# MAVLINK AUTOPILOT

#### **Gremsy Payload Integration with Mavlink-based Autopilot Systems**

**Integration Capabilities**

Gremsy payloads support standard communication protocols to interface smoothly with Pixhawk systems, including:

* **MAVLink v2 Protocol**: Compatible with popular firmware such as PX4 and ArduPilot. The payload can receive and respond to gimbal control commands from the autopilot, including angle control, ROI (Region of Interest) tracking, and camera navigation along waypoints.
* **UART/Serial Communication**: Gremsy gimbals offer UART ports for direct communication with the flight controller. Baud rate and protocol settings can be configured to match the specific autopilot setup.
* **Ethernet Interface**: Enables high-speed, low-latency communication for advanced use cases:
  * **UDP Protocol** for real-time gimbal and camera control commands from onboard computers or ground stations.
  * **RTSP (Real-Time Streaming Protocol)** for live video streaming from the payload camera to ground control software or network video recorders.

## General Hardware Connection

1. **Flight Stack without onboard computer**\
   E.g: Cube Pilot, Pixhawk series with Herelink v1.1 remote

<figure><img src="/files/9dSwnYc4BvsmxzeAmVUL" alt=""><figcaption></figcaption></figure>

2. **Flight Stack with onboard computer built-in**\
   E.g: Skynode, VOXL2 with Herelink v1.1

<figure><img src="/files/fC9fOCEELRK8VLx4wpBF" alt=""><figcaption></figcaption></figure>


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