# 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 "Set Up Remote Channels" on the Webserver app

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-04/scaled-1680-/image-1712979856305.png" alt=""><figcaption></figcaption></figure>

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-04/scaled-1680-/image-1712979803169.png" alt=""><figcaption></figcaption></figure>

* Params explaination

> ***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**

* ***Notes: If the channels will not be use, 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="https://bookstack.gremsy.vn/uploads/images/gallery/2023-12/scaled-1680-/image-1703563590050.png" 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="https://bookstack.gremsy.vn/uploads/images/gallery/2023-12/scaled-1680-/image-1703563695616.png" 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**

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* 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="https://bookstack.gremsy.vn/uploads/images/gallery/2023-12/scaled-1680-/image-1703563598466.png" 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