> For the complete documentation index, see [llms.txt](https://docs.gremsy.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.gremsy.com/payloads/general/troubleshooting/gremsy-flight-controller-connection-verification-guide.md).
# 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.
#### Mavlink Autopilot Setup
#### **Notes**
* Ensure correct **TX/RX crossover**
* Verify stable **power supply**
* Confirm cable integrity
***
### **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
***
### **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**
---
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