COMPANION COMPUTER FOR UAV & ROBOTICS PLATFORM
1. System Overview Diagram
Companion / Onboard Computer (Jetson / RPi / NUC)
├── [UDP via Ethernet or UART] → Orus L Control (Payload SDK)
├── [RTSP Stream] ← Orus L Camera Output
└── [Optional] → Flight Controller (MAVLink)
2. Hardware Connection
Option A: Ethernet (Recommended)
Connect Orus L's Ethernet port to the onboard computer's Ethernet port (or via USB-C to Ethernet adapter)

Option B: UART (Alternative)
Connect UART TX/RX lines from Orus L to onboard serial port
Ensure proper logic level (3.3V TTL)

Optional:
Connect Flight Controller (Pixhawk) via separate UART for MAVLink passthrough if needed
3. Software Setup: Gremsy Payload SDK (v3)
A. Install SDK (Python version)
# Clone the SDK
git clone -b payloadsdk_v3 https://github.com/Gremsy/PayloadSdk.git
cd PayloadSdk/python
# Install dependencies
pip install -r requirements.txt
B. Initialize SDK and Connect
from payloadsdk import GremsySDK
# Create SDK instance and connect via Ethernet (UDP)
sdk = GremsySDK(protocol='udp', target_ip='192.168.12.249', target_port=14566)
# Or connect via UART
# sdk = GremsySDK(protocol='serial', serial_port='/dev/ttyUSB0', baudrate=115200)
sdk.connect()
C. Send Basic Commands
# Move gimbal to specific angles
sdk.gimbal_control.set_angle(pitch=0.0, roll=0.0, yaw=90.0)
# Start/Stop video recording
sdk.camera_control.set_recording(True)
# Set gimbal mode
sdk.gimbal_control.set_mode('lock')
4. RTSP Video Streaming
Use VLC or OpenCV to access the video stream:
rtsp://192.168.12.249:8554/payload
Example with OpenCV:
import cv2
cap = cv2.VideoCapture('rtsp://192.168.12.249:8554/payload')
while True:
ret, frame = cap.read()
if ret:
cv2.imshow("Orus L Stream", frame)
if cv2.waitKey(1) == 27:
break
cap.release()
cv2.destroyAllWindows()
5. Optional: Integration with MAVLink and Flight Controller
If a flight controller is present, you can:
Forward MAVLink commands from Pixhawk to Orus L (mount_control)
Synchronize gimbal with autopilot commands
Requires proper UART bridge and time sync if needed
6. Use Cases
Onboard AI/ML target detection and autonomous gimbal pointing
GPS-denied or tethered drone operations
Ground robot (UGV) with 3-axis PTZ camera functionality
Inspection and defect detection robots with onboard processing
DETAILED PAYLOAD SDK
GREMSY PAYLOAD SDKLast updated
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