3. Parameter Settings

Firmware Requirement Minimum Required Version: ArduPilot v4.3 or higher MAVLink Protocol: Must support MAVLink v2

Payload Telemetry & Gimbal Mount Settings

Ardupilot 4.3 or higher

Category	Parameter	Value	Description
Telemetry Setup	SERIAL2_PROTOCOL	2	Use MAVLink2 protocol
Telemetry Setup	SERIAL2_BAUD	115	Set baud rate to 115200
RC Channel Options	RC6_OPTION	214	PAN/TILT move (speed-based control)
RC Channel Options	RC7_OPTION	212	Zoom control (High = Zoom In, Neutral = Stop, Low = Out)
RC Channel Options	RC8_OPTION	213	Select axis: PAN or TILT
Mount Settings	MNT1_TYPE	6	MAVLink Gimbal Type
Mount Settings	MNT1_DEFLT_MODE	3	Default to RC Targeting mode
Mount Settings	MNT1_RC_RATE	240	Speed control rate for gimbal
Camera Settings	CAM_TYPE	6	MAVLink Camera integration

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Ardupilot lower 4.3

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

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

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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

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Notification LED Settings

• NTF_LED_TYPES = 231 → Enable Standard Notification LEDs