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.

Mavlink Autopilot Setup

Notes

• Ensure correct TX/RX crossover

• Verify stable power supply

• Confirm cable integrity

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4. Method 2: MAVLink Inspector

Procedure

1. Open QGroundControl/Mission Planner

2. Navigate to: Analyze Tools → MAVLink Inspector

3. Monitor the incoming MAVLink components

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