3"<br>"4"<br>"5"<br>"6"<br>"7"<br>"8"<br>"9"</p> | <p>F1: WhiteHot ; G1: WhiteHot<br>F1: BlackHot ; G1: Fulgurite<br>F1: Rainbow ; G1: IronRed<br>F1: RainbowHC ; G1: HotIron<br>F1: Ironbow ; G1: Medical<br>F1: Lava ; G1: Arctic<br>F1: Arctic ; G1: Rainbow1<br>F1: Globow ; G1: Rainbow2<br>F1: Gradedfire ; G1: Tint<br>F1: Hottest ; G1: BlackHot</p> |
| param\_type       | uint8\_t   | UINT32                                                                    | MAV\_PARAM\_EXT\_TYPE                                                                                                                                                                                                                                                                                     |

### **Set payload camera start capture image**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                 | Description                                                        |
| ----------------- | --------- | -------------------------------------- | ------------------------------------------------------------------ |
| target\_system    | uint8\_t  | 1                                      | System ID                                                          |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)           | MAVLINK Camera Component ID on Web setting                         |
| command           | uint16\_t | MAV\_CMD\_IMAGE\_START\_CAPTURE (2000) | MAV\_CMD                                                           |
| confirmation      | uint8\_t  | 1                                      |                                                                    |
| param2            | int       | Default, min: 0                        | Desired elapsed time between two consecutive pictures (in seconds) |

### **Set payload camera stop capture image**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                | Description                                |
| ----------------- | --------- | ------------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                     | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)          | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_IMAGE\_STOP\_CAPTURE (2001) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                     |                                            |

### **Set payload camera start record video**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                 | Description                                |
| ----------------- | --------- | -------------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                      | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)           | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_VIDEO\_START\_CAPTURE (2500) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                      |                                            |

### **Set payload camera stop record video**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                       | Description                                |
| ----------------- | --------- | ---------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                            | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD                     | MAV\_CMD\_VIDEO\_STOP\_CAPTURE (2501)      |
| confirmation      | uint8\_t  | 1                            |                                            |

### **Set camera video flip**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                       | Description                                |
| ----------------- | ---------- | ---------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t   | 1                            | System ID                                  |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting |
| param\_id         | char\[16]  | "C\_V\_FLIP"                 |                                            |
| param\_value      | char\[128] | <p>"2"<br>"3"</p>            | <p>On<br>Off</p>                           |
| param\_type       | uint8\_t   | UINT32                       | MAV\_PARAM\_EXT\_TYPE                      |

### **Set camera video defog**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                       | Description                                |
| ----------------- | ---------- | ---------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t   | 1                            | System ID                                  |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting |
| param\_id         | char\[16]  | "C\_V\_DEFOG"                |                                            |
| param\_value      | char\[128] | <p>"0"<br>"1"</p>            | <p>Off<br>On</p>                           |
| param\_type       | uint8\_t   | UINT32                       | MAV\_PARAM\_EXT\_TYPE                      |

### **Set camera video defog level**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                          | Description                                |
| ----------------- | ---------- | ------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t   | 1                               | System ID                                  |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)    | MAVLINK Camera Component ID on Web setting |
| param\_id         | char\[16]  | "C\_V\_DEFOG\_LV"               |                                            |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"3"</p> | <p>Lowest<br>Low<br>Mid<br>High</p>        |
| param\_type       | uint8\_t   | UINT32                          | MAV\_PARAM\_EXT\_TYPE                      |

### **Set camera video auto exposure**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                    | Description                                        |
| ----------------- | ---------- | ----------------------------------------- | -------------------------------------------------- |
| target\_system    | uint8\_t   | 1                                         | System ID                                          |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)              | MAVLINK Camera Component ID on Web setting         |
| param\_id         | char\[16]  | "C\_V\_AE"                                |                                                    |
| param\_value      | char\[128] | <p>"0"<br>"3"<br>"10"<br>"11"<br>"13"</p> | <p>Auto<br>Manual<br>Shutter<br>Iris<br>Bright</p> |
| param\_type       | uint8\_t   | UINT32                                    | MAV\_PARAM\_EXT\_TYPE                              |

### **Set camera video shutter speed**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                                                              | Description                                                                                   |
| ----------------- | ---------- | ----------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------- |
| target\_system    | uint8\_t   | 1                                                                                   | System ID                                                                                     |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)                                                        | MAVLINK Camera Component ID on Web setting                                                    |
| param\_id         | char\[16]  | "C\_V\_SP"                                                                          |                                                                                               |
| param\_value      | char\[128] | <p>"13"<br>"14"<br>"17"<br>"20"<br>"21"<br>"25"<br>"26"<br>"27"<br>"28"<br>"30"</p> | <p>1/10<br>1/20<br>1/50<br>1/100<br>1/125<br>1/500<br>1/725<br>1/1000<br>1/1500<br>1/2000</p> |
| param\_type       | uint8\_t   | UINT32                                                                              | MAV\_PARAM\_EXT\_TYPE                                                                         |

### **Set camera video aperture value**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                       | Description                                    |
| ----------------- | ---------- | ---------------------------- | ---------------------------------------------- |
| target\_system    | uint8\_t   | 1                            | System ID                                      |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting     |
| param\_id         | char\[16]  | "C\_V\_IrP"                  |                                                |
| param\_value      | char\[128] | 0                            | Aperture value can be set from 0 to 25, step 1 |
| param\_type       | uint8\_t   | UINT32                       | MAV\_PARAM\_EXT\_TYPE                          |

### **Set camera video bright value**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                       | Description                                  |
| ----------------- | ---------- | ---------------------------- | -------------------------------------------- |
| target\_system    | uint8\_t   | 1                            | System ID                                    |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting   |
| param\_id         | char\[16]  | "C\_V\_BrP"                  |                                              |
| param\_value      | char\[128] | 0                            | Bright value can be set from 0 to 41, step 1 |
| param\_type       | uint8\_t   | UINT32                       | MAV\_PARAM\_EXT\_TYPE                        |

### **Set camera video white balance**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                        | Description                                                   |
| ----------------- | ---------- | --------------------------------------------- | ------------------------------------------------------------- |
| target\_system    | uint8\_t   | 1                                             | System ID                                                     |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)                  | MAVLINK Camera Component ID on Web setting                    |
| param\_id         | char\[16]  | "C\_V\_WB"                                    |                                                               |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"3"<br>"4"<br>"5"</p> | <p>Auto<br>Indoor<br>Outdoor<br>One push<br>ATW<br>Manual</p> |
| param\_type       | uint8\_t   | UINT32                                        | MAV\_PARAM\_EXT\_TYPE                                         |

### **Set gimbal mode**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                                 | Description                                      |
| ----------------- | ---------- | -------------------------------------- | ------------------------------------------------ |
| target\_system    | uint8\_t   | 1                                      | System ID                                        |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2)           | MAVLINK Camera Component ID on Web setting       |
| param\_id         | char\[16]  | "GB\_MODE"                             |                                                  |
| param\_value      | char\[128] | <p>"0"<br>"1"<br>"2"<br>"3"<br>"4"</p> | <p>OFF<br>LOCK<br>FOLLOW<br>MAPPING<br>RESET</p> |
| param\_type       | uint8\_t   | UINT32                                 | MAV\_PARAM\_EXT\_TYPE                            |

### **Set gimbal RC mode**

* Message: PARAM\_EXT\_SET (323)

| Field Name        | Type       | Values                       | Description                                |
| ----------------- | ---------- | ---------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t   | 1                            | System ID                                  |
| target\_component | uint8\_t   | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting |
| param\_id         | char\[16]  | "RC\_MODE"                   |                                            |
| param\_value      | char\[128] | <p>"0"<br>"1"</p>            | <p>Gremsy<br>Standard</p>                  |
| param\_type       | uint8\_t   | UINT32                       | MAV\_PARAM\_EXT\_TYPE                      |

### **Set gimbal move to angle**

* Message: GIMBAL\_DEVICE\_SET\_ATTITUDE (284)

| Field Name           | Type      |       | Values                                              | Description                                |
| -------------------- | --------- | ----- | --------------------------------------------------- | ------------------------------------------ |
| target\_system       | uint8\_t  |       | 1                                                   | System ID                                  |
| target\_component    | uint8\_t  |       | 101 (MAV\_COMP\_ID\_CAMERA2)                        | MAVLINK Camera Component ID on Web setting |
| q                    | float\[4] | rad/s | mavlink\_euler\_to\_quaternion(roll, pitch, yaw, q) | Quaternion components, w, x, y, z          |
| angular\_velocity\_x | float     | rad/s | NaN                                                 | X component of angular velocity (Roll)     |
| angular\_velocity\_y | float     | rad/s | NaN                                                 | Y component of angular velocity (Pitch)    |
| angular\_velocity\_z | float     | rad/s | NaN                                                 | Z component of angular velocity (Yaw)      |

### **Set gimbal move by speed**

* Message: GIMBAL\_DEVICE\_SET\_ATTITUDE (284)

| Field Name           | Type      |       | Values                       | Description                                |
| -------------------- | --------- | ----- | ---------------------------- | ------------------------------------------ |
| target\_system       | uint8\_t  |       | 1                            | System ID                                  |
| target\_component    | uint8\_t  |       | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting |
| q                    | float\[4] | rad/s | NaN                          | Quaternion components, w, x, y, z          |
| angular\_velocity\_x | float     | rad/s | Speed roll                   | X component of angular velocity (Roll)     |
| angular\_velocity\_y | float     | rad/s | Speed pitch                  | Y component of angular velocity (Pitch)    |
| angular\_velocity\_z | float     | rad/s | Speed yaw                    | Z component of angular velocity (Yaw)      |

### **Get payload camera information**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                       | Description                                |
| ----------------- | --------- | -------------------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                            | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)                 | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_REQUEST\_CAMERA\_INFORMATION (521) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                            |                                            |

### **Get payload camera streaming information**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                               | Description                                |
| ----------------- | --------- | ---------------------------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                                    | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)                         | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_REQUEST\_VIDEO\_STREAM\_INFORMATION (2504) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                                    |                                            |

### **Get payload storage**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                        | Description                                |
| ----------------- | --------- | --------------------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                             | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)                  | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_REQUEST\_STORAGE\_INFORMATION (525) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                             |                                            |

### **Get payload capture status**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                           | Description                                |
| ----------------- | --------- | ------------------------------------------------ | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                                | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)                     | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_REQUEST\_CAMERA\_CAPTURE\_STATUS (527) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                                |                                            |

### **Get payload camera mode**

* Message: COMMAND\_LONG (76)

| Field Name        | Type      | Values                                    | Description                                |
| ----------------- | --------- | ----------------------------------------- | ------------------------------------------ |
| target\_system    | uint8\_t  | 1                                         | System ID                                  |
| target\_component | uint8\_t  | 101 (MAV\_COMP\_ID\_CAMERA2)              | MAVLINK Camera Component ID on Web setting |
| command           | uint16\_t | MAV\_CMD\_REQUEST\_CAMERA\_SETTINGS (522) | MAV\_CMD                                   |
| confirmation      | uint8\_t  | 1                                         |                                            |


# PRODUCT MAINTENANCE


# Quick Release Installation & Maintenance Guide

The S-Port Quick Release (QR) system is designed for fast and secure payload installation while maintaining reliable power and signal connections. To ensure safe operation and long-term reliability, proper installation, inspection, and maintenance should be performed regularly.

Common causes of locking, connection, or hardware issues include:

* Locking screws becoming loose over time due to long-term use and vibration
* Connecting or disconnecting the payload while the system is powered on (hot swapping)
* Incorrect power polarity or power source connection
* Improper payload orientation or installation alignment
* Incorrect locking tension adjustment (under-tightened, incomplete lock, or over-tightened)
* Dust, dirt, or debris inside the locking mechanism
* Failure to apply Loctite 222 threadlocker as recommended
* Lack of periodic inspection and maintenance

This guide and the accompanying instructional video provide step-by-step instructions for proper installation, locking tension adjustment, and routine maintenance to help prevent common issues and ensure safe, reliable operation of the S-Port Quick Release system.

{% embed url="<https://www.youtube.com/watch?v=62oXzFNeQk8>" %}


# STORAGE CONDITIONS

## Storage Conditions

### Recommended Storage  Environmental Conditions

When not in use, GREMSY payloads shall be stored under the following conditions:

* **Ambient Temperature:** 18–25°C
* **Relative Humidity:** 30 – 45 %RH

These conditions are recommended to ensure long-term reliability of electronic components, gimbal motors, camera sensors, and mechanical assemblies.

{% hint style="success" %}
Recommendation: Use a dry cabinet to keep temperature and humidity stable and well-controlled.
{% endhint %}

### Storage Requirements Based on Non-Operating Duration

| Non-Operating Duration      | Storage Requirement                                            |
| --------------------------- | -------------------------------------------------------------- |
| ≤ 12 hours                  | **Should** be stored under the recommended storage conditions. |
| > 12 hours                  | **Must** be stored under the recommended storage conditions.   |
| Long-term storage / standby | **Always** store under the recommended storage conditions.     |

{% hint style="danger" %}
**Warning:** If the device is not maintained under the recommended storage conditions

* > 12-72 hours: condensation on the sensor lens may occur.
* > 72 hours: there is a high risk of moisture-related damage.
  > {% endhint %}

### Important Notes

In high-humidity environments (80–90% RH), dry cabinet storage may be required sooner than the time frames listed above.

Failure to follow these storage conditions may result in:

1. PCB oxidation and corrosion
2. Reduced gimbal motor lifespan
3. Electrical connector and camera sensor malfunction


# TROUBLESHOOTING


# Gremsy – Flight Controller Connection Verification Guide

### **1. Purpose**

This document describes how to verify whether the **Gimbal** is properly connected to the **Flight Controller (FC)** via UART (MAVLink protocol).

***

### **2. Method 1: LED Status Check**

#### **Procedure**

* Observe the **status LED** on the gimbal.

#### **Expected Result**

* **Pink / Purple LED** → Gimbal is successfully connected to the Flight Controller.
* Any other color → Connection may not be established.

***

### **3. Hardware Connection**

#### **UART Wiring**

* Connect the gimbal UART to **TELEM2** port on the Flight Controller.

#### <a href="/pages/WxhefKDAyF4KmbbCGrkt" class="button primary">Mavlink Autopilot Setup</a>

#### **Notes**

* Ensure correct **TX/RX crossover**
* Verify stable **power supply**
* Confirm cable integrity

***

### **4. Method 2: MAVLink Inspector**&#x20;

#### **Procedure**

1. Open **QGroundControl/Mission Planner**
2. Navigate to:\
   **Analyze Tools → MAVLink Inspector**
3. Monitor the incoming MAVLink components

<figure><img src="/files/SmerCjfLlGRu8pdSHk4z" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/wvVzoZeL2MmOLP6FQGCe" alt=""><figcaption></figcaption></figure>

#### **Expected Component IDs**

| Component | ID  | Description                 |
| --------- | --- | --------------------------- |
| Payload   | 101 | VIO / ZIO / Orus-L payloads |
| Gimbal    | 154 | Gimbal system               |

#### **Result Interpretation**

* Both **Component ID 101 and 154 detected** → Connection confirmed
* Missing one or both → Connection issue exists

***

### **5. Troubleshooting**

If no components are detected:

#### **5.1 UART Connection**

* Verify TX/RX wiring is correct
* Check for loose or damaged cables

#### **5.2 Flight Controller Parameters**

* Ensure MAVLink is enabled on **TELEM2**
* Verify correct **baud rate** (typically **115200** or configured value)

#### **5.3 Power Supply**

* Confirm the gimbal is powered properly

#### **5.4 Signal Measurement**

* Use a multimeter or oscilloscope:
  * Check **TX signal activity**
  * Verify voltage levels (\~3.3V or 5V depending on system)

***

### **6. Quick Verification Summary**

| Check Method      | Expected Result                 |
| ----------------- | ------------------------------- |
| LED Status        | Pink/Purple                     |
| MAVLink Inspector | Component ID 101 & 154 detected |

***

### **7. Conclusion**

A valid connection is confirmed when:

* The gimbal LED indicates **Pink/Purple**, and
* MAVLink Inspector shows both **Component ID 101 and 154**


# Advanced Configuration


# Night Mode

To improve visibility and image quality during nighttime operation, it is recommended to optimize the EO camera settings. Appropriate adjustment of parameters such as exposure, gain, shutter speed, and image enhancement can help achieve better performance in low-light environments.

Gremsy payloads support an **ICR (Infrared Cut Removal) mode**, which automatically removes the IR-cut filter under low-light conditions. This feature allows the EO camera to capture more infrared light, improving image brightness and visibility during nighttime operations. Combined with appropriate exposure and gain settings, ICR mode can significantly enhance camera performance in low-light.

**High Sensitivity mode** further improves image capture in extremely dark environments by increasing the camera's light sensitivity. This mode extends the allowable electronic gain range, enabling the camera to maintain image brightness in very low-light conditions while minimizing overexposure. It also enhances the visibility of dark areas and shadowed regions within the scene, allowing details that may be difficult to observe with the naked eye to be captured more clearly.

When both **High Sensitivity** mode and **ICR mode** are enabled (monochrome operation), the EO camera achieves its maximum low-light performance, with a minimum illumination level of up to 0.06 lux. This configuration allows the camera to capture usable imagery in extremely dark environments where visibility is severely limited.

{% hint style="info" %}
Note: This setting is applicable to the VIO, ZIO, and Orus-L payloads. The resulting low-light performance may vary between products due to differences in EO camera models and sensor characteristics.
{% endhint %}

{% stepper %}
{% step %}

### Open Camera Setting Menu

{% endstep %}

{% step %}

### Choose Device and navigate EO Camera

<figure><img src="/files/3N4Sw4CUResVbDzUnLLt" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Enable EO High Sensitivity

<figure><img src="/files/Exm9QFUUdWJgx2lWPwME" alt=""><figcaption></figcaption></figure>
{% endstep %}

{% step %}

### Enable ICR Mode

<figure><img src="/files/tQP4v79LmFjtlGJHohNe" alt=""><figcaption></figcaption></figure>
{% endstep %}
{% endstepper %}

<figure><img src="/files/iz1bUiusBWGa8tg3pEhi" alt=""><figcaption><p><strong>Testing on VIO Payload</strong></p></figcaption></figure>


# How to check the video stream

{% hint style="warning" %}
only available on the **software package v304 or higher**
{% endhint %}

{% hint style="info" %}
Stream Type: there are 3 options for the stream
\
1\. RTSP
\
2\. RTPUDP, with multicast was enabled by default (stream to 239.255.0.1)
\
3\. KLV stream based on the RTPUDP, with multicast was enabled by default. It will
\
stream the data to multicast group "239.255.0.1"
{% endhint %}

**Confirm the payload IP**
\
You need to confirm the payload IP address; it need to be the same with your subnet

**Get the H.264 RTP** stream then show to monitor, make sure the port is correct

```
gst-launch-1.0 -v udpsrc multicast-group=239.255.0.1 port=5554 \
    caps="application/x-rtp, media=video, encoding-name=H264" ! \
    rtph264depay ! avdec_h264 ! autovideosink
```

**Get the H.265 RTP** stream then show to monitor, make sure the port is correct

```
gst-launch-1.0 -v udpsrc multicast-group=239.255.0.1 port=5554 \
    caps="application/x-rtp, media=video, encoding-name=H265" ! \    
    rtph265depay ! avdec_h265 ! autovideosink
```

**RTSP-TCP**

```
gst-launch-1.0 rtspsrc location=rtsp://<ip>:<port>/<stream> \
    protocols=tcp latency=200 ! \
    rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink
```

**RTSP-UDP**

```
gst-launch-1.0 rtspsrc location=rtsp://<ip>:<port>/<stream> \
    protocols=udp latency=200 ! \
    rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink
```

**KLV Stream (Based on RTPUDP)**

```
gst-launch-1.0 -v udpsrc multicast-group=239.255.0.1 port=8554 caps="application/xrtp,
media=video,payload=96,clock-rate=90000" ! rtpmp2tdepay ! tsdemux ! h264parse ! avdec_h264 !
videoconvert ! autovideosink sync=false
```

## How to use RTP Multicast

<figure><img src="/files/KTLbSFLoNb9pTkcTq0L0" alt=""><figcaption></figcaption></figure>

{% hint style="warning" %}
**Disable** the **Multicast** option before configuring the stream.

**Host IP:** The receiving device must be on the **same subnet** as the payload.
{% endhint %}

<figure><img src="/files/eJQm19OMDbjwOk6RXkKw" alt=""><figcaption></figcaption></figure>

{% hint style="warning" %}
**EO Port:** Ensure that the configured stream port matches the port specified in the command line. If the port numbers do not match, the video stream will not be received successfully.
{% endhint %}

```
// EO Stream command
gst-launch-1.0 -v udpsrc multicast-group=239.255.0.1 port=5554 caps="application/x-rtp, media=video, encoding-name=H264" ! rtph264depay ! avdec_h264 ! autovideosink
```

<figure><img src="/files/UsxWJG4BLzTqeSXYUrG2" alt=""><figcaption></figcaption></figure>

{% hint style="warning" %}
**IR Port:** Ensure that the configured stream port matches the port specified in the command line. If the port numbers do not match, the video stream will not be received successfully.
{% endhint %}

```
// IR Stream command
gst-launch-1.0 -v udpsrc multicast-group=239.255.0.1 port=8554 caps="application/x-rtp, media=video, encoding-name=H264" ! rtph264depay ! avdec_h264 ! autovideosink
```

#### Notes

* **Ubuntu Native is required.** The current streaming pipeline is **not supported on WSL (Windows Subsystem for Linux)** and may result in unexpected errors or unstable behavior.
* **Known Issue:** Configuring both **RTP (UDP)** and **KLV (UDP)** streams causes **Payload-Plus** to crash. This behavior has been verified using the latest version of Payload-Plus. If RTP or KLV streaming is required, consider using a separate communication channel for payload control.
* **Advantage:** This streaming method provides lower latency than the other available streaming options. Measured end-to-end latency is approximately **200 ms** under test conditions.


# Roi Measurement

<figure><img src="/files/X1d87oXEh3G7o3bNQpbh" alt=""><figcaption></figcaption></figure>


# MAPPING

#### Current Flight Setup

* Platform: Quadcopter running ArduPilot 4.5.7
* Equipped with RTK positioning

***

## 1. QGroundControl Configuration

#### Camera: (Custom Camera) &#x20;

Because the camera parameters are not available in the system yet, a custom camera profile needs to be created.

* Landscape & Portrait: Select Landscape mode for mapping flight operations.

```
Sensor size: 5.76 mm × 4.29 mm
Image resolution: 3840 px × 2160 px
Focal length: 9 mm
/This is example/
```

* Option: Enable “Images in Turnaround”

Flight altitude: \~40 m, depending on your desired GSD (Ground Sampling Distance)

| Product | Sensor Size       | Photo Size        | Focal Length |
| ------- | ----------------- | ----------------- | ------------ |
| VIO     | 5.76 mm × 4.29 mm | 3840 px × 2160 px | 4mm          |
| Orus-L  | 5.76 mm × 4.29 mm | 3840 px × 2160 px | 9 mm         |
| LYNX    | 6.17 mm x 4.55 mm | 3840 px × 2160 px | 5.4 mm       |

## 2. Drone Configuration

Please note the following parameter:

* **CAM\_TYPE = 5 or 6 (we recommend 5)**

Before flight:

* The LRF (Laser Range Finder) must be turned OFF.
* Open Camera Settings → select the LRF device → set LRF = OFF
* Set the payload to Mapping Mode.\
  (Currently, during autonomous missions, the ORUS L does not automatically tilt down to 90°, so you need to switch to Mapping Mode manually before starting the mission.)

***

## 3. Data Processing

After the flight, metadata is embedded in each captured image, so you can directly process the raw data using third-party photogrammetry software such as Pix4D or Agisoft Metashape.


# ORUS-L

#### **Orus L –** Optimized Aerodynamic Spherical Payload - Master Every Unseen Edge

<figure><img src="/files/PlWoIG47x2KPbPpYPiLd" alt=""><figcaption></figcaption></figure>

In an increasingly complex and challenging world, Gremsy introduces a groundbreaking solution: the ORUS Large (ORUS L) – more than just a payload, it's the key to expanding vision and shaping the future. Our mission is to provide the most advanced surveillance and analysis tools, empowering our clients to make informed decisions in all conditions, even the most demanding. With ORUS L, you can see the unseen, master every challenge, and turn potential risks into competitive advantages.&#x20;

ORUS L: The ultimate payload solution for every mission, delivering safety, efficiency, and success.

***

**Rugged Design, Endurance-Ready**

* **Aerodynamic spherical form factor** engineered for **flight stability up to 100 km/h**, ideal for **fixed-wing and VTOL UAVs**.
* **Optimize lightweight, compact** construction ensures compatibility with endurance-focused platforms.
* **IP55-rated housing** protects against dust and rain—ready for harsh field conditions.

***

**Jetson Orin Onboard for Edge AI Processing**

* Built-in **NVIDIA Jetson Orin module**, delivering **AI compute performance up to 100 TOPS**
* Enables **real-time target detection**, tracking, sensor fusion, and deep learning inference on the fly
* Offloads heavy processing from the ground station or flight controller—ideal for **autonomous operations**
* Open for third-party software involvement.

***

**High-Precision Multi-Sensor Payload**

* **EO Camera**:
  * **Enhanced** **optical zoom**, 4K resolution
  * Night vision support for low-light operations
* **IR Thermal Camera**:
  * **Radiometric 640×512** resolution with Blue UAS version powered by Flir Thermal Sensor
  * Accurate thermal inspection for infrastructure, energy, and emergency response
* **LRF – Laser Range Finder**:
  * Long-range measurement up to **2400m**
  * Enables precise ranging, target cordinate terrain profiling, and geo-referenced targeting
* **Sensor Fusion**:
  * Real-time overlay of EO/IR/LRF data
  * Enables advanced perception, situational awareness, and tracking accuracy

***

**Integrated AI & Tracking Capabilities**

* Developed by Gremsy, onboard algorithms include:
  * **Automatic object tracking and detection**
  * **Target lock & follow**
  * **Scene understanding & adaptive behavior**
* Works fully onboard without constant connection to GCS

***

**Flexible Integration & Developer Support**

* **Ethernet (UDP)** for real-time control
* **Ethernet RTSP** for live video streaming (EO + IR)
* **UART/MAVLink** for autopilot integration (PX4/ArduPilot)
* **Gremsy Payload SDK v3** for custom control, automation, and sensor coordination
* **Gremsy Payload Plus** for field setup and mobile operations

***

#### **Industrial & Tactical Applications**

* Powerline, wind turbine, and pipeline inspection
* Public safety & ISR mission.
* Oil & gas and refinery monitoring
* Border patrol, search and rescue, and thermal surveillance
* UGVs and mobile robotics in infrastructure diagnostics


# FAQ

<details>

<summary>What are the key differences between ORUS L NDAA and ORUS L STANDARD?</summary>

The key difference is compliance and sensor: the NDAA version uses a FLIR Boson 640 Radiometric and is NDAA compliant, while the STANDARD uses a 640 Radiometric Thermal Core, suitable for commercial applications.

</details>

<details>

<summary>Is the ORUS L waterproof and dustproof?</summary>

Yes, the ORUS L is rated **IP55**, meaning it is protected against **limited dust ingress** and **low-pressure water jets** from any direction. This ensures reliable performance in **rain, dust, and harsh environments.**

</details>

<details>

<summary>How does the ORUS L perform in high-speed flight?</summary>

Thanks to its aerodynamic spherical design, the ORUS L maintains stability even at speeds up to **100 km/h**. This unique shape reduces drag.

</details>

<details>

<summary>Does the EO camera have image stabilization?</summary>

Yes, the EO sensor includes **built-in image stabilization**, which minimizes motion blur and vibrations. This ensures **smooth, clear video** even during dynamic flight, greatly enhancing the overall viewing and tracking experience.

</details>

<details>

<summary>Does the Orus-L support R-JPEG thermal image format?</summary>

**Yes, but only on the Orus-L NDAA version.**

* **R-JPEG (Radiometric JPEG)** allows you to extract temperature data from each pixel in the image.
* The **standard Orus-L** does **not** support R-JPEG.
* Only the **Orus-L NDAA-compliant version** includes support for this format, suitable for advanced analysis and government/defense applications.

</details>


# GENERAL

## Warnings

{% hint style="warning" %}

* When not in use, always **store the ORUS-L series in its designated storage case**. Replace the **desiccant pack** as needed to prevent **lens fogging caused by high humidity**. If fogging occurs, it will typically clear after the device has been powered on for a short period.\
  → Recommended storage conditions: **humidity < 40%** and **temperature 20 ± 5°C**.
* **Avoid exposing** the infrared camera lens to high-energy sources such as direct sunlight, lava, or laser beams. Exposure may cause irreversible damage to the infrared sensor.
* **Ensure that** the observed target temperature remains below 800°C (1472°F), or 1600°C (2912°F when an infrared density filter is installed). Exceeding these limits may result in permanent sensor failure.
* **Refrain** from placing the product in direct sunlight, poorly ventilated environments, or near heat sources (e.g., heaters), as this may affect performance and durability.
* **Avoid frequent power cycling**. After powering down, allow at least 30 seconds before restarting to prevent potential damage and reduced product lifespan.
* **Prevent liquid ingress** into the product. Ensure the surface and all ports of the gimbal are completely dry prior to installation.
* **Avoid direct contact** with the lens surface. Take care to prevent scratches from sharp or abrasive objects, as these may degrade image quality.
* **Use only** a soft, dry, and clean cloth for lens cleaning. Refrain from using alkaline or corrosive cleaning agents.
* **Handle the product with care.** Mechanical shock, dropping, or impact may result in malfunction.
* **Note that** the IP55 protection rating (per IEC 60529) is validated under controlled laboratory conditions and may degrade over time with use and environmental exposure.
* **Be aware that** the use of an infrared density filter may affect thermal image quality.
  {% endhint %}

#### **Product Profile**

**Orus-L** is a specialized payload developed by **Gremsy**, designed with a **spherical aerodynamic shape** and rated **IP55** for water and dust resistance. Built to endure harsh environments, including dust, humidity, and light rain, Orus-L remains stable even at speeds up to **100 km/h**. It's an ideal choice for **high-speed UAVs** and **demanding missions**.

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

## What's in the box?&#x20;

<figure><img src="/files/ZLxmF9jGwuCGH0WZaRkh" alt=""><figcaption></figcaption></figure>

| No. | Items                   | Quantity |
| --- | ----------------------- | -------- |
| A   | M-Port IP               | 1        |
| B   | Orus-L                  | 1        |
| C   | Ethernet RJ45           | 1        |
| D   | Ethernet Herelink       | 1        |
| E   | MavLink Uart            | 1        |
| F   | RC\_SBUS Cable          | 1        |
| G   | USB-C                   | 1        |
| H   | Power Supply Cable V2.0 | 1        |
| I   | Allen Key 2.0 (mm)      | 1        |
| J   | M3 x 8 - DIN 7991       | 4        |

## ACCESSORIES

{% hint style="warning" %}
This accessory is not included in the box. If needed, please purchase it separately to ensure optimal use and a better overall experience.
{% endhint %}

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/gR0nLYjep7BbP0oQOEM2" %}
[ORUS-L DAMPING PLATE](/accessories/damping/damping-plate-specification/orus-l-damping-plate)
{% endcontent-ref %}

## SPECIFICATION

### General Information

| **Items**                               | **ORUS-L**                                                                                                                                                                                                                    | **ORUS-L NDAA**                                                                                                                                                                                                               |                     |                                                     |
| --------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | --------------------------------------------------- |
| Payload Weight (QR + Damping)           | \~1504g ± 15g                                                                                                                                                                                                                 | \~1493g ± 15g                                                                                                                                                                                                                 |                     |                                                     |
| Payload Weight (QR only)                | \~1388g ± 10g                                                                                                                                                                                                                 | \~1377g ± 10g                                                                                                                                                                                                                 |                     |                                                     |
| Dimensions (DxWxH)                      | 165 x 140 x 248 mm                                                                                                                                                                                                            | 165 x 140 x 248 mm                                                                                                                                                                                                            |                     |                                                     |
| Quick Release System                    | M-Port IP Version                                                                                                                                                                                                             | M-Port IP Version                                                                                                                                                                                                             |                     |                                                     |
| Damping Module                          | Orus L Damping                                                                                                                                                                                                                | Orus L Damping                                                                                                                                                                                                                |                     |                                                     |
| Protection Rating                       | IP55                                                                                                                                                                                                                          | IP55                                                                                                                                                                                                                          |                     |                                                     |
| Max Flight Speed                        | 100 km/h                                                                                                                                                                                                                      | 100 km/h                                                                                                                                                                                                                      |                     |                                                     |
| Input Voltage                           | 19VDC \~ 52VDC                                                                                                                                                                                                                | 19VDC \~ 52VDC                                                                                                                                                                                                                |                     |                                                     |
| Power Consumption                       | Avg: 30W, Max: 100W                                                                                                                                                                                                           | Avg: 30W, Max: 100W                                                                                                                                                                                                           |                     |                                                     |
| Operating Current                       | Static: 1A, Max: 3.3A @30V                                                                                                                                                                                                    | Static: 1A, Max: 3.3A @30V                                                                                                                                                                                                    |                     |                                                     |
| Operating Temperature                   | -20°C to 50°C                                                                                                                                                                                                                 | -20°C to 50°C                                                                                                                                                                                                                 |                     |                                                     |
| Storage Temperature                     | -20°C to 60°C                                                                                                                                                                                                                 | -20°C to 60°C                                                                                                                                                                                                                 |                     |                                                     |
| <p></p><p>Video Stream</p>              | <p></p><ul><li>HDMI 1080p60 Latency \~300ms</li><li><p>Ethernet:</p><ul><li>480p60</li><li>720p60</li><li>1080p60</li></ul><p>Video bit rate is adjustable Latency \~500ms\*</p></li></ul><p>\*Testing with Herelink v1.1</p> | <p></p><ul><li>HDMI 1080p60 Latency \~300ms</li><li><p>Ethernet:</p><ul><li>480p60</li><li>720p60</li><li>1080p60</li></ul><p>Video bit rate is adjustable Latency \~500ms\*</p></li></ul><p>\*Testing with Herelink v1.1</p> |                     |                                                     |
| <p></p><p>Payload Control Method</p>    | <p></p><ul><li>UART                                                                                                                                                                                                           | Mavlink</li><li>Ethernet UDP</li><li>SBUS</li></ul>                                                                                                                                                                           | <p></p><ul><li>UART | Mavlink</li><li>Ethernet UDP</li><li>SBUS</li></ul> |
| <p>API/SDK<br></p>                      | <p>Gremsy Payload SDK</p><h4 id="eo-camera-sensor"><br></h4>                                                                                                                                                                  | <p>Gremsy Payload SDK</p><h4 id="eo-camera-sensor"><br></h4>                                                                                                                                                                  |                     |                                                     |
| Internal Storage                        | <p>Yes<br>500 GB</p>                                                                                                                                                                                                          | <p>Yes<br>500 GB</p>                                                                                                                                                                                                          |                     |                                                     |
| <p>Extenal Storage<br>(via SD card)</p> | Not supported                                                                                                                                                                                                                 | Not supported                                                                                                                                                                                                                 |                     |                                                     |

***

### Platform Compatibility

* **Supported Autopilots**: Pixhawk, CubePilot, Skynode
* **Firmware Compatibility**: ArduPilot, PX4
* **Controller Compatibility**: Ground Station & Remote with:
  * QGroundControl
  * Gremsy Payload Assistant (Windows, Android)
* **SDK Support**: Gremsy Payload SDK (C++, MAVLink v2)

***

### EO Camera Specifications

| **Feature**                          | **Specification**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
| ------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Sensor                               | 1/1.8-type Starvis2 (IMX-678)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
| Effective Pixels                     | Approx. 8.51M Pixel                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |
| Lens                                 | <p>f = 6.5 mm (wide) to 162.5 mm (tele),                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |
| <br>F1.6 \~ 4.8</p>                  |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
| HFOV                                 | 59° to 2.8°                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
| Optical Zoom                         | 25x                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |
| Digital Zoom                         | 12x                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |
| Resolution                           | 4K\@60fps / 1080\@60fps / 720\@60fps                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
| Shutter Speed                        | 1/1 to 1/10000s                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
| Exposure Modes                       | -10.5 dB,to +10.5 dB, 15 steps                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
| Electronic Image Stabilization (EIS) | <p>Yes <strong>*</strong></p><ul><li>Super </li><li>Super+</li></ul><p><em><strong>*</strong> For 1080p, 1080i, and 720p only.</em></p>                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
| Defog Mode                           | Low / Mid / High                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
| White Balance                        | Auto / Indoor / Outdoor                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
| Noise Reduction                      | 2D & 3D                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
| IR Cut Filter                        | Auto / Manual                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
| Wide Dynamic Range                   | Yes                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |
| Visibility Enhancer                  | Yes                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |
| Night Vision                         | <p>Yes</p><ul><li><strong>Minimum Illumination (50%, High Sensitivity Mode ON)</strong>ICR-Off mode:<br>0.028 lx (Shutter Speed: 1/30 sec),<br>0.0039 lx (1/4 sec or 1/3  sec）<br><br>ICR-On mode:<br>0.00016 lx (Shutter Speed: 1/30 sec),<br>0.0000098 lx (1/4 sec or 1/3 sec, 30％）</li><li><strong>Minimum Illumination (50%, High Sensitivity Mode OFF)</strong>ICR-Off mode:<br>0.17 lx (Shutter Speed: 1/30 sec),<br>0.024 lx (1/4 sec or 1/3 sec）<br><br>ICR-On mode:<br>0.0013 lx (Shutter Speed: 1/30 sec)</li><li><strong>Recommended Illumination</strong>100 lx 〜100,000 lx</li></ul> |
| Flicker Reduction                    | Yes                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |

***

### IR Camera Specifications

| **Feature**                | **ORUS-L**                    | **ORUS-L NDAA**                     |
| -------------------------- | ----------------------------- | ----------------------------------- |
| Sensor Type                | Uncooled VOx Microbolometer   | Uncooled VOx Microbolometer         |
| Sensor Model               | Radiometric Thermal sensor    | FLIR Boson 640R                     |
| Array Format               | 640 x 512                     | 640 x 512                           |
| Frame Rate                 | 30Hz                          | 60Hz                                |
| Pixel Size                 | 12 µm                         | 12 µm                               |
| Thermal Range              | -20°C to 550°C                | Up to 500°C                         |
| Lens                       | Fixed, Athermal, 19 mm        | Fixed, 14 mm, 32° HFOV              |
| Digital Zoom               | 1x to 8x                      | 1x to 8x                            |
| Photo Resolution           | 640 x 512                     | 640 x 512                           |
| Video Output               | 640 x 512 @ 30Hz              | 640 x 512 @ 60Hz                    |
| Formats                    | JPEG / MP4                    | JPEG / TIFF / CSV / MP4 / SEQ (dev) |
| Thermal Sensitivity (NETD) | ≤50 mK                        | ≤50 mK                              |
| Radiometry                 | Yes, overlay on runtime video | Yes, overlay on runtime video       |
| Radiometric JPEG           | x                             | Yes                                 |

***

### Laser Rangefinder

| **Feature**                                                 | **Specification**                                                                                                                                      |                                               |                       |
| ----------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------- | --------------------- |
| Max Range                                                   | <p></p><ul><li>Min: 5m</li><li>Max: 1200m (10Hz)                                                                                                       | 2400m (1Hz)</li><li>Availability: 700m (10Hz) | 1500m (1Hz)</li></ul> |
| <p></p><p>Performance Continuous measure mode (Default)</p> | <p>10Hz, </p><ul><li>1200m\*</li></ul><p><em>\*Target size 2.3 x 2,3 m, visibility 25 km, target reflectivity 30 %, detection probability 90%</em></p> |                                               |                       |
| Accuracy                                                    | <p></p><ul><li>0.5m</li><li>Depending on distance and object reflectivity</li></ul>                                                                    |                                               |                       |
| Safety Classification                                       | Class 1M (IEC 60825-1:2014)                                                                                                                            |                                               |                       |

***

### Gimbal Specifications

| Feature            | Specification                                 |
| ------------------ | --------------------------------------------- |
| Mount Type         | Bottom Mount                                  |
| Angular Vibration  | ±0.01°                                        |
| Modes              | Off, Lock, Follow                             |
| Controllable Range | Tilt: +40° to -120° / Pan: ±320° / Roll: ±40° |
| Mechanical Range   | Tilt: +45° to -140° / Pan: ±326° / Roll: ±50° |
| Max Speed          | 100°/s (All Axes)                             |

***

### Additional Features

* **AI Object Detection**: Human, Vehicle (expandable)
* **Object Tracking**: Basic & Smart Tracking (with auto zoom)
* **Camera Sync**: EO/IR Side-by-Side Synchronization
* **Geotagging**: Based on MAVLink (autopilot or external GPS input)
* **Pinpoint Targeting**: Target coordinates overlay + SDK export
* **Video Output**: HDMI (recommend cable <50cm), RTSP
* **Ethernet File Server**: Accessible via HTTP server
* **Web Configuration Interface**: Yes

## LED STATUS INDICATOR

### Gimbal LED Status

<table><thead><tr><th width="69.6666259765625">No</th><th width="126">LED Color</th><th width="180.99993896484375">LED Status</th><th>Description</th></tr></thead><tbody><tr><td>1</td><td>🔴</td><td>Red Solid</td><td>Gimbal Error</td></tr><tr><td>2</td><td>⚪</td><td>White Solid</td><td>Initializing</td></tr><tr><td>3</td><td>⚪✨</td><td>White Blink</td><td>Calibrating</td></tr><tr><td>4</td><td>🟢✨</td><td>Green Blink</td><td>Gimbal Ready – Lock mode</td></tr><tr><td>5</td><td>🟢</td><td>Green Solid</td><td>Gimbal Ready – Follow mode</td></tr><tr><td>6</td><td>🔵✨</td><td>Blue Blink</td><td>Payload Ready* – Lock mode </td></tr><tr><td>7</td><td>🔵</td><td>Blue Solid</td><td>Payload Ready – Follow mode</td></tr><tr><td>8</td><td>🔴✨</td><td>Pink Blink</td><td>Payload connected system** with attitude input – Lock mode</td></tr><tr><td>9</td><td>🔴</td><td>Pink Solid</td><td><p>Payload connected system with attitude input </p><p>– Follow mode</p></td></tr></tbody></table>

### Payload LED Status

<table><thead><tr><th width="69">No</th><th width="128.00006103515625">LED Color</th><th width="179">LED Status</th><th>Description</th></tr></thead><tbody><tr><td>1</td><td>🔴</td><td>Red</td><td>Payload Error</td></tr><tr><td>2</td><td>🟡</td><td>Yellow</td><td>Payload Power On</td></tr><tr><td>3</td><td>🟢</td><td>Green</td><td>Payload Ready to Work</td></tr><tr><td>4</td><td>🔵</td><td>Blue</td><td>Recording Video</td></tr></tbody></table>

{% hint style="info" %}
**\*** *Payload includes the gimbal and camera systems*

**\*\*** *Payload is connected to an external system (e.g., flight controller) which is sending attitude data via MAVLink or another protocol.*
{% endhint %}

<figure><img src="/files/HNrFKIbaArAoED3MGCON" alt=""><figcaption></figcaption></figure>

***

## Storage Conditions

### Recommended Storage  Environmental Conditions

When not in use, GREMSY payloads shall be stored under the following conditions:

* **Ambient Temperature:** 18–25°C
* **Relative Humidity:** 30 – 45 %RH

These conditions are recommended to ensure long-term reliability of electronic components, gimbal motors, camera sensors, and mechanical assemblies.

{% hint style="success" %}
Recommendation: Use a dry cabinet to keep temperature and humidity stable and well-controlled.
{% endhint %}

### Storage Requirements Based on Non-Operating Duration

| Non-Operating Duration      | Storage Requirement                                            |
| --------------------------- | -------------------------------------------------------------- |
| ≤ 12 hours                  | **Should** be stored under the recommended storage conditions. |
| > 12 hours                  | **Must** be stored under the recommended storage conditions.   |
| Long-term storage / standby | **Always** store under the recommended storage conditions.     |

{% hint style="danger" %}
**Warning:** If the device is not maintained under the recommended storage conditions

* > 12-72 hours: condensation on the sensor lens may occur.
* > 72 hours: there is a high risk of moisture-related damage.
  > {% endhint %}

### Important Notes

In high-humidity environments (80–90% RH), dry cabinet storage may be required sooner than the time frames listed above.

Failure to follow these storage conditions may result in:

1. PCB oxidation and corrosion
2. Reduced gimbal motor lifespan
3. Electrical connector and camera sensor malfunction

*Contact to <support@gremsy.com> to get more information*


# HARDWARE CONFIGURATION


# MOUNTING

#### M-PORT QUICK RELEASE (IP VERSION) MOUNTING DIMENSION

<figure><img src="/files/6B5lBMbyJVgVQV3mZu7S" alt=""><figcaption><p>M-Port IP version</p></figcaption></figure>

<figure><img src="/files/aOG4YMnhadftlpKrFfod" alt=""><figcaption></figcaption></figure>

**CONNECTION HUB MOUNTING DIMENSION**

{% hint style="info" %}
The connection hub is not IP-rated, so please ensure it is mounted under the drone body or in a location protected from water and dust
{% endhint %}

<figure><img src="/files/5n9kXZP7lHiVa3OfVQHh" alt=""><figcaption></figcaption></figure>

### QUICK RELEASE INSTALLATION

#### **CONNECT QUICK RELEASE**

STEP 1: The marks on the top part and bottom part must be aligned. The button on the ring should be aligned with the unlocked icon as shown in the first picture.

STEP 2: Keep everything aligned and attach the bottom part to the top part.

STEP 3: Rotate the ring clockwise until the button on the ring aligns with the locked icon.

<figure><img src="/files/fZd3BMaZ84t8epHDv5pY" alt=""><figcaption></figcaption></figure>

#### **DISCONNECT QUICK RELEASE**

STEP 1: Press and hold the button, and rotate the ring counterclockwise.

STEP 2: When the button on the ring is aligned with the unlock icon, the ORUS L can be detached from the top part of the Quick Release.

<figure><img src="/files/qlK7hAE72SNuUXcMKNWI" alt=""><figcaption></figcaption></figure>


# I/O CONNECTION

Specifications are subject to change. Product currently in release phase.

## ORUS L CONNECTION HUB CONNECTORS AND PINOUTS <a href="#quick-release-connectors-and-pinouts" id="quick-release-connectors-and-pinouts"></a>

<figure><img src="/files/7ZPG6H9yWN0SXkV8pcP7" alt=""><figcaption></figcaption></figure>

### 1. POWER

Input range: **19-52 VDC**&#x20;

Connector type: **Molex 436450200**

<figure><img src="/files/oZOQbAexlv08nu887gab" alt=""><figcaption></figcaption></figure>

### 2. HDMI

Use to output video from the camera

Connector type: HDMI micro

<figure><img src="/files/gv8cTke965OcPNFlcDOb" alt=""><figcaption></figcaption></figure>

### 3. MULTIPLEX PORT

{% hint style="info" %}
For wiring interfaces such as **Pixhawk COM2**, **Pixhawk COM4**, **RC\_CAN**, and **RC\_JR**, the corresponding cables are **not included** in the standard (Basic) package.

{% endhint %}

#### *ETH*

Connector Type: BM05B-GHS-TBT

Pinout:

* <mark style="color:blue;">LAN\_TX\_P</mark>
* <mark style="color:blue;">LAN\_TX\_N</mark>
* <mark style="color:blue;">LAN\_RX\_P</mark>
* <mark style="color:blue;">LAN\_RX\_N</mark>
* <mark style="color:blue;">GND</mark>

#### *COM4/CAN/JR/PPM/SBUS*

Connector Type: BM09B-GHS-TBT

Pinout:

* <mark style="color:blue;">5V</mark>
* <mark style="color:blue;">SBUS/PPM</mark>
* <mark style="color:blue;">GND</mark>
* <mark style="color:blue;">SPEK (JR)</mark>
* <mark style="color:blue;">3V3</mark>
* <mark style="color:blue;">CAN\_L</mark>
* <mark style="color:blue;">CAN\_H</mark>
* <mark style="color:blue;">GIMBAL\_TX4</mark>
* <mark style="color:blue;">GIMBAL\_RX4</mark>

{% hint style="danger" %}
Supported cable not include on the package
{% endhint %}

<figure><img src="/files/nyPgy1TMRqMdebotGKi2" alt="" width="563"><figcaption></figcaption></figure>

#### *MAVLINK*

Connector Type: BM07B-GHS-TBT

Pinout:

* <mark style="color:blue;">RESERVE</mark>
* <mark style="color:blue;">RESERVE</mark>
* <mark style="color:blue;">MAVLINK\_RX</mark>
* <mark style="color:blue;">MAVLINK\_TX</mark>
* <mark style="color:blue;">GND</mark>
* <mark style="color:blue;">RESERVE</mark>
* <mark style="color:blue;">RESERVE</mark>

<div data-full-width="true"><figure><img src="/files/BG2cv739KH4YNZp99BjM" alt=""><figcaption></figcaption></figure></div>

## PAYLOAD CONNECTOR

### **1. USB-C**

USB Ethernet to configure the ORUS L settings via web app and upgrade software

<figure><img src="/files/m8tiZ2NI6VU3kF2dh9QS" alt=""><figcaption></figcaption></figure>

### **2. Reset Button**

To reset the computer processor inside ORUS L

{% hint style="info" %}
Contact <Support@gremsy.com> before using this function
{% endhint %}

## ORUS L CONTROL CABLE

### **RC\_SBUS\_PPM Cable**

Connector type 1: Housing 3 2.54mm

Connector type 2: GHR-09V-S

<figure><img src="/files/rrwAQe2c8UW4aV0CVYTh" alt=""><figcaption></figcaption></figure>

### Ethernet RJ45

Connector type 1: GHR-05V-S

Connector type 2: RJ45

<figure><img src="/files/cC4r0jigALXlFvTumSml" alt=""><figcaption></figcaption></figure>

### Ethernet HereLink

Connector type 1: GHR-05V-S

Connector type 2: GHR-05V-S

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

### MavLink UART

Connector type 1: GHR-07V-S

Connector type 2: GHR-06V-S

<figure><img src="/files/b3JbkcnBiX25WDiqgKcO" alt=""><figcaption></figcaption></figure>

{% hint style="info" %} <mark style="color:blue;">If you require these specific connection options, please contact</mark> <mark style="color:blue;"></mark><mark style="color:blue;">**<contact@gremsy.com>**</mark> <mark style="color:blue;"></mark><mark style="color:blue;">for further information regarding availability, compatibility, and purchasing of the appropriate accessories.</mark>
{% endhint %}


# SOFTWARE CONFIGURATION

Orus L support connect with PC or similar device running Windows/Mac/Unbutu over USB-ETH connection in order to initial setup, settings param and troubleshooting

It will require for some configuration to have the stable connection over the USB-ETH connection

## **Why Set a Static IP?**

While you connect to your computer as default IP, it may change and affect to the connection, leading to loss and instability

This article will show you how to change the IP address of computer for stable connection with ORUS-L via USB connection

{% stepper %}
{% step %}
**🔌 Step 1: Connect the Device**

Plug the device into your PC using a USB-C cable.

Your PC will automatically display a notification:\ <mark style="color:green;">**L4T-README (E:)**</mark>\
*💡 This confirms that the device is recognized.*\
![](/files/KzthquaWFJR8WVb1J32j)
{% endstep %}

{% step %}
**🌐 Step 2: Access Network Settings**

Go to: **Settings > Network & Internet > Advanced network settings**

Locate the Ethernet adapter labeled as:\ <mark style="color:green;">**Unidentified network | Remote NDIS Compatible Device #2**</mark> (or similar)\
*This is the virtual network interface created for the USB-C connection.*\
![](/files/xxUcY7VmjwDoPuFQH5Jk)
{% endstep %}

{% step %}
**🖥️ Step 3: Edit the PC’s IP Address**

You now need to assign a static IP address to this adapter.

1. Click on the Ethernet adapter *(Ethernet 5 or similar).*
2. Choose **Edit IP settings.**
3. Select **Manual**, turn on **IPv4.**
4. Enter the following:
   1. **IP address:** *<mark style="color:green;">192.168.55.3</mark>*
   2. **Subnet mask:** *<mark style="color:green;">255.255.255.0</mark>*
5. Leave other fields blank unless specified by your device documentation.
6. Click **Save.**
   {% endstep %}

{% step %}
**✅ Completed**

Your PC is now on the same subnet as the connected device (typically 192.168.55.x). You can now:

* Access a web interface, link:`192.168.55.1:8000`
  {% endstep %}

{% step %}

### *For Example*

<figure><img src="/files/1EV1ZGlTMMA244ZGjdVO" alt="" width="359"><figcaption></figcaption></figure>
{% endstep %}
{% endstepper %}


# WEB SETTING APP

Use USB-C *(bottom of ORUS-L)* to connect the Payload Web Setting.

To check the Firmware version and Software version, also configure the parameter of Payloads

1. **How to Connect?**

* LINK: `192.168.55.1:8000`
* When connect successfully, The computer will pop up a message

> Your PC will automatically display a notification:&#x20;
>
> **L4T-README (E:)**&#x20;
>
> *💡 This confirms that the device is recognized.*
>
> &#x20;![](https://docs.gremsy.com/~gitbook/image?url=https%3A%2F%2F3309772875-files.gitbook.io%2F%7E%2Ffiles%2Fv0%2Fb%2Fgitbook-x-prod.appspot.com%2Fo%2Fspaces%252FnikHUDUd2JXqkOsnOi7l%252Fuploads%252FEtZkXHvod0k8gwadTVzn%252Fimage.png%3Falt%3Dmedia%26token%3D2c9a94f1-7599-479e-85cc-78b675943b89\&width=300\&dpr=4\&quality=100\&sign=90ed10bb\&sv=2)

<figure><img src="/files/v7XK3zrXI6BZanupBxxv" alt=""><figcaption></figcaption></figure>


# SYSTEM

<table><thead><tr><th width="260">No.</th><th>Function</th></tr></thead><tbody><tr><td>1</td><td>General Setting</td></tr><tr><td>2</td><td>IP Address</td></tr><tr><td>3</td><td>Media Format</td></tr><tr><td>4</td><td>PiP Configuration</td></tr><tr><td>5</td><td>Localization</td></tr></tbody></table>


# GENERAL SETTING

This section covers general configuration options to tailor Orus-L’s behavior and measurement units to your operational needs.

<figure><img src="/files/DIX5jXmzSBhjx2Wz1nwt" alt=""><figcaption></figcaption></figure>

### **LRF Unit (Laser Range Finder)**

Select the preferred unit of measurement for distance readings:

* **`Meters`**
* **`Yards`**
* **`Feet`**
* **`Miles`**
* **`Kilometers (km)`**

***

### **GPS Unit Format**

Choose the format for displaying GPS coordinates:

* **Decimal Degrees (DD)** – e.g., 41.40338, 2.17403
* **Degrees, Minutes, Seconds (DMS)** – e.g., 41°24'12.2"N 2°10'26.5"E
* **Degrees Decimal Minutes (DDM)** – e.g., 41°24.2028', 2°10.4418'

***

### **Tracking Autozoom**

Enable or disable automatic zoom during object tracking:

* **Enable** – Zooms automatically to keep the target centered and sized
* **Disable** – Zoom level remains fixed regardless of target movement

***

### **Saving Your Settings**

After configuring the above options, click **“APPLY”** to save the settings. Changes will be applied immediately or after a system restart, depending on the option.


# IP ADDRESS

### Default IP Address of ORUS-L Payload

<figure><img src="/files/HPzMmf3b3kNAzH7uFyeB" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
**Payload Address:** 192.168.144.240

**Netmask:** 255.255.255.0

**Gateway:** 192.168.144.11

Click on **“APPLY”** to save the information.
{% endhint %}

### Set up an IP Address via USB Connection

{% stepper %}
{% step %}
Connect the USB Type-C port (located at the bottom of the **Orus-L**) to your computer using a USB cable.
{% endstep %}

{% step %}
The host computer will detect a new network adapter.
{% endstep %}

{% step %}
**Orus-L** will assign a DHCP IP address in the 192.168.55.x range to the host computer. Typically, the computer will receive the IP address **192.168.55.100**.
{% endstep %}

{% step %}
Verify the connection by opening a terminal or command prompt and executing:

```
ping 192.168.55.1
```

{% endstep %}

{% step %}
Open a web browser and navigate to the Orus-L settings interface:

```
http://192.168.55.1:8000
```

{% endstep %}

{% step %}
Go to the **IP Address** tab, then enter your desired static IP address.
{% endstep %}

{% step %}
Click **Apply and Reboot** to restart the **Orus-L** and apply the new static IP settings.
{% endstep %}
{% endstepper %}

### Change IP Address via Ethernet Connection&#x20;

If you have already changed the IP address and connected the **Orus-L** to your system using an Ethernet cable, follow the steps below to access and reconfigure the device.

{% stepper %}
{% step %}
**Connect Orus-L via Ethernet**

Plug an Ethernet cable into the Orus-L Ethernet port and connect it to your computer or network switch.
{% endstep %}

{% step %}
**Access the Web Interface**

In your browser, enter the updated IP address assigned to Orus-L using the following format:

```
http://<orus_ip>:8000
```

{% endstep %}

{% step %}
**Navigate to Static IP Settings**

Once connected to the web interface:

* Go to the **IP Address** tab.
* Enter a new static IP address if needed.
  {% endstep %}

{% step %}
**Apply the Changes**

Click **Apply and Reboot** to save the new configuration. The Orus-L will restart with the updated IP settings.
{% endstep %}
{% endstepper %}

✅ **Tip:** Make sure your computer is in the same subnet (e.g., 192.168.55.x) to maintain connectivity.


# MEDIA FORMAT

This section describes how to configure the storage and recording options for the Orus-L system.

<figure><img src="/files/uLOJc6RBlXYHvjwvmVkE" alt=""><figcaption></figcaption></figure>

### **IR Image Type**

Select the format in which infrared images will be saved:

* **JPEG** – Standard image format
* **JPEG & RAW** – Saves both the image and raw thermal data in CSV format

> ✅ *Use “JPEG & RAW” if thermal analysis is required in post-processing.*
>
> <img src="/files/PGspTULdWkN4z2KqkIAA" alt="" data-size="original">

***

### **Video Format**

Choose the video file format for recorded footage:

* **MP4** – Widely supported and efficient for general use
* **MKV** – Supports more advanced features and metadata

***

### **Record Format**

Select the video encoding standard:

* **H.265 (HEVC)** – Higher compression, smaller file sizes, ideal for longer recordings
* **H.264 (AVC)** – Greater compatibility with legacy systems

> 📌 *H.265 is recommended for modern workflows and efficient storage.*

***

### **Record Bitrate Settings**

**Electro-Optical (EO) Camera:**

Choose the desired video quality based on your storage and performance needs:

* `20 Mbps (highest quality)`
* `14 Mbps`
* `8 Mbps`
* `4 Mbps`
* `2 Mbps`
* `1 Mbps (lowest quality)`

**Infrared (IR) Camera:**

Select from the following bitrate options:

* `4 Mbps`
* `2 Mbps`
* `1 Mbps`

> ⚠️ *Higher bitrates offer better image quality but use more storage.*

***

### **Saving Your Settings**

Once all desired options are selected, click the **“APPLY”** button to save changes.\
The new configuration will take effect immediately or after a system restart, depending on the setting.


# PiP Configuration

<figure><img src="/files/O48QeRpQFmj9BriYDpwq" alt=""><figcaption></figcaption></figure>

| Parameter      | Description                                               | Valid Range      |
| -------------- | --------------------------------------------------------- | ---------------- |
| **Position X** | Horizontal coordinate of the PiP window’s top-left corner | 0 to 1280 pixels |
| **Position Y** | Vertical coordinate of the PiP window’s top-left corner   | 0 to 568 pixels  |
| **Width**      | Width of the PiP window                                   | 1 to 640 pixels  |
| **Height**     | Height of the PiP window                                  | 1 to 512 pixels  |

**Position X:**

* Enter a value between **0** and **1280**.
* This sets the horizontal position of the PiP window's top-left corner relative to the left edge of the screen.

**Position Y:**

* Enter a value between **0** and **568**.
* This sets the vertical position of the PiP window's top-left corner relative to the top edge of the screen.
* **Width:**
  * Enter a value between **1** and **640**.
  * This defines the width of the PiP window in pixels.
* **Height:**

  * Enter a value between **1** and **512**.
  * This defines the height of the PiP window in pixels.


# LOCALIZATION

### Select Timezone

* Locate the **Select Timezone** option.
* Timezone options correspond to standard global time zones (e.g., UTC±offset).

<figure><img src="/files/VkV7bzgPPy8c2qUuGBJP" alt=""><figcaption></figcaption></figure>

### Apply and Save Configuration

* After selecting the correct timezone, click the **“APPLY”** button to confirm and save your settings.
* The system clock will automatically update to reflect the chosen timezone.

### Important Considerations

* Correct timezone configuration is critical for:
  * Accurate flight logging and mission timestamping
  * Compliance with regulatory reporting requirements
  * Synchronization with ground control and data servers
* For operations spanning multiple regions or time zones, ensure the system timezone is updated accordingly prior to deployment.


# VIDEO STREAM

|   |                         |
| - | ----------------------- |
| 1 | Stream General Settings |
| 2 | EO Stream Settings      |
| 3 | IR Stream Settings      |


# Stream General Settings

This section allows you to configure video streaming parameters for optimal performance based on your network conditions and operational requirements.

<figure><img src="/files/W090I48fGpgkMbVlyA4j" alt=""><figcaption></figcaption></figure>

### **Auto Connect**

Determines whether the stream starts automatically when the system powers on:

* **Enable** – Automatically initiates video streaming
* **Disable** – Requires manual start.

***

### **Streaming Type**

* RTSP
* RTP (UDP)
* KLV (UDP)

***

### **Port**

Specifies the port number used for RTSP streaming:

* **Default:** `8554`

> 📌 Ensure this port is open and not blocked by firewalls on your network.

***

### Client Timeout (s)

***

### **Individual IR Stream**

Enable or disable a separate infrared video stream:

* **Enable** – Streams IR video independently from EO
* **Disable** – IR is not streamed or is embedded with EO feed

***

### **Saving Your Settings**

Click **“APPLY”** to save and apply your selected streaming configuration.\
Streaming changes may take effect immediately or require a system reboot.


# EO Stream Settings

<figure><img src="/files/FOABP0pQ95LMpvWGby1c" alt=""><figcaption></figcaption></figure>

### **Bitrate**

Sets the data rate for video transmission. Higher bitrates offer better quality but require more bandwidth:

* 512 Kbps
* 1 Mbps
* 2 Mbps
* **4 Mbps**
* 8 Mbps

### **Mount Point**

Defines the stream endpoint name used by RTSP clients (e.g., VLC, Payload Plus):

* **Default:** `payload`
* You can change this value as needed for your streaming setup.

### **Resolution**

Select the desired output resolution:

* 1920 × 1080 (Full HD)
* **1280 × 720 (HD)**
* 640 × 360 (Low Bandwidth Mode)

### **Encoder**

Choose the video compression format:

* **H.264 (AVC)** – Standard and widely supported
* **H.265 (HEVC)** – Higher efficiency, reduced bandwidth usage

### **Frame Rate**

Set the number of video frames per second (FPS):

* **Range:** 1 to 60 FPS

> Lower frame rates reduce bandwidth and power consumption.


# IR Stream Settings

<figure><img src="/files/xZ1NDHjlMigs08encRNo" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
Please enable the Individual IR Stream to change the IR camera settings
{% endhint %}

### **Bitrate**

Sets the data rate for video transmission. Higher bitrates offer better quality but require more bandwidth:

* 512 Kbps
* 1 Mbps
* **2 Mbps**
* 4 Mbps
* 8 Mbps

### **Mount Point**

Defines the stream endpoint name used by RTSP clients (e.g., VLC, Payload Plus):

* **Default:** `payload_ir`
* You can change this value as needed for your streaming setup.

### **Resolution**

Select the desired output resolution:

* **640x512**
* 1280x1024
* 480x284
* 320x256
* 160x128

### **Encoder**

Choose the video compression format:

* **H.264 (AVC)** – Standard and widely supported
* **H.265 (HEVC)** – Higher efficiency, reduced bandwidth usage

### **Frame Rate**

Set the number of video frames per second (FPS):

* **Range:** 1 to 60 FPS

> Lower frame rates reduce bandwidth and power consumption.


# MAVLINK

<figure><img src="/files/xjhtE64qR4UH0q1TVlot" alt=""><figcaption></figcaption></figure>

### Available Camera Component IDs

| Camera Name  | MAVLink Component ID |
| ------------ | -------------------- |
| **Camera 1** | 100                  |
| **Camera 2** | 101                  |
| **Camera 3** | 102                  |
| **Camera 4** | 103                  |
| **Camera 5** | 104                  |
| **Camera 6** | 105                  |

### Available Baudrate Options

Baudrate:

* 1200
* 2400
* 4800
* 9600
* 19200
* 38400
* 57600
* 111100
* **115200**
* 230400
* 256000
* 460800
* 500000
* 921600
* 1500000

### Systems ID

Available from 1 to 255

### Version

Both: Mavlink V1 & Mavlink V2

### Camera Definition

There are (2) options: Online & Offline.

* **Offline** – Uses onboard definitions without requiring internet access
* **Online** – Loads updated definitions from the cloud when connected


# GIMBAL

#### **Gimbal Device – Firmware Update**

Update the gimbal firmware using a `.hex` file provided by the manufacturer.

**Steps to Update Firmware:**

1. Click **“Choose File”** and select the appropriate `.hex` firmware file from your computer.
2. Click **“UPDATE”** to begin the upgrade process.

> The process will take about 2 minutes.

3. When the firmware is upgraded successfully, click **"OK"**, the gimbal will be restarted automatically.

> ⚠️ **Do not power off or disconnect the device during the update.**

<figure><img src="/files/EFY3PAirrRzmMfN3u5k8" alt=""><figcaption></figcaption></figure>

***

#### **Gimbal Control – Autospeed**

Enable or disable the automatic speed adjustment feature for gimbal movements.

* **Enable** – Gimbal movement speed adjusts dynamically based on input
* **Disable** – Gimbal speed remains constant, as defined by user input settings

***

#### **Saving and Applying Changes**

Firmware updates take effect after the update process completes.\
Changes to **Gimbal Control** settings apply immediately after clicking **“UPDATE”**.

{% hint style="info" %}
\+ If using USB Type-C: Open a web browser and enter <http://192.168.55.1>:8000

\+ If using Ethernet: Open a web browser and enter <http://192.168.12.249:8000>

Note : If you are using an Ethernet connection, ensure your device’s IP settings match the product’s network configuration.
{% endhint %}

<figure><img src="/files/h5EVGTMA2KOg71dqTk70" alt=""><figcaption></figcaption></figure>


# IR CAMERA


# STANDARD VERSION


# Setup Radiometric Environment Factors

### **1. Overview**

* This section will be setup the environment factors for the radiometric camera of the Vio payload
* To do this section, user must have knowlegde about the radiometric camera. The user can check the datasheet for the radiometric camera of the Vio payload to get more information.

### **2. Setup the radiometric environment factors**

**Atmospheric Temperature (K)**

* **Range:** 100 to 500 Kelvin Set the ambient air temperature for thermal compensation.

***

**Distance (m)**

* **Range:** 0 to 255 meters Enter the distance between the VIO and the target object to enhance thermal accuracy.

***

**Emissivity Target (%)**

* **Range:** 0% to 100% Defines the emissivity of the target surface.

> ⚠️ Default for most organic materials is around **95%**.

***

**Humidity (%)**

* **Range:** 0% to 100% Input the relative humidity of the environment, which may affect thermal readings.

***

**ModifyB / ModifyK**

* **Range:** 0 to 255 (each) Advanced calibration parameters used for fine-tuning thermal correction models.

> Only modify if you have specific calibration requirements or guidance.

***

**Window Reflect Temperature (K)**

* **Range:** 100 to 500 Kelvin Temperature of the window or lens surface through which the sensor observes the target.

***

**Temperature Unit**

Choose your preferred unit for displaying temperature:

* **Celsius (°C)**
* **Fahrenheit (°F)**
* **Kelvin (K)**

***

**Saving Your Settings**

Click **“APPLY”** to save and activate the new environmental configuration. Settings will be used to refine thermal imaging calculations in real time.

<figure><img src="/files/uozGQ9dap4SEYptT8Guv" alt="" width="319"><figcaption></figcaption></figure>


# Isotherms Regions

<figure><img src="/files/WEnTTeej4H1IG9y8uGiX" alt=""><figcaption></figcaption></figure>

#### 1. Status

Enable or disable the Isotherms function.

* **Enable:** Highlights all regions with temperatures above the configured threshold.
* **Disable:** Turns off the Isotherms overlay.

#### 2. Threshold (°C)

Set the temperature limit that triggers the visual alert.

**Examples:**

* **550°C** → All pixels with temperatures **greater than 550°C** are highlighted in **red**.
* **37°C** → All pixels with temperatures **greater than 37°C** are highlighted in **red**, making it easier to identify people or other warm objects.

> **Note:** Pixels are highlighted only when their measured temperature exceeds the specified threshold.

### Example Configuration

To visually detect humans using their approximate body temperature:

| Parameter          | Value  |
| ------------------ | ------ |
| **Status**         | Enable |
| **Threshold (°C)** | 37     |

After clicking **Apply**, all regions with temperatures above **37°C** will be highlighted in **red** on the thermal image.

<figure><img src="/files/ldxAnrJG7cjku5IODthD" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/6JFL91ONLVAAGTw42Sj2" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/zlFDmBWnpkxQTdgbqQ6B" alt=""><figcaption></figcaption></figure>


# NDAA VERSION


# Environmental Factors

It is necessary that environmental factors are properly set to achieve optimal radiometric accuracy. In the Web Setting App, they are available in the Radiometry Tab. The parameters are described as follows:

\
**• Window Temperature:** The temperature of the IR transmissive window in the optical path of the camera
\
**• Window Transmission:** The transmission of the IR transmissive window
\
**• Window Reflection:** The reflection of the IR transmissive window.
\
**• Window Reflection Temperature:** The reflection of the internal temperature on the camera side of the window off the IR transmissive window.
\
**• Atmospheric Transmission:** Transmission of the atmosphere in the optical path between the camera and the target
\
**• Atmospheric Temperature:** Temperature of the Air between the camera and the target
\
**• Emissivity Target:** Emissivity of the target being measured
\
**• Background Temperature:** Temperature of the scene background being imaged. Generally, this will be near ambient.

<figure><img src="/files/wym2HM2lKrE9Q8AVW3Od" alt=""><figcaption></figcaption></figure>


# Isotherms Regions

### Configuration

#### 1. Enable

Turn the **Isotherms** feature **On** or **Off** using the toggle switch.

#### 2. Gain

Select the appropriate **Gain** mode based on the expected temperature range of the target.

#### 3. Units

Choose the temperature unit (e.g., **°C** or **°F**).

#### 4. Configure Isotherm Regions

For each enabled region, configure the following parameters:

* **Minimum Temperature** – Lower limit of the temperature range.
* **Maximum Temperature** – Upper limit of the temperature range.
* **Color A** – Starting color of the temperature range.
* **Color B** – Ending color of the temperature range.
* **Colorization Mode** – Select the desired color mapping method:
  * Linear RGB
  * Linear HSV
  * Standard
  * Non-Linear
  * Single Color

> **Note:**
>
> * To ensure a smooth color transition between adjacent regions, set the **Minimum Temperature** of the current region equal to the **Maximum Temperature** of the previous region.
> * Leave any unused regions (such as **Region 4** and **Region 5**) **Disabled**.

#### 5. Apply Settings

Click **Apply** to save and activate the Isotherms configuration.

### Example

The following configuration creates three continuous temperature regions:

| Region   | Temperature Range | Color          |
| -------- | ----------------- | -------------- |
| Region 1 | 0°C – 30°C        | Blue → Green   |
| Region 2 | 30°C – 60°C       | Green → Yellow |
| Region 3 | 60°C – 120°C      | Yellow → Red   |

This configuration provides a continuous color gradient across the thermal image, allowing operators to quickly distinguish different temperature levels and identify hot spots.

<figure><img src="/files/uJFtKbHD1k2fi6E7yROl" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/5OJf87w57YvMDBUjn7sg" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/EpaOkmvbjrIuELvUd4FN" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/MuLc888jkFuJg1FqoIdA" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/w8qIyfzUSUMVmA7dfm4J" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/pHSiCzuB5it5jDN4L9y4" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/uCcEIZMlziSgfwJdSr9p" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/A4MHQSwomRsEgAdXDpoe" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/bzbgXqrSyPzBBLm5OG4p" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/5tLWh0HNg6P1ojgs46OL" alt=""><figcaption></figcaption></figure>


# IR Camera

<figure><img src="/files/OIUhQx3RIjf1Fj2T2SCV" alt=""><figcaption></figcaption></figure>

**Scale**

Adjust how the IR image is displayed on screen:

* **Original** – Maintains the sensor’s native aspect ratio
* **Full Screen** – Scales the image to fill the display

<figure><img src="/files/XNg5D3MtfwLHbkhaWSP9" alt=""><figcaption></figcaption></figure>

***

**Overlay ROI (Region of Interest)**

Enable or disable visual overlays for measurement regions:

* **Enable** – Displays measurement boxes on the IR image
* **Disable** – Hides all ROI overlays

***

**ROI Measurement**

Select the size of the temperature measurement region:

* **Small**
* **Medium**
* **Large**
* **Full Screen**

<figure><img src="/files/4g4Hzdljt6GedoF6eSNt" alt=""><figcaption></figcaption></figure>

> 📌 Choose a smaller ROI for precise spot measurements or larger regions for broader thermal averaging.

***

**FFC Mode (Flat-Field Correction)**

Control how thermal noise and image uniformity are corrected:

* **Auto** – Automatic calibration based on internal logic
* **Manual** – User-triggered calibration
* **External** – Triggered by external signal
* **External with Auto Table Switch** – Uses external trigger and auto compensation table selection

***

#### **FFC Period (Minutes)**

This setting determines how frequently the camera performs an **automatic FFC** operation.

* **Unit:** Minutes
* **Typical Range:** 1 to 60 minutes (or based on manufacturer limits)
* **Default:** Often 5

***

**Saving Your Settings**

Click **“APPLY”** to confirm and apply your IR camera configuration. Settings will be used immediately or after the next FFC trigger.


# MEDIA FILES

### **Download Image and Video – Orus-L**

This section allows users to manage stored media files directly from the Orus-L interface.

<figure><img src="/files/hSSFXAnQ4Ug7LmvpgxMd" alt=""><figcaption></figcaption></figure>

***

#### **IMAGE Management**

Options to manage captured infrared and electro-optical images:

* **Download All** – Download all stored images to the host computer
* **Delete All** – Permanently remove all stored images from internal storage

***

#### **VIDEO Management**

Options to manage recorded video files:

* **Download All** – Download all recorded videos
* **Delete All** – Permanently delete all stored video files

> ⚠️ **Caution:** Deleting media is irreversible. Ensure backups are made before selecting "Delete All."

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


# REMOTE CHANNELS

{% embed url="<https://docs.gremsy.com/payloads/general/gremsy-payload-control-type/setting-remote-control-mode>" %}


# ASSISTANCE SOFTWARE


# gTune Desktop

## CONNECT BY USB-C

<figure><img src="/files/BztqK6A30ataxM50bJ81" alt=""><figcaption></figcaption></figure>

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/mjQf4jGgYVyDmX2ev1sJ" %}
[GTUNE DESKTOP](/gremsy-app/gtune-desktop)
{% endcontent-ref %}

## CONNECT BY ETHERNET&#x20;

<figure><img src="/files/H7966ikTdNIx8ba9gYLg" alt=""><figcaption></figcaption></figure>

Run gTune Desktop version v1.4.9.7#.

*Note: gTune will not automatically recognize the gimbal at first. Click \<Select your Connection> to verify the connection, then click \<Search>.*

Once the device is detected, click \<CONNECT> to establish the connection.

{% hint style="info" %}
Port should be 14564 to connect the gTune Desktop
{% endhint %}

<img src="/files/7S0cBvcXHJH1EJY0jGKz" alt="" height="336" width="624">

<br>


# Payload Plus App

Orus L Fully compatible with the **Gremsy Payload Plus** Android application, offering advanced control and configuration capabilities over **Ethernet (UDP + RTSP)**.

**Key Highlights**

* **Seamless Integration with Payload Plus**: Orus L works natively with the **Gremsy Payload Plus** app, enabling intuitive setup, real-time gimbal control, and live video preview directly from an Android device.
* **Ethernet Connectivity**: Utilizes high-speed Ethernet interface to ensure stable and low-latency communication for both control (UDP) and video streaming (RTSP).
* **Precise Gimbal Control**: Control Pan, Tilt, and Roll angles smoothly using the app interface. Adjust movement speed, mode switching, and gimbal behavior on the fly.
* **Live Video Streaming via RTSP**: Stream real-time video feed from the integrated camera to the Payload Plus app using **RTSP**, ensuring immediate visual feedback for target framing and mission planning.
* **Advanced Configuration**: Access full payload settings including object tracking, AI detection, camera indeep settings—all within the Payload Plus app.

For the detailed installation and connect with the Payload Plus, refer to the link below:

{% content-ref url="/pages/aC6Yz1NrGG0WFnMd6bsq" %}
[PAYLOAD PLUS](/gremsy-app/payload-plus)
{% endcontent-ref %}


# Payload Assistant Desktop

Orus L Fully compatible with the **Gremsy Assistance Desktop** offering advanced control and configuration capabilities over USB-Ethernet for settings and testing the payload.

### **Video Stream and Control via Payload Assistant Desktop**

Use the USB-C port to stream and control the Orus-L payload using the **Payload Assistant Desktop** application.

{% stepper %}
{% step %}
**✅ Step 1: Launch the Application**

Open Payload Assistant Desktop v2.0.0.1 or later on your computer.

{% embed url="<https://github.com/Gremsy/Payload-Assistant-Desktop/releases/tag/v2.0.0.1>" %}
{% endstep %}

{% step %}
**✅ Step 2: Configure RTSP Video Stream**

URL RTSP: <mark style="color:green;">rtsp\://192.168.55.1:8554/payload</mark>

*Port 8554 is used for RTSP (Real-Time Streaming Protocol).*
{% endstep %}

{% step %}
**✅ Step 3: Set Communication Settings**

* IP: 192.168.55.1
* PORT: 14566

*Port 14566 is used for MAVLink telemetry communication.*
{% endstep %}

{% step %}
**✅ Step 4: Connect**

1. Status will show: "PAYLOAD CONNECTED" if successful.
2. Click "Open Video" to start the RTSP stream (video feed).
3. Click "Connect" to establish the MAVLink link via port 14566.
   {% endstep %}
   {% endstepper %}

<figure><img src="https://lh7-rt.googleusercontent.com/slidesz/AGV_vUf-ugPEMs79basbGgYRU7CDELWlf4QfpQh4NoLdPho2yUanpytgr8Glsf-goeK0WiGXfpCv-aJ8tf0BH1IWndlkwZcAis8tHEKN9pXmRilrAApJlCFTjfIwGcbj_hoqEWY0LeTuig=s2048?key=JcykXgYdliLWfWdlkzdgOQ" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/rPXLYf2AEQ6E1lxB2lER" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/HR2YRv4GQF85IAYaZGnZ" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/GrWn7MaDOFcdXmtEPj4A" alt=""><figcaption></figcaption></figure>


# THIRD PARTIES INTEGRATION

**Orus L** is designed to be highly flexible, allowing it to integrate into a wide range of UAVs and robotics platforms. With support for **UART**, **Ethernet (UDP & RTSP)**, **MAVLink**, and the **Gremsy Payload SDK**, users can easily adapt Orus L to fit their specific system architecture—whether it’s a flight controller-based drone, an onboard computer, or a mobile robot.

Below are four common integration setups that demonstrate how Orus L can be deployed in real-world applications:

## **1. Mavlink Autopilot Integration (UART + Ethernet)**

Ideal for traditional drones using PX4 or ArduPilot firmware.

* Connect via UART
* Controlled via Mission Planner or QGroundControl
* Gimbal responds to waypoint missions and ROI commands

<figure><img src="/files/Ph6GJiR1mXiPVxSsMT5C" alt=""><figcaption></figcaption></figure>

## **2. Advance Mavlink Autopilot with Companion Computer  (Ethernet + SDK)**

Ideally for Flight controller with onboard computing buit-in such as Skynode, VOXL2  (Jetson, RPi, NUC).

* Use Ethernet for control (UDP) and video (RTSP)
* Integrate using Gremsy Payload SDK for custom logic (optional)
* Optional MAVLink passthrough to flight controller

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

## **3. Companion Computer Integration (Ethernet/UART + SDK)**

Used in ground robots or special payload systems with/without flight controller.

* Full control and video via Ethernet
* Custom logic handled by onboard PC using Gremsy SDK

### **3.1 Using Ethernet Connection**

<figure><img src="/files/1vA2qiqPt7Je0UVrCPkr" alt=""><figcaption></figcaption></figure>

### **3.2 Using UART Connection**

<figure><img src="/files/e9lbF36oo7MCcmZUiCa1" alt=""><figcaption></figcaption></figure>


# MAVLINK AUTOPILOT

#### **Gremsy Payload Integration with Mavlink-based Autopilot Systems**

**Integration Capabilities**

Gremsy payloads support standard communication protocols to interface smoothly with Pixhawk systems, including:

* **MAVLink v2 Protocol**: Compatible with popular firmware such as PX4 and ArduPilot. The payload can receive and respond to gimbal control commands from the autopilot, including angle control, ROI (Region of Interest) tracking, and camera navigation along waypoints.
* **UART/Serial Communication**: Gremsy gimbals offer UART ports for direct communication with the flight controller. Baud rate and protocol settings can be configured to match the specific autopilot setup.
* **Ethernet Interface**: Enables high-speed, low-latency communication for advanced use cases:
  * **UDP Protocol** for real-time gimbal and camera control commands from onboard computers or ground stations.
  * **RTSP (Real-Time Streaming Protocol)** for live video streaming from the payload camera to ground control software or network video recorders.

## General Hardware Connection

1. **Flight Stack without onboard computer**\
   E.g: Cube Pilot, Pixhawk series with Herelink v1.1 remote

<figure><img src="/files/9dSwnYc4BvsmxzeAmVUL" alt=""><figcaption></figcaption></figure>

2. **Flight Stack with onboard computer built-in**\
   E.g: Skynode, VOXL2 with Herelink v1.1

<figure><img src="/files/fC9fOCEELRK8VLx4wpBF" alt=""><figcaption></figcaption></figure>


# SETUP WITH ARDUPILOT

## Payload Telemetry & Gimbal Mount Settings

### **Ardupilot 4.3 or higher**

<table><thead><tr><th>Category</th><th width="186">Parameter</th><th width="101" align="center">Value</th><th>Description</th></tr></thead><tbody><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_PROTOCOL</code></td><td align="center"><code>2</code></td><td>Use MAVLink2 protocol</td></tr><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_BAUD</code></td><td align="center"><code>115</code></td><td>Set baud rate to 115200</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCx_OPTION</code></td><td align="center"><code>214</code></td><td><p>x is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: PAN control</li><li>Gremsy mode:PAN/TILT move (speed-based control)</li></ul></td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCy_OPTION</code></td><td align="center"><code>212</code></td><td><p>y is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: Roll control</li><li>Gremsy mode: not applicable</li></ul></td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCz_OPTION</code></td><td align="center"><code>213</code></td><td><p></p><p>z is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: TILT control</li><li>Gremsy mode: Select axis: PAN or TILT</li></ul></td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_TYPE</code></td><td align="center"><code>6</code></td><td>MAVLink Gimbal Type</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_DEFLT_MODE</code></td><td align="center"><code>3</code></td><td>Default to RC Targeting mode</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_RC_RATE</code></td><td align="center"><code>240</code></td><td>Speed control rate for gimbal</td></tr><tr><td><strong>Camera Settings</strong></td><td><code>CAM_TYPE</code></td><td align="center"><code>6</code></td><td>MAVLink Camera integration</td></tr></tbody></table>

***

### **Ardupilot lower 4.3 (limited support from Ardupilot)**

<table><thead><tr><th width="232">Category</th><th width="184">Parameter</th><th width="101">Value</th><th>Description</th></tr></thead><tbody><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_PROTOCOL</code></td><td><code>2</code> </td><td>Use MAVLink v2 protocol on Telemetry 2</td></tr><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_BAUD</code></td><td><code>115</code> (<code>115200</code>)</td><td>Set telemetry baud rate to 115200</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC6_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC7_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC8_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_PAN</code></td><td><code>6</code></td><td>PAN/TILT move (assigned to RC channel 6)</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_ROLL</code></td><td><code>7</code></td><td>Zoom control (High = Zoom In, Neutral = Stop, Low = Zoom Out)</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_TILT</code></td><td><code>8</code></td><td>Axis select (assigned to RC channel 8)</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT_TYPE</code></td><td><code>4</code> (<code>SToRM32 MAVLINK</code>)</td><td>Set gimbal mount type to SToRM32 MAVLink</td></tr></tbody></table>

## **Data Stream Rate Settings (Telemetry 2)**

To receive essential positioning and status information:

* `SR2_POSITION` = `10` → **GPS Position**
* `SR2_EXT_STAT` = `2` → **GPS Lock Status**

***

## **GPS Configuration via CAN**

If using a UAVCAN GPS unit:

#### **CAN Port Driver Enable**

* `CAN_P1_DRIVER` = `1` → **Enable CAN1**
* `CAN_P2_DRIVER` = `1` → **Enable CAN2**

#### **GPS Type Selection**

* `GPS_TYPE` = `9` → **UAVCAN GPS**

***

## &#x20;**Notification LED Settings**

* `NTF_LED_TYPES` = `231` → **Enable Standard Notification LEDs**


# SETUP WITH PX4

Parameter Setup

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

| Parameter             | Value      | Description                                                        |
| --------------------- | ---------- | ------------------------------------------------------------------ |
| **Firmware Version**  | Latest     | Required for MAVLink v2 support and gimbal features                |
| **MAV\_1\_CONFIG**    | TELEM2     | Assign MAVLink instance 1 to telemetry port 2 (TELEM2)             |
| **SER\_TEL2\_BAUD**   | 115200 8N1 | Set TELEM2 baud rate to 115200, 8 data bits, no parity, 1 stop bit |
| **MAV\_1\_FORWARD**   | 1          | Enable forwarding of MAVLink messages                              |
| **MNT\_MODE\_IN**     | RC         | Mount input mode: manual control via RC channels                   |
| **MNT\_MODE\_OUT**    | 2          | Mount output mode (specific to hardware/protocol)                  |
| **MNT\_RC\_IN\_MODE** | 1          | RC input mode: angular control                                     |
| **MNT\_MAN\_PITCH**   | AUX3       | Manual control for pitch (tilt) assigned to AUX3                   |
| **MNT\_MAN\_ROLL**    | AUX2       | Manual control for roll (zoom) assigned to AUX2                    |
| **MNT\_MAN\_YAW**     | AUX1       | Manual control for yaw (pan) assigned to AUX1                      |
| **RC\_MAP\_AUX1**     | Channel 6  | Maps RC channel 6 to AUX1 (yaw control)                            |
| **RC\_MAP\_AUX2**     | Channel 7  | Maps RC channel 7 to AUX2 (zoom control)                           |
| **RC\_MAP\_AUX3**     | Channel 8  | Maps RC channel 8 to AUX3 (pitch control)                          |
| **COM\_RC\_IN\_MODE** | 3          | RC input mode blending (e.g., RC + MAVLink)                        |


# SETUP WITH SKYNODE

### Parameter Settings&#x20;

In the **Advanced** menu, adjust the **MAVLink** settings as needed.

<table><thead><tr><th width="148">No.</th><th>Parameters</th><th>Settings</th></tr></thead><tbody><tr><td>1</td><td>MAV_0_CONFIG</td><td>Disabled</td></tr><tr><td>2</td><td>MAV_1_CONFIG</td><td>TELEM 2</td></tr><tr><td>3</td><td>MAV_2_CONFIG</td><td>EXT2</td></tr><tr><td>4</td><td>MAV_2_FORWARD</td><td>Enabled</td></tr><tr><td>5</td><td>MAV_2_MODE</td><td>Gimbal</td></tr><tr><td>6</td><td>MAV_2_RATE</td><td>92160 B/s</td></tr><tr><td>7</td><td>MAV_S_FORWARD</td><td>Enabled</td></tr><tr><td>8</td><td>MAV_TYPE</td><td>Hexarotor</td></tr></tbody></table>

<figure><img src="/files/Yx4pzu5HqXSzgobCRFPL" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/U7UgMyzKcKU82gF2CYNh" alt=""><figcaption></figcaption></figure>

Switch to the **Mount** section to continue configuring other parameters.

<table><thead><tr><th width="116">No.</th><th width="199">Parameters</th><th>Settings</th></tr></thead><tbody><tr><td>1</td><td>MNT_MODE_IN</td><td>Auto (RC and MAVLink gimbal Protocol V2)</td></tr><tr><td>2</td><td>MNT_MODE_OUT</td><td>MAVLink gimbal protocol V2</td></tr><tr><td>3</td><td>MNT_RANGE_PITCH</td><td>720.0 deg</td></tr><tr><td>4</td><td>MNT_RANGE_ROLL</td><td>720.0 deg</td></tr><tr><td>5</td><td>MNT_RANGE_YAW</td><td>720.0 deg</td></tr><tr><td>6</td><td>MNT_RATE_PITCH</td><td>720.0 deg</td></tr><tr><td>7</td><td>MNT_RATE_YAW</td><td>720.0 deg</td></tr><tr><td>8</td><td>MNT_MAN_PITCH</td><td>AUX2</td></tr><tr><td>9</td><td>MNT_MAN_YAW</td><td>AUX3</td></tr><tr><td>10</td><td>MNT_MODE_IN</td><td>Auto (RC and MAVLink gimbal Protocol V2)</td></tr><tr><td>11</td><td>MNT_MODE_OUT</td><td>MAVLink gimbal protocol V2</td></tr></tbody></table>

<figure><img src="/files/qOh5l1NtxuFD1sOlfOLf" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/eGynY4dkiDb3OlT0PBMs" alt=""><figcaption></figcaption></figure>


# PAYLOAD SETTING

ORUS L and other gremsy payload compliance with the Mavlink protocol v2 and support for the payload settings over Mavlink telementry.

It could be integrate/embedded to the autopilot software such as Qground Control easily by manual or auto ( with internet access in the first time connect).

Note: If you're running the customize software, you may need to customize the payload menu settings UI by using Payload SDK for call the API.&#x20;


# Payload Definition File Download

1. Manual

Download the suitable with your software version here: <https://github.com/Gremsy/Orus-L-Camera-Definition/releases>

Install to the Software Camera Settings folder

E.g: QGroundControl

2. Auto

Connect the Ground Station/Remote which is running the software to the internet.

Enable  the Camera defination to "Auto"

Then the payload settings will be auto-downloaded and install to your device


# Payload Settings Menu

## ORUS-L NDDA

| Parameter                     | Options                                                                                    | Default         |
| ----------------------------- | ------------------------------------------------------------------------------------------ | --------------- |
| **Camera Mode**               | Photo, Video                                                                               | Video           |
| **Tracking Mode**             | Object Tracking, Object Detection                                                          | Object Tracking |
| **OSD Mode**                  | Disable, Debug, Status                                                                     | Disable         |
| **RC Mode**                   | Gremsy, Standard                                                                           | Gremsy          |
| **Setting Target**            | Camera Device, Gimbal Device                                                               | Camera Device   |
| **Video View Source**         | EO/IR, Only EO, Only IR, IR/EO, SYNC                                                       | EO/IR           |
| **Video Record Source**       | Both EO/IR, Only EO, Only IR, Only OSD                                                     | Both EO/IR      |
| **IR Palette**                | WhiteHot, BlackHot, Rainbow, RainbowHC, Ironbow, Lava, Arctic, Globow, Gradedfire, Hottest | WhiteHot        |
| **IR Zoom**                   | 1x to 8x                                                                                   | 1x              |
| **EO Zoom Mode**              | Combine, Super Resolution                                                                  | Combine         |
| **EO Combine Zoom**           | 1x, 10x, 20x, 40x, 80x, 120x, 240x                                                         | 1x              |
| **EO Super Resolution Zoom**  | 1x to 30x                                                                                  | 1x              |
| **EO Flip**                   | OFF, ON                                                                                    | OFF             |
| **EO Defog Mode**             | OFF, ON                                                                                    | OFF             |
| **EO Defog Level**            | Lowest, Low, Mid, High                                                                     | Lowest          |
| **EO Auto Exposure Mode**     | Full Auto, Manual, Shutter Priority, Iris Priority, Bright                                 | Full Auto       |
| **EO Shutter Value**          | 1/10 to 1/2000                                                                             | 1/10            |
| **EO Aperture Value**         | F2.0 to F11                                                                                | F2.0            |
| **EO Brightness Value**       | 0 to 41                                                                                    | 0               |
| **EO WB Mode**                | Auto, Indoor, Outdoor, One Push WB, ATW, Manual                                            | Auto            |
| **EO Focus Mode**             | Manual, Auto Zoom Trigger, Auto Focus Near, Auto Focus Far                                 | Manual          |
| **EO Focus Value**            | 0 to 61440                                                                                 | 0               |
| **EO AutoICR Mode**           | Auto, Manual                                                                               | Auto            |
| **EO ICR Mode**               | On, Off                                                                                    | On              |
| **EO ICR Threshold**          | 0 to 255                                                                                   | 0               |
| **EO Image Stabilizer Level** | Super, Super+                                                                              | Super           |
| **EO Image Stabilizer**       | Hold, On, Off                                                                              | On              |
| **EO High Sensitivity**       | On, Off                                                                                    | On              |
| **Gimbal Mode**               | OFF, LOCK, FOLLOW, MAPPING, RETURN HOME                                                    | OFF             |
| **LRF Mode**                  | OFF, 1 Hz, 4 Hz, 10 Hz                                                                     | OFF             |

## ORUS-L STANDARD

| Description                   | Options                                                                                    | Default         |
| ----------------------------- | ------------------------------------------------------------------------------------------ | --------------- |
| **Camera Mode**               | Photo, Video                                                                               | Video           |
| **Tracking Mode**             | Object Tracking, Object Detection                                                          | Object Tracking |
| **OSD Mode**                  | Disable, Debug, Status                                                                     | Disable         |
| **RC Mode**                   | Gremsy, Standard                                                                           | Gremsy          |
| **Setting Target**            | Camera Device, Gimbal Device                                                               | Camera Device   |
| **Video View Source**         | EO/IR, Only EO, Only IR, IR/EO, SYNC                                                       | EO/IR           |
| **Video Record Source**       | Both EO/IR, Only EO, Only IR, Only OSD                                                     | Both EO/IR      |
| **IR Palette**                | WhiteHot, Fulgurite, IronRed, HotIron, Medical, Arctic, Rainbow1, Rainbow2, Tint, BlackHot | WhiteHot        |
| **IR Zoom**                   | 1x, 2x, 3x, 4x, 5x, 6x, 7x, 8x                                                             | 1x              |
| **EO Zoom Mode**              | Combine, Super Resolution                                                                  | Combine         |
| **EO Combine Zoom**           | 1x, 10x, 20x, 40x, 80x, 120x, 240x                                                         | 1x              |
| **EO Super Resolution Zoom**  | 1x to 30x (various steps)                                                                  | 1x              |
| **EO Flip**                   | OFF, ON                                                                                    | OFF             |
| **EO Defog Mode**             | OFF, ON                                                                                    | OFF             |
| **EO Defog Level**            | Lowest, Low, Mid, High                                                                     | Lowest          |
| **EO Auto Exposure Mode**     | Full Auto, Manual, Shutter Priority, Iris Priority, Bright                                 | Full Auto       |
| **EO Shutter Value**          | 1/10 to 1/2000 (various values)                                                            | 1/10            |
| **EO Aperture Value**         | F2.0 to F11 (various steps)                                                                | F2.0            |
| **EO Bright Value**           | Adjustable (0 to max)                                                                      | 0               |
| **EO White Balance Mode**     | Auto, Indoor, Outdoor, One Push WB, ATW, Manual                                            | Auto            |
| **EO Focus Mode**             | Manual, Auto Zoom Trigger, Auto Focus Near, Auto Focus Far                                 | Manual          |
| **EO Focus Value**            | Adjustable focus value                                                                     | Default         |
| **EO AutoICR Mode**           | Auto, Manual                                                                               | Manual          |
| **EO ICR Mode**               | On, Off                                                                                    | Off             |
| **EO ICR Threshold**          | Adjustable (0 to max)                                                                      | Default         |
| **EO Image Stabilizer Level** | Super, Super+                                                                              | Super           |
| **EO Image Stabilizer**       | Hold, On, Off                                                                              | Off             |
| **EO High Sensitivity**       | On, Off                                                                                    | Off             |
| **Gimbal Mode**               | OFF, LOCK, FOLLOW, MAPPING, RETURN HOME                                                    | OFF             |
| **LRF Mode**                  | OFF, 1 Hz, 4 Hz, 10 Hz                                                                     | OFF             |

#### **1. EO Zoom Mode**

* **Options:** Combine / Super Resolution / Combine Zoom / Super Resolution Zoom
* **Description:** Camera zoom modes:
  * **Combine Zoom:** Combines optical and digital zoom to achieve high magnification while maintaining reasonable image quality.
  * **Super Resolution Zoom:** Uses advanced algorithms (AI or pixel-shift) to zoom further while preserving more detail than standard digital zoom.
  * **Zoom levels:** 1x, 10x … 240x. 1x = normal, 240x = maximum (image quality may degrade at extreme zoom).

***

#### **2. EO Flip**

* **Options:** OFF / ON
* **Description:** Vertically flips the camera image (180°). Useful if the camera is mounted upside down or to adjust the viewing angle.

***

#### **3. EO Defog Mode & EO Defog Level**

* **Mode Options:** OFF / ON
* **Description:** Enables or disables defog function for haze, smoke, or fog.
* **Level Options:** Lowest, Low, Mid, High
* **Description:** Adjusts defog intensity. Useful in low-visibility conditions to improve image clarity.

***

#### **4. EO Auto Exposure Mode**

* **Options:** Full Auto / Manual / Shutter Priority / Iris Priority / Bright
* **Description:** Exposure control modes:
  * **Full Auto:** Camera automatically adjusts all parameters.
  * **Manual:** User sets shutter, aperture, gain manually.
  * **Shutter Priority:** User sets shutter speed; camera adjusts aperture.
  * **Iris Priority:** User sets aperture; camera adjusts shutter speed.
  * **Bright:** Special mode to increase image brightness.

***

#### **5. EO Shutter Value**

* **Range:** 1/10 → 1/2000 s
* **Description:** Shutter speed. 1/10 s for low-light, 1/2000 s for fast-moving subjects.

***

#### **6. EO Aperture Value**

* **Range:** F2.0 → F11
* **Description:** Lens aperture. Lower F = more light, shallower depth of field; higher F = less light, deeper depth of field.

***

#### **7. EO Brightness Value**

* **Range:** 0 → 41
* **Description:** Adjusts overall image brightness. Used to make images brighter or darker.

***

#### **8. EO WB Mode (White Balance)**

* **Options:** Auto, Indoor, Outdoor, One Push WB, ATW, Manual
* **Description:** Adjusts color temperature for correct color reproduction:
  * **Auto:** Camera adjusts automatically.
  * **Indoor/Outdoor:** Fixed for indoor or outdoor lighting.
  * **One Push WB:** Calibrates white balance based on selected scene.
  * **ATW:** Auto Tracking White balance – adjusts dynamically as lighting changes.
  * **Manual:** User-defined white balance.

***

#### **9. EO Focus Mode**

* **Options:** Manual / Auto Zoom Trigger / Auto Focus Near / Auto Focus Far
* **Description:** Focus modes:
  * **Manual:** Focus is adjusted manually by the user.
  * **Auto Zoom Trigger:** Focus adjusts automatically when zooming.
  * **Auto Focus Near/Far:** Prioritizes near or far objects.

***

#### **10. EO Focus Value**

* **Range:** 0 → 61440
* **Description:** Manual focus value. 0 = far, 61440 = close (may vary by camera).

***

#### **11. EO AutoICR Mode & EO ICR Mode**

* **ICR = Infrared Cut Removal**
* **AutoICR Mode:** Automatically switches ICR mode in low light.
* **ICR Mode:** Manually enables or disables ICR.
* **ICR Threshold:** Brightness threshold for switching ICR (0 → 255).

***

#### **12. EO Image Stabilizer & Level**

* **Stabilizer Options:** Hold / On / Off
* **Level Options:** Super / Super+
* **Description:** Image stabilization:
  * **Hold:** Maintain current stabilization state.
  * **On:** Stabilization active.
  * **Off:** Disabled.
  * **Level:** Sets stabilization intensity.

***

#### **13. EO High Sensitivity**

* **Options:** On / Off
* **Description:** Enables high-sensitivity mode for better low-light or night-time imaging.


# COMPANION COMPUTER FOR UAV & ROBOTICS PLATFORM

**1. System Overview Diagram**

```
Companion / Onboard Computer (Jetson / RPi / NUC)
     ├── [UDP via Ethernet or UART] → Orus L Control (Payload SDK)
     ├── [RTSP Stream] ← Orus L Camera Output
     └── [Optional] → Flight Controller (MAVLink)
```

***

**2. Hardware Connection**

**Option A: Ethernet (Recommended)**

* Connect Orus L's Ethernet port to the onboard computer's Ethernet port (or via USB-C to Ethernet adapter)

<figure><img src="/files/1vA2qiqPt7Je0UVrCPkr" alt=""><figcaption></figcaption></figure>

**Option B: UART (Alternative)**

* Connect UART TX/RX lines from Orus L to onboard serial port
* Ensure proper logic level (3.3V TTL)

<figure><img src="/files/e9lbF36oo7MCcmZUiCa1" alt=""><figcaption></figcaption></figure>

**Optional:**

* Connect Flight Controller (Pixhawk) via separate UART for MAVLink passthrough if needed

***

**3. Software Setup: Gremsy Payload SDK (v3)**

**A. Install SDK (Python version)**

```
# Clone the SDK
git clone -b payloadsdk_v3 https://github.com/Gremsy/PayloadSdk.git
cd PayloadSdk/python

# Install dependencies
pip install -r requirements.txt
```

**B. Initialize SDK and Connect**

```
from payloadsdk import GremsySDK

# Create SDK instance and connect via Ethernet (UDP)
sdk = GremsySDK(protocol='udp', target_ip='192.168.12.249', target_port=14566)

# Or connect via UART
# sdk = GremsySDK(protocol='serial', serial_port='/dev/ttyUSB0', baudrate=115200)

sdk.connect()
```

**C. Send Basic Commands**

```
# Move gimbal to specific angles
sdk.gimbal_control.set_angle(pitch=0.0, roll=0.0, yaw=90.0)

# Start/Stop video recording
sdk.camera_control.set_recording(True)

# Set gimbal mode
sdk.gimbal_control.set_mode('lock')
```

***

**4. RTSP Video Streaming**

* Use VLC or OpenCV to access the video stream:

```
rtsp://192.168.12.249:8554/payload
```

* Example with OpenCV:

```
import cv2
cap = cv2.VideoCapture('rtsp://192.168.12.249:8554/payload')

while True:
    ret, frame = cap.read()
    if ret:
        cv2.imshow("Orus L Stream", frame)
    if cv2.waitKey(1) == 27:
        break
cap.release()
cv2.destroyAllWindows()
```

***

**5. Optional: Integration with MAVLink and Flight Controller**

* If a flight controller is present, you can:
  * Forward MAVLink commands from Pixhawk to Orus L (mount\_control)
  * Synchronize gimbal with autopilot commands
* Requires proper UART bridge and time sync if needed

***

**6. Use Cases**

* Onboard AI/ML target detection and autonomous gimbal pointing
* GPS-denied or tethered drone operations
* Ground robot (UGV) with 3-axis PTZ camera functionality
* Inspection and defect detection robots with onboard processing

DETAILED PAYLOAD SDK

{% content-ref url="/pages/c2P0BVFjieVLXmOdjluP" %}
[GREMSY PAYLOAD SDK](/payloads/general/gremsy-payload-sdk)
{% endcontent-ref %}


# UPGRADE


# FIRMWARE VERSION


# SOFTWARE VERSION

{% hint style="info" %}

* [x] Auto Upgrade
* [ ] Upgrade separate
  {% endhint %}

### v3.0.6\_build.04042026 Latest

* [x] The Payload App Versio&#x6E;**:** Updated to **v3.1.4.18**
* [x] The Video Stream App Version: Updated to **v3.4.4.7**
* [x] The Web Server Settings App Version: Updated to **v3.6.4.1**
* [x] The Tracking App Version: Updated to v2.1.0.3
* [x] Firmware Gimbal Version: Upgrade to v7.8.8 or higher

<a href="https://github.com/Gremsy/OrusL-PayloadSoftwareV3/releases/tag/v3.0.6" class="button primary">Click to Download</a>

> ### **Release Notes**
>
> #### 1. The Payload App
>
> * **Version:** Updated to **v3.1.4.18**
>
> **New Features**
>
> * Updated camera definition
> * Support RTP multicast video streaming
> * Enable IR stream, beside the main stream for both RTSP and RTP
> * Improved IR camera control with H.265 codec support for both RTP and RTSP streaming modes
> * Enhanced framerate control implementation for Ubuntu 18.04 environments
> * Improved pipeline for the video stream processing
> * Support Roi Measurement Half-Left mode and Half-Right mode for Orus L G1
> * Support geotag GPS for the TIFF file
>
> ***
>
> #### 2. The Video Stream App
>
> * **Version:** Updated to **v3.4.4.7**
>
> **New Features**
>
> * Updated RTP stream configuration
> * Corrected RTSP port assignments
> * Enhanced bitrate control for both RTSP and RTP streaming protocols
> * Custom encoding configuration support with blank default settings
> * Integration with web settings for dynamic stream configuration
> * Supports changing the timeout period when clients are disconnected
>
> ***
>
> #### 3. The Web Server Settings App
>
> * **Version:** Updated to **v3.6.4.1**
>
> **New Features**
>
> * Enhanced video stream settings UI and improved functionality
> * Added dedicated Video Stream Settings page for comprehensive EO and IR stream configuration
> * Refactored camera and gimbal control layout with improved responsiveness
> * Viewport settings optimization for better mobile experience
> * Supports changing the timeout period when clients are disconnected
> * Support updating gimbal firmware via the Gimbal page
>   * Refactored camera & gimbal control layout.
>   * Improved responsiveness and viewport settings.
> * Supports changing ROI Measurement to Half-Left and Half-Right.
> * Supports changing Isotherm Threshold to temperature units.
> * Support for Gimbal Firmware Updates when updating to the new OTA Software.
>
> ***
>
> #### 4. The Tracking App
>
> * **Version:** Updated to **v2.1.0.3**
>
> **New Features**
>
> * IR tracking bandwidth optimization: reduced from 1280x1024 to 640x512 for improved performance
>
> ***
>
> #### 5. Gremsy Payload SDK
>
> * **Version:** Updated to **v3.0.0**
> * **C++ SDK:** <https://github.com/Gremsy/PayloadSdk/tree/payloadsdk_v3>
> * **Python SDK:** <https://github.com/Gremsy/PayloadSdk/tree/payloadsdk_v3_python3>
>
> ***
>
> #### 6. The Camera Definition File
>
> * **Version:** **v7.0.0**
> * **Orus-L Standard:** [orusL\_camera\_g1\_def.xml](https://github.com/Gremsy/OrusL-PayloadSoftwareV3/releases/download/v3.0.6/orusL_camera_g1_def.xml)
> * **Orus-L NDAA:** [orusL\_camera\_f1\_def.xml](https://github.com/Gremsy/OrusL-PayloadSoftwareV3/releases/download/v3.0.6/orusL_camera_f1_def.xml)
>
> **New Features**
>
> * Support EO Zoom Speed
> * Support EO Focus Speed
> * Support EO Min Shutter Limit
> * Support EO Exposure Compensation
> * Support for setting IR Isotherm
> * Supports settings for Orus L G1:
>   * IR Isotherm Gain
>   * IR SpotMeter Mode
>   * IR SpotMeter Units
>   * IR SpotMeter Size
>   * IR Isotherm Mode
>   * IR Isotherm Threshold
> * Supports settings for Orus L F1:
>   * IR Gain
>   * IR Contrast Mode
>   * IR AGC Mode
>   * IR AGC Linear Percent
>   * IR SpotMeter Mode
>   * IR SpotMeter Units
>   * IR SpotMeter Size
>   * IR Isotherm Mode
>   * IR Isotherm Units
>   * IR Isotherm Reg0 Temp
>   * IR Isotherm Reg0 Color Min
>   * IR Isotherm Reg0 Color Max
>   * IR Isotherm Reg1 Temp
>   * IR Isotherm Reg1 Color Min
>   * IR Isotherm Reg1 Color Max
>   * IR Isotherm Reg2 Temp
>   * IR Isotherm Reg2 Color Min
>   * IR Isotherm Reg2 Color Max
>   * IR Isotherm Reg3 Temp
>   * IR Isotherm Reg3 Color Min
>   * IR Isotherm Reg3 Color Max
>   * IR Isotherm Reg4 Temp
>   * IR Isotherm Reg4 Color Min
>   * IR Isotherm Reg4 Color Max
>   * IR Isotherm Reg5 Temp
>   * IR Isotherm Reg5 Color Min
>   * IR Isotherm Reg5 Color Max
> * Support Gimbal ControControl Flags
> * Support FAN Heatsink Thresh
> * Support FAN Defog Auto Mode
> * Support FAN Defog Thresh
>
> **Improves**
>
> * Update EO DZoom Mode
> * Update EO Zoom Level
> * Update EO Shutter Value
> * Update EO Aperture Value
> * Update EO Gain Value
>
> ***
>
> #### 7. Payload Plus
>
> * **Version:** **v1.2.0** (Supports Payload App v3.0.0.0 or higher)
> * **Link:** <https://github.com/Gremsy/Payload-Plus/releases/tag/v1.2.0>
>
> ***
>
> #### 8. Firmware Gimbal
>
> * **Version:** Upgrade to v7.8.8 or higher
> * **Link:** [Orus L gimbal firmware v7.8.8](https://github.com/Gremsy/OrusL-Firmware/releases/tag/v7.8.8_Official)


# ZIO

From the new firmware below, ZIO supports streaming and control over Ethernet along with many new updates to Autolilot and Payload SDK. Check it out in the following article.From the new firmware below, ZIO supports

**Gimbal Firmware**

![win\_icon](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADUAAAA0CAIAAACl2OeCAAACbUlEQVRoBe2Zv6urMBzF7z8tFAShUwdxEBw6dHEoFKSFDoVSCkEEE4fSwa3i4iI4ZOngYOH7uOYp6S/Ny229hZezGGuin5wcU41f8Nn6+mw8UHydA3Q+n7MsOxwOu91usVg4jmOaJt9iOP8YShzHCCHP86bT6WQyGY1G2p3ezleWZZ7ncRz7vr9arWazmWmauq7fkTz4wTCMV/KVtQAgz/P1eu26rmVZhmE8uLLYT/J8bICOxyNCiLliWZau6xhjAEAIiQH01Ornq6qKUpokSRRFLLYdWdE0LQxDAIiiqOfKYoe7+ObzuW3b4/FY7FR/axFCBuL7J6y28nB8crlWfM2Eo/xrQ/u00HX/Kv+e2tYeUP61VkgVlH9StrWNlH+tFVIFXdebv4vv7dXzvdQJNYTQC5//NE17yud53rzWgpPHablcrhqtG2VZBgBZlm1r7Rrt93vUyK8V1AprYYwJIVGjQ6M4jp/y8Qc+pHw1vgihfaOm599bvvdBEPAGEEKKogAASunpTomYUk5sNFp3rvjk8uf7/kD5k3s+iKIIAIIgkOveTauu+/cnfGEY3lxJbvf18zPzT/EBqPHtz+T/mj+Mcb85AjXe5d/n8rH1A8UnO78w/wghAunqr9KVv/7Wj2oMx+c4jsQUPRwfAJRlWRTF6XTCGG82G5EVS7a+O8T4tk+FN4XL5UIpTdO0/VDBVnzZkvxr3z+68neD1bvLVswppQCQpqnrurZtSySET/Ur+R52oKoqPiEMWnxN++18HdBJkhBCemPNn+Hq/YM/MECZxZp9yNhut+xe/LXvb3Id/k3/RIgVn4hLz+v8ARWPU3YOM4phAAAAAElFTkSuQmCC)[ Zio Firmware Latest Version](https://github.com/Gremsy/Zio-Firmware/releases/latest)

**Payload Firmware**

![win\_icon](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADUAAAA0CAIAAACl2OeCAAACbUlEQVRoBe2Zv6urMBzF7z8tFAShUwdxEBw6dHEoFKSFDoVSCkEEE4fSwa3i4iI4ZOngYOH7uOYp6S/Ny229hZezGGuin5wcU41f8Nn6+mw8UHydA3Q+n7MsOxwOu91usVg4jmOaJt9iOP8YShzHCCHP86bT6WQyGY1G2p3ezleWZZ7ncRz7vr9arWazmWmauq7fkTz4wTCMV/KVtQAgz/P1eu26rmVZhmE8uLLYT/J8bICOxyNCiLliWZau6xhjAEAIiQH01Ornq6qKUpokSRRFLLYdWdE0LQxDAIiiqOfKYoe7+ObzuW3b4/FY7FR/axFCBuL7J6y28nB8crlWfM2Eo/xrQ/u00HX/Kv+e2tYeUP61VkgVlH9StrWNlH+tFVIFXdebv4vv7dXzvdQJNYTQC5//NE17yud53rzWgpPHablcrhqtG2VZBgBZlm1r7Rrt93vUyK8V1AprYYwJIVGjQ6M4jp/y8Qc+pHw1vgihfaOm599bvvdBEPAGEEKKogAASunpTomYUk5sNFp3rvjk8uf7/kD5k3s+iKIIAIIgkOveTauu+/cnfGEY3lxJbvf18zPzT/EBqPHtz+T/mj+Mcb85AjXe5d/n8rH1A8UnO78w/wghAunqr9KVv/7Wj2oMx+c4jsQUPRwfAJRlWRTF6XTCGG82G5EVS7a+O8T4tk+FN4XL5UIpTdO0/VDBVnzZkvxr3z+68neD1bvLVswppQCQpqnrurZtSySET/Ur+R52oKoqPiEMWnxN++18HdBJkhBCemPNn+Hq/YM/MECZxZp9yNhut+xe/LXvb3Id/k3/RIgVn4hLz+v8ARWPU3YOM4phAAAAAElFTkSuQmCC) [Payload Zio SoM Firmware Latest](https://github.com/Gremsy/Zio_SoM_Firmware/releases/latest)


# PAGE DIAGRAM

General diagram of the ZIO Support page, and the steps you must go through to set it up properly. Please consult before going into details

<figure><img src="/files/IyolKrJ5wOtdaTA8PAuz" alt=""><figcaption></figcaption></figure>


# FAQ

Zio Payloads

### What is the size and weight of Zio?

The weight of the gimbal is 480g

<figure><img src="/files/yWrq9NKf5z39ibyALhnw" alt=""><figcaption><p>Size of gimbal</p></figcaption></figure>

### What's the resolution of the photos and videos taken by Zio?

Photos: 3840x2160 - JPEG

Videos: 3840x2160, 30fps - MP4

### What is the function of the USB-C port on the camera?

The USB-C port is used for upgrading the firmware of the camera.

### Does Zio use Quick Release? What are the advantages of this one?

Zio will be used with the latest Gremsy Quick Release - Zio Quick Release, which will help users can plug and unplug the camera in or out of the drone as fast as possible.

### Has Zio supported the third-party filter?

It does not support but we will provide the specification of the hole in front of the camera so you can customize it.

### **What kind of zoom does the Zio have? How much does it zoom by?**

The Zio has 2 types of zoom: 20 times optical zoom with an additional 12 times digital zoom.

The optimization zoom is 30x in super-resolution zoom mode.

The maximum zoom is 240x when combined with 20 times optical and 12 times digital zoom.

### What is the protection rating of Zio?

Zio must first pass rigorous testing in accordance with Gremsy's quality standards before reaching the user.

Zio is dustproof to the IP5x standard.

* Make sure the gimbal is securely installed on the aircraft and the SD card slot cover is clean and closed properly.
* Make sure the surface of the gimbal is clean before opening the SD card slot cover.

### What applications and what kind of specific scenarios are the Zio suited for?

The Zio is mainly designed for inspection and surveying over long distances, thanks to 30x zoom and 4K video resolution capacity.

### Is the Zio compatible with the DJI drones?

It's can be mounted on DJI drones having a suitable size but does not support the control

### Which flying platforms does it suit?

The Zio only supports drones using the Mavlink base.

### Is the Zio used in dual control mode (one main remote for controlling the drone, one slave remote for controlling the gimbal)?

Yes, you can use 2 Herelink remotes to control independently the drone and the gimbal.

You can refer to the instruction in this [part](https://docs.gremsy.com/payloads/zio/settings-on-the-remote-control/setup-dual-remote-controller).

### What is the biggest capacity of microSD cards supported?

It supports up to 64 GB capacity, and it is recommended to use a UHS-I Speed Grade 3 microSD card.

### Which apps are suitable for Zio?

Currently, it is only compatible with the latest Android version of QGroundControl.


# GENERAL

Zio Payloads

## Overview

Zio is a high-resolution zoom payload that combines a Sony sensor with high-stabilized three-axis gimbal technology. It enables industrial inspectors and surveyors to zoom into objects of interest and effortlessly transmit video at 4K resolution, ready to be utilized for a variety of different inspection, surveying, and public safety jobs.

## In the box

<figure><img src="/files/PJjSiS6XONeZVd5MIcKQ" alt=""><figcaption></figcaption></figure>

<table><thead><tr><th width="165" align="center">No.</th><th align="center">Item</th><th width="130.33333333333331" align="center">Quantity</th></tr></thead><tbody><tr><td align="center">1</td><td align="center">Zio Payload</td><td align="center">1</td></tr><tr><td align="center">2</td><td align="center">Zio Damping</td><td align="center">1</td></tr><tr><td align="center">3</td><td align="center">Zio Quick Release</td><td align="center">1</td></tr><tr><td align="center">4</td><td align="center">Allen key 2mm</td><td align="center">1</td></tr><tr><td align="center">5</td><td align="center">Allen key 2.5mm</td><td align="center">1</td></tr><tr><td align="center">6</td><td align="center">M3 x 6 Hexagon Screw Bolt Cut Head</td><td align="center">4</td></tr><tr><td align="center">7</td><td align="center">M3 x 6 Hexagon Screw Flat Head</td><td align="center">4</td></tr><tr><td align="center">8</td><td align="center">USB Type A to USB Type C Cable</td><td align="center">1</td></tr><tr><td align="center">9</td><td align="center">Micro USB Cable</td><td align="center">1</td></tr><tr><td align="center">10</td><td align="center">Zio Control Cable</td><td align="center">1</td></tr><tr><td align="center">11</td><td align="center">Zio Power Cable</td><td align="center">2</td></tr><tr><td align="center">12</td><td align="center">Micro SD Card SDXC I, 64GB</td><td align="center">1</td></tr></tbody></table>

## Components

<figure><img src="/files/YI5zxRALDzL2Tp4ahh0i" alt=""><figcaption></figcaption></figure>

## Overview Diagram

<figure><img src="/files/7apFFEpG9rxdfyY2zeeu" alt=""><figcaption></figcaption></figure>

## Specification

### General

<table data-header-hidden><thead><tr><th width="286"></th><th></th></tr></thead><tbody><tr><td>Payload Dimensions (DxWxH)</td><td>145mm × 90mm × 148mm</td></tr><tr><td>Weight</td><td>480g (1.06 lbs)</td></tr><tr><td>Input Voltage</td><td>14.5V - 52V</td></tr><tr><td>Power Consumption</td><td>12W-48W</td></tr><tr><td>Connections</td><td>USB 2.0, UART, Ethernet, Micro HDMI</td></tr><tr><td>Remote Software</td><td>QGroundControl</td></tr><tr><td>Streaming Video</td><td><ul><li>HDMI output: 1080p60 (1920x1080 | 60fps)</li><li>Ethernet output: 720p60 (1280x720 | 30fps)</li></ul><p>Video Bit Rate is adjustable</p></td></tr><tr><td>Storage Temperature</td><td>32° F ~ 122° F (0° C ~ 50° C)</td></tr><tr><td>Operating Temperature</td><td>32° F ~ 122° F (0° C ~ 50° C)</td></tr><tr><td>Compatible Drones</td><td><p>Drone supported by PX4 and Ardupilot</p><ul><li>Recommended FC: Cube</li></ul></td></tr></tbody></table>

### Gimbal

<table data-header-hidden><thead><tr><th width="290"></th><th></th></tr></thead><tbody><tr><td>Angular Vibration Range</td><td>±0.01°</td></tr><tr><td>Gimbal Mount</td><td>Bottom mount (Detachable)</td></tr><tr><td>Controllable Range</td><td><ul><li>Tilt: ±120°</li><li>Pan: ±320°</li></ul></td></tr><tr><td>Mechanical Range</td><td><ul><li>Tilt: +138° to -198°</li><li>Pan: ±335°</li><li>Roll: +75° to -265°</li></ul></td></tr><tr><td>Max Controllable Speed</td><td><ul><li>Tilt: 100°/s</li><li>Pan: 100°/s</li></ul></td></tr><tr><td>Working Current:</td><td><ul><li>Static current: 1.0A (@12V)</li><li>Dynamic current: 1.5A (@12V)</li><li>Locked motor current: Max 4.0A (@12V)</li></ul></td></tr></tbody></table>

### Camera

<table data-header-hidden><thead><tr><th width="291"></th><th></th></tr></thead><tbody><tr><td>Sensor</td><td>1/2.5" Exmor R CMOS</td></tr><tr><td>Effective Pixels</td><td>8.51 MP</td></tr><tr><td>Zoom</td><td><ul><li>Optical: 20x</li><li>Digital: 12x</li><li>Super Resolution: 30x</li><li>Combine: 240x (recommend for photography only)</li></ul></td></tr><tr><td>Camera Lens</td><td>f/2.0 to f/3.8 (4.4 to 88.4mm Equivalent)</td></tr><tr><td>FOV</td><td><ul><li>Wide: 72°</li><li>Telephoto: 4.1°</li></ul></td></tr><tr><td>Resolution</td><td><ul><li>Photo: 3840 x 2160</li><li>Video: 3840 x 2160 @ 30 fps | 1920 x 1080 @ 30fps</li></ul></td></tr><tr><td>Aspect Ratio</td><td>Photo: 16:9</td></tr><tr><td>Format</td><td><ul><li>Photo: JPEG</li><li>Video: MP4</li></ul></td></tr><tr><td>Defog mode</td><td>On/Off (Low, Mid, High)</td></tr><tr><td>White Balance</td><td>Auto, Indoor, Outdoor</td></tr><tr><td>Shutter Speed</td><td>1/30 to 1/2000s</td></tr><tr><td>Exposure mode</td><td>Auto, Shutter speed, Iris, Bright, Manual</td></tr><tr><td>Zoom mode</td><td>Combine, Separate, Super Resolution</td></tr><tr><td>Storage</td><td>MicroSDXC I (a 64GB SD card included)</td></tr></tbody></table>


# HARDWARE CONFIGURATION

Detail guides for setting up with Payload hardware.

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/9bAP7xg56M2Cq3nDdmsI" %}
[Micro SD Cards](/payloads/zio/hardware-configuration/micro-sd-cards)
{% endcontent-ref %}

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/52zhJixtwwFvdYVWLUrl" %}
[STATIC IP SETTINGS](/payloads/zio/hardware-configuration/static-ip-settings)
{% endcontent-ref %}

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/21OBYELytEQTZszJbxTN" %}
[I/O Connection](/payloads/zio/hardware-configuration/i-o-connection)
{% endcontent-ref %}

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/HqhA3KSuIlsnvsYH8kV0" %}
[LED STATUS INDICATOR](/payloads/zio/hardware-configuration/led-status-indicator)
{% endcontent-ref %}

###


# I/O Connection

Zio will be used with the S-PORT, which will help users plug and unplug the camera in or out of the drone as fast as possible.

### QUICK RELEASE CONNECTORS AND PINOUTS

{% content-ref url="/spaces/nikHUDUd2JXqkOsnOi7l/pages/Hy0FjS1OJrPEW5zKRJ0S" %}
[S-PORT](/accessories/quick-release/s-port)
{% endcontent-ref %}

### ZIO Control Cable Diagram

<figure><img src="/files/OswhfVGpNOdTInff2Jp1" alt="" width="375"><figcaption></figcaption></figure>

### 1. Drone UART

Connector type: GHR-06V-S<br>

<figure><img src="/files/rNo6fL7PTb3nyBmyteAb" alt=""><figcaption></figcaption></figure>

| Pin number | Wire Color |  Pin name  |
| :--------: | :--------: | :--------: |
|      1     |      x     |      x     |
|      2     |    Brown   | Payload RX |
|      3     |   Orange   | Payload TX |
|      4     |      x     |      x     |
|      5     |      x     |      x     |
|      6     |    Black   |     GND    |

### 2. Ethernet

Connector type: RJ45 CAT5R<br>

<figure><img src="/files/ZeQGPGoIM2nO47u6MoEF" alt="" width="375"><figcaption></figcaption></figure>

| Pin number | Wire Color | Pin name |
| :--------: | :--------: | :------: |
|      1     |   Orange   |   TX\_P  |
|      2     |    Brown   |   TX\_N  |
|      3     |     Red    |   RX\_P  |
|      4     |      x     |     x    |
|      5     |      x     |     x    |
|      6     |    Black   |   RX\_N  |
|      7     |      x     |     x    |
|      7     |      x     |     x    |

### 3. SBUS

Connector type: Futaba JR Male 2.54

<figure><img src="/files/lgO0uxPXYSJXMuN9tIpd" alt="" width="375"><figcaption></figcaption></figure>

| Pin number | Wire color |   Pin name  |
| :--------: | :--------: | :---------: |
|      1     |   Orange   | SBUS Signal |
|      2     |     Red    |      5V     |
|      3     |    Black   |     GND     |


# Micro SD Cards

### Supported Micro SD Cards

* The Zio comes with a 64GB Micro SD card and this is the maximum capacity the Zio supports.
* We recommend using a UHS-1 Micro SD card to minimize the delay when reading and writing high-resolution video data.

### **Used Micro SD Cards**

* Config file set IP address of Zio and IP address of UDP stream receiver.
* Config file control Zio with Ethernet.
* Save images and videos.

<br>


# STATIC IP SETTINGS

* Take out the micro SD card from Zio.
* Connect and open the micro SD folder on your computer.
* Create the file payload\_setup.txt in the micro SD card top folder.

<mark style="color:purple;">File name: payload\_setup.txt</mark>\ <mark style="color:purple;">File Content:</mark>

```
/*PAYLOAD CONFIGURATION*/ 

# IP address of Payload
ZIO_ADDR = 192.168.12.200
NETMASK = 255.255.255.0
GATEWAY = 192.168.12.1
```

<mark style="color:purple;">On the above example</mark>\ <mark style="color:purple;">Zio IP: 192.168.12.200</mark><br>

* Insert the SD card containing the file payload\_setup.txt into Zio.
* Reboot the Zio.
* Zio will set up according to the information in the file automatically.

> ***NOTE:*** When Zio starts up without detecting the file payload\_setup.txt on the memory card, Zio will automatically reset to the default IP (192.168.12.240).


# LED STATUS INDICATOR

### Gimbal LED Status

<table><thead><tr><th width="69.6666259765625">No</th><th width="126">LED Color</th><th width="180.99993896484375">LED Status</th><th>Description</th></tr></thead><tbody><tr><td>1</td><td>🔴</td><td>Red Solid</td><td>Gimbal Error</td></tr><tr><td>2</td><td>⚪</td><td>White Solid</td><td>Initializing</td></tr><tr><td>3</td><td>⚪✨</td><td>White Blink</td><td>Calibrating</td></tr><tr><td>4</td><td>🟢✨</td><td>Green Blink</td><td>Gimbal Ready – Lock mode</td></tr><tr><td>5</td><td>🟢</td><td>Green Solid</td><td>Gimbal Ready – Follow mode</td></tr><tr><td>6</td><td>🔵✨</td><td>Blue Blink</td><td>Payload Ready* – Lock mode </td></tr><tr><td>7</td><td>🔵</td><td>Blue Solid</td><td>Payload Ready – Follow mode</td></tr><tr><td>8</td><td>🔴✨</td><td>Pink Blink</td><td>Payload connected system** with attitude input – Lock mode</td></tr><tr><td>9</td><td>🔴</td><td>Pink Solid</td><td><p>Payload connected system with attitude input </p><p>– Follow mode</p></td></tr></tbody></table>

### Payload LED Status

<table><thead><tr><th width="69">No</th><th width="128.00006103515625">LED Color</th><th width="179">LED Status</th><th>Description</th></tr></thead><tbody><tr><td>1</td><td>🔴</td><td>Red</td><td>Payload Error</td></tr><tr><td>2</td><td>🟡</td><td>Yellow</td><td>Payload Power On</td></tr><tr><td>3</td><td>🟢</td><td>Green</td><td>Payload Ready to Work</td></tr><tr><td>4</td><td>🔵</td><td>Blue</td><td>Recording Video</td></tr></tbody></table>

{% hint style="info" %}
**\*** *Payload includes the gimbal and camera systems*

**\*\*** *Payload is connected to an external system (e.g., flight controller) which is sending attitude data via MAVLink or another protocol.*
{% endhint %}


# SOFTWARE CONFIGURATION


# ZIO SETTING APP


# Setup IP Address

## **1. Default IP address of Zio payload.** <a href="#id-1.-default-ip-address-of-vio-payload" id="id-1.-default-ip-address-of-vio-payload"></a>

* The Zio payload will be shipped with default IP address is: `192.168.12.240`
* There are two ways to setting an IP address for the Zio payload:

### **1.1 Setup IP address via SDcard.**

* Power off Zio payload
* Create `payload_setup.txt` file in SDcard with your required IP address:

{% code overflow="wrap" %}

```
/*PAYLOAD CONFIGURATION*/

# IP address of Payload
ZIO_ADDR = 192.168.12.207
NETMASK = 255.255.255.0
GATEWAY = 192.168.12.1
```

{% endcode %}

* Plugin SDcard to Zio payload and power on Zio payload

> ***NOTE:*** After rebooting Zio Payload, `payload_setup.txt` file in SDcard will be moved to the Zio payload and the file will be lost.

### **1.2 Setup IP address via App Setting.**

* If you don't know Zio address, you can set IP address via SDcard (Tte section 1.1)
* Using the web browser to open the Zio payload Setting app, with the url `http://<zio_ip>:8000` (*example*: `http://192.168.12.207:8000`)
* Open tab "`Set Up Static IP Address"` then input your required IP address

<figure><img src="/files/DF7VW15QFb9lTwRwuNmz" alt="" width="563"><figcaption><p>Set Up Static IP Address.</p></figcaption></figure>

* Click "`Apply"` and "`OK"` to reboot the Zio system to apply the new IP address.


# Setup Remote Channels

## 1. Overview

This feature will come with the SBUS extension board from Gremsy to convert SBUS input to MAVlink message before sending to the payload.

## 2. Setup remote channels by App Setting <a href="#bkmrk-2.-setup-remote-chan" id="bkmrk-2.-setup-remote-chan"></a>

**Step 1:** Connect to the Settings app via Ethernet.

**Step 2:** Open "`Set Up Remote Channels"`

<figure><img src="/files/0E4aZA6RZ2JtUaJtdKhF" alt=""><figcaption></figcaption></figure>

**Step 3:** Select the channels you want to control corresponding to the functions. The value should be between 1 and 18; if not used, please set it to default -1.

**Step 4:** Tilt - Roll - Pan can select "`deadzone"` depending on remote.

<br>

<br>


# Control by Remote Controller

Control by Remote Controller for SBUS or PPM


# Remote Control Modes

## 1. Setting channels on the Webserver app <a href="#bkmrk-1.-setting-channels" id="bkmrk-1.-setting-channels"></a>

* Go to "**Set Up Remote Channels**" on the Webserver app.

<figure><img src="/files/07iQDh5gawqAUmCHGwnV" alt=""><figcaption></figcaption></figure>

* Params explanation:

***Control Mode:***

* Disable.
* Raw Input: Control Zio Payload by SBUS from gimbal.
* Autopilot Convert: Control Zio Payload by SBUS from autopilot.

***Image Capture:*** Select push button. Capture Image when pressing button.

***Video record:*** Select push button. Pressing the first time will start record video, pressing the next time will stop record video.

***Zooming:*** Select stick with 3 states. 3 states: zoom tele, stop zoom, zoom wide.

***Tilt:*** Select rotate button. Control tilt axis.

***Roll:*** currently not in use.

***Pan:*** Select rotate button. Control tilt axis.

***Mode:*** Select stick with 3 states. 3 states corresponding to 3 gimbal mode: OFF, LOCK, FOLLOW.

***Return Home:*** Select push button. Gimbal return home when press button.

> ***Notes:** If the channels will not be used, please set it to "-1".*

## 2. Setup Ardupilot param. <a href="#bkmrk-2.-setup-ardupilot-p" id="bkmrk-2.-setup-ardupilot-p"></a>

### 2.1. **Disable control by SBUS/PPM. Only use MAVlink to control the Payload.**

<figure><img src="/files/CnUqn44IfJJjYuYeO3SU" alt=""><figcaption></figcaption></figure>

* Setting App: Select **`Disable` in `Control Mode`**
* Set param Ardupilot:
  * ***RC6\_OPTION***: “214”
  * ***RC7\_OPTION***: “212”
  * ***RC8\_OPTION***: “213”

### **2.2 SBUS/PPM directly to gimbal.**

<figure><img src="/files/iTGwi9LDuXcRRk759qEx" alt=""><figcaption></figcaption></figure>

Setting App:

* Select **`Raw Input`** in **`Control Mode`**
* Select the channel of the function to be controlled on App Setting.

### **2.3 SBUS/PPM from Autopilot SBUS-OUT**

<figure><img src="/files/Tp1VZ8sxlYZFgSdNtwGC" alt=""><figcaption></figcaption></figure>

* Select **`Raw Input`** in **`Control Mode`**
* Set param Ardupilot:
  * ***BRD\_SBUS\_OUT:*** 50Hz (1)
  * ***BRD\_SAFETY\_MASK:*** 0 (Uncheck channel control)
  * ***RCx\_OPTION:*** 0
  * ***SERVOx\_FUNTION:*** RCINx

> **X** is the channel number you want to SBUS out
>
> *For Example:* *RC6\_OPTION: 0, SERVO6\_FUNTION: RCIN6 --> SBUS out channel 6.*

### **2.4 Control by Autopilot RC-MAVlink Converter.**

<figure><img src="/files/KgOaz6cPCeJa7u4GyaJW" alt=""><figcaption></figcaption></figure>

* Setting App:
  * Select **`Autopilot convert`** in Control Mode
  * Select the channel of the function to be controlled
* Set param Ardupilot:
  * ***SR2\_RC\_CHAN:*** 10Hz


# Test Remote Channels by Remote RC Sbus

ZIO PAYLOADS

## 1. SETUP

### 1.1. Firmware

* Gimbal firmware: v7.8.1 or higher.
* Software: v2.0.1 or higher.

### 1.2. Wiring setup

* Plug the Sbus Remote into the Zio control cable

### 1.3. Setup SBUS control on gTune for gimbal

* Connect gTune to Zio Payload
* Go to `SETTINGS` -> `CONTROLS` -> `SBUS.`

<figure><img src="/files/dQwBogNPkR4luyvM1h88" alt=""><figcaption></figcaption></figure>

* Select `YES` to complete

<figure><img src="/files/pQu6rZCF8ayrmlXNtuNs" alt="" width="563"><figcaption></figcaption></figure>

### 1.4. **Setup channels**

**Set IP Zio Payloa by SDcard**

In SDcard create a file named `payload_setup.txt`&#x20;

File content:

```
/*PAYLOAD CONFIGURATION*/

# IP address of Payload
ZIO_ADDR = 192.168.11.240
NETMASK = 255.255.255.0
GATEWAY = 192.168.12.1
```

**Set Remote Channels via Setting App**

Plug Ethernet into the PC and connect to address: [http://192.168.12.240:8000](http://192.168.12.240:8000/) to enter Setting App.

Select `Set Up Remote Channels`

Select `Control Mode` as `Raw Input` and fill in the following parameters:

<figure><img src="/files/r8jCrbl3fPIzLB60lHVN" alt="" width="563"><figcaption></figcaption></figure>

Select `Apply` to complete.

## 2. TEST:

BUTTON FUNCTIONS:

<figure><img src="/files/Q1HCnHxAavmNimCOdqOT" alt=""><figcaption></figcaption></figure>

### 2.1 Gimbal control

* Push the lever up and down to control the gimbal moving up and down (Tilt axis control).
* Push the lever left-right to control the gimbal moving left to right (Pan axis control).

> **NOTE:** To control the gimbal moving up and down back and forth (Tilt, Pan), complete this step.

### 2.2 Switch gimbal mode

* Stick Gimbal Mode has 3 states (top, middle, bottom)

> Stick top: Gimbal is in lock state (gimbal light is on, flashing light).
>
> Stick middle: Gimbal is in follow state (gimbal light is bright, not flashing).
>
> Stick below: Gimbal OFF (gimbal light is off, gimbal is off).

### 2.3 Gimbal return home

* Push the lever up and down to operate&#x20;

> Gimbal returns to home position (starting position).

### 2.4 Capture Image

The initial position is to turn all the way to the left.&#x20;

Turn the knob all the way to the right and then turn it back to the original position to take a photo.

> Select `List Files` on the Setting App to check if there is an image file after taking a photo (each time take a photo, reload the website).

<figure><img src="/files/4GfNTMH3m87vyXRt11eg" alt=""><figcaption></figcaption></figure>

### 2.5 Record Video

The initial position is to turn all the way to the left.&#x20;

Turn the knob all the way to the right and then turn it back to the start to Record Video.

Wait about 5 seconds then repeat as above to finish Record Video.

> When you start Recording Video, the Payload light will change from green to blue&#x20;
>
> When Record Video finishes, the Payload light will turn back to green&#x20;
>
> Go to `List Files` on Setting App to check if there is a video file after Recording Video&#x20;
>
> (each time Recording is finished, reload the website).

### 2.6 Camera Zoom

Stick Zoom has 3 states (top, middle, bottom)&#x20;

> Stick top: start to zoom forward.
>
> Stick in the middle: Camera does not zoom.
>
> Stick below: start to zoom back.

## 3. AFTER TESTING

In SDcard create a file named `payload_setup.txt`&#x20;

File content:

```
/*PAYLOAD CONFIGURATION*/

# IP address of Payload
ZIO_ADDR = 192.168.12.240
NETMASK = 255.255.255.0
GATEWAY = 192.168.12.1
```

### 3.1 Set Remote Channels parameters to original

<figure><img src="/files/8MWJt5j2wvGe6ZcEa5HW" alt=""><figcaption></figcaption></figure>


# Control Signals Diagram

## 1. Diagram. <a href="#bkmrk-1.-diagram" id="bkmrk-1.-diagram"></a>

<figure><img src="/files/xMJ8600MtxZ7JUOdcH5h" alt=""><figcaption></figcaption></figure>

## 2. Explaination. <a href="#bkmrk-2.-explaination" id="bkmrk-2.-explaination"></a>

***Control Mode:***

* Disable.
* Raw Input: Control Zio Payload by SBUS from gimbal.
* Autopilot Convert: Control Zio Payload by SBUS from autopilot.

***Image Capture:*** Select push button. Capture Image when pressing button.

***Video record:*** Select push button. Pressing the first time will start record video, pressing the next time will stop recording video.

***Zooming:*** Select stick with 3 states. 3 states: zoom tele, stop zoom, zoom wide.

***Tilt:*** Select rotate button. Control tilt axis.

***Roll:*** currently not in use.

***Pan:*** Select rotate button. Control tilt axis.

***Mode:*** Select stick with 3 states. 3 states correspond to 3 gimbal mode: OFF, LOCK, FOLLOW.

***Return Home:*** Select push button. Gimbal returns home when press button.


# AUTOPILOT SETUP

Detail guides for setting up with Autopilot systems


# SETUP WITH PX4


# 1. Hardware Setup

Connect the ZIO UART to the Telem2 on the PX4 systems

<figure><img src="/files/168ERb53wkpyuk1CZR4l" alt=""><figcaption></figcaption></figure>


# 2. Setting on the remote control

Zio 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.

## 1. SBUS channel settings

Zio 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.

## 2. 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="/files/umHXllA4ve8kHzEkcPgO" alt=""><figcaption></figcaption></figure>

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

<figure><img src="/files/6Nso2lFU7xjBMl8zkjDk" alt=""><figcaption></figcaption></figure>


# 3. Setting parameters

### Firmware **Requirement**

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

### **Set up the telemetry baud rate**

Zio connects to FC at the baud rate of 115200.\
In case of connecting Zio to FC at any telemetry, note the telemetry setting at the corresponding baud rate. Example for telemetry 2:

* MAV\_1\_CONFIG: “TELEM 2”
* SER\_TEL2\_BAUD: “115200 8N1"
* MAV\_1\_FORWARD: "1"

### **Set mount params**

* MNT\_MODE\_IN: “RC”
* MNT\_MODE\_OUT: “Unknown: 2”
* MNT\_RC\_IN\_MODE: “1”
* MNT\_MAN\_PITCH: “AUX3” // PAN/TILT choose axis
* MNT\_MAN\_ROLL: “AUX2” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out (current: only using mode control by angle)
* MNT\_MAN\_YAW: “AUX1” // PAN/TILT move
* COM\_RC\_IN\_MODE: “Unknown: 3”

### **Set RC map channels**

* RC\_MAP\_AUX1: “Channel 6” // set channel 6 to AUX1 (Yaw)
* RC\_MAP\_AUX2: “Channel 7” // set channel 7 to AUX2 (Roll)
* RC\_MAP\_AUX3: “Channel 8” // set channel 8 to AUX3 (Pitch)


# 4. Setting App QGroundControl

**Config the micro SD-card to Zio**

* Remove all file .conf in the micro SD card or unplug micro SD-card from Zio

**Setup app QGroundControl**

* Step 1: Turn on Wifi on the remote to be able to download Zio parameter list
* Step 2: Enable UDP from Application Setting -> AutoConnect to the following devices

<figure><img src="/files/36LqUeu5o5Q9G805G0GS" alt=""><figcaption></figcaption></figure>

* **Successful connection**

<figure><img src="/files/5TySbUtDrEfrInL9beo9" alt=""><figcaption></figcaption></figure>


# SETUP WITH ARDUPILOT

This page will show you step by step to configure ZIO payload with Ardupilot system.

Important note


# 1. Hardware Setup

Connect the ZIO UART to the Telem2 on the Ardupilot systems

<figure><img src="/files/sgkeAv9LYhw66TJacHQs" alt=""><figcaption></figcaption></figure>


# 2. Setting on the remote control

Zio 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.

## 1. SBUS channel settings

Zio 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.

## 2. 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="/files/umHXllA4ve8kHzEkcPgO" alt=""><figcaption></figcaption></figure>

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

<figure><img src="/files/6Nso2lFU7xjBMl8zkjDk" alt=""><figcaption></figcaption></figure>


# 3. Parameter Settings

### Firmware **Requirement**

* Version: Ardupilot 4.3 or higher
* Support Mavlink v2 protocol

### **Set up the telemetry baud rate**

Zio connects to FC at the baud rate of 115200.\
In case of connecting Zio to FC at any telemetry, note the telemetry setting at the corresponding baud rate. Example for telemetry 2:

* SERIAL2\_PROTOCOL: “Mavlink2”
* SERIAL2\_BAUD: “115200”

### **Set mount params**

#### Ardupilot 4.3 or higher

* RC6\_OPTION: “214” // PAN/TILT move
* RC7\_OPTION: “212” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out
* RC8\_OPTION: “213” // PAN/TILT choose axis
* MNT1\_DEFLT\_MODE: "3"
* MNT1\_TYPE: “6”
* MNT1\_RC\_RATE: “240” // change control gimbal by speed
* CAM\_TYPE: "6"

#### Ardupilot lower 4.3

* RC6\_OPTION: “0”
* RC7\_OPTION: “0”
* RC8\_OPTION: “0”
* MNT\_RC\_IN\_PAN: “6” // PAN/TILT move
* MNT\_RC\_IN\_ROLL: “7” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out
* MNT\_RC\_IN\_TILT: “8” // PAN/TILT choose axis
* MNT\_TYPE: “SToRM32 MAVLINK"

### **Settings stream rate to receive forward messages from telemetry 1 (from Autopilot)**

* SR2\_POSITION: "10" // receive GPS messages
* SR2\_EXT\_STAT: "2" // receive GPS lock signal

### **Set params GPS connect the CAN cable connector to CAN1 or CAN2 port on the flight controller.**

* CAN\_P1\_DRIVER: "1" (First drive) // enable CAN1 port
* CAN\_P2\_DRIVER: "1" (First drive) // enable CAN1 port
* GPS\_TYPE: "9" (UAVCAN)
* NTF\_LED\_TYPES: "231"


# 4. Setting App QGroundControl

**Config the micro SD-card to Zio**

* Remove all file .conf in the micro SD card or unplug micro SD-card from Zio

**Setup app QGroundControl**

* Step 1: Turn on Wifi on the remote to be able to download Zio parameter list
* Step 2: Enable UDP from Application Setting -> AutoConnect to the following devices:

<figure><img src="/files/36LqUeu5o5Q9G805G0GS" alt=""><figcaption></figcaption></figure>

* **Successful connection**

<figure><img src="/files/5TySbUtDrEfrInL9beo9" alt=""><figcaption></figcaption></figure>


# SETUP WITH SKYNODE

## 1. Hardware Setup. <a href="#bkmrk-1.-hardware-setup" id="bkmrk-1.-hardware-setup"></a>

## 2. Setting on the remote control.

Zio is compatible with the Remote Control (RC) that supports the QGroundControl app (QGC). In this manual, all settings are made on the Herelink Remote Control, the other controller does the same.

### **SBUS channel settings.**

Zio needs to set up two 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:&#x20;

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2023-08/scaled-1680-/image-1691025875150.png" alt=""><figcaption></figcaption></figure>

&#x20;Gimbal axis selection channel: CH8 (or any channels), use the camera button on the Herelink remote:&#x20;

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2023-08/scaled-1680-/image-1691552982900.jpg" alt=""><figcaption></figcaption></figure>

## 3. Setting parameter. <a href="#bkmrk-3.-setting-parameter" id="bkmrk-3.-setting-parameter"></a>

Zio connects to FC at the baud rate of 115200. In case of connecting Zio to FC at any telemetry, note the telemetry setting at the corresponding baud rate. Example for telemetry 2:

```
MAV_1_CONFIG: “TELEM 2”
MAV_2_CONFIG: "EXT2" (401)
MAV_2_MODE: "Gimbal" (10)
SER_TEL2_BAUD: “115200 8N1"
SER_EXT2_BAUD: “115200 8N1"
MAV_2_FORWARD: "enable" (1)
MAV_S_FORWARD: "enable" (1)
```

**Set mount params**

```
MNT_MODE_IN: “RC”
MNT_MODE_OUT: “MAVlink gimbal protocol v2”
MNT_RC_IN_MODE: “1”
MNT_MAN_PITCH: “AUX3”
MNT_MAN_ROLL: “AUX2”
MNT_MAN_YAW: “AUX1”
MNT_RATE_PITCH: "90"
MNT_RATE_YAW: "90"
```

**Set RC map channels**

```
RC_MAP_AUX1: “Channel 6”
RC_MAP_AUX2: “Channel 7”
RC_MAP_AUX3: “Channel 8”
```

## 4. Setting App Auterion <a href="#bkmrk-4.-setting-app-auter" id="bkmrk-4.-setting-app-auter"></a>

*Updating...*


# GREMSY PAYLOADSDK




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