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)

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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

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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')

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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()

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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

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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 SDK