# 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).

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### **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.

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### **3. Hardware Connection**

#### **UART Wiring**

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

#### <a href="../../orus-l/third-parties-integration/mavlink-autopilot" class="button primary">Mavlink Autopilot Setup</a>

#### **Notes**

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

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### **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

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#### **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

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### **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)

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

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

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### **7. Conclusion**

A valid connection is confirmed when:

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