# SETUP WITH ARDUPILOT

## Payload Telemetry & Gimbal Mount Settings

### **Ardupilot 4.3 or higher**

<table><thead><tr><th>Category</th><th width="186">Parameter</th><th width="101" align="center">Value</th><th>Description</th></tr></thead><tbody><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_PROTOCOL</code></td><td align="center"><code>2</code></td><td>Use MAVLink2 protocol</td></tr><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_BAUD</code></td><td align="center"><code>115</code></td><td>Set baud rate to 115200</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCx_OPTION</code></td><td align="center"><code>214</code></td><td><p>x is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: PAN control</li><li>Gremsy mode:PAN/TILT move (speed-based control)</li></ul></td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCy_OPTION</code></td><td align="center"><code>212</code></td><td><p>y is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: Roll control</li><li>Gremsy mode: not applicable</li></ul></td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RCz_OPTION</code></td><td align="center"><code>213</code></td><td><p></p><p>z is desired channel match with remote/ground station button (joystick)</p><ul><li>Standard mode: TILT control</li><li>Gremsy mode: Select axis: PAN or TILT</li></ul></td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_TYPE</code></td><td align="center"><code>6</code></td><td>MAVLink Gimbal Type</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_DEFLT_MODE</code></td><td align="center"><code>3</code></td><td>Default to RC Targeting mode</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT1_RC_RATE</code></td><td align="center"><code>240</code></td><td>Speed control rate for gimbal</td></tr><tr><td><strong>Camera Settings</strong></td><td><code>CAM_TYPE</code></td><td align="center"><code>6</code></td><td>MAVLink Camera integration</td></tr></tbody></table>

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### **Ardupilot lower 4.3 (limited support from Ardupilot)**

<table><thead><tr><th width="232">Category</th><th width="184">Parameter</th><th width="101">Value</th><th>Description</th></tr></thead><tbody><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_PROTOCOL</code></td><td><code>2</code> </td><td>Use MAVLink v2 protocol on Telemetry 2</td></tr><tr><td><strong>Telemetry Setup</strong></td><td><code>SERIAL2_BAUD</code></td><td><code>115</code> (<code>115200</code>)</td><td>Set telemetry baud rate to 115200</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC6_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC7_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>RC Channel Options</strong></td><td><code>RC8_OPTION</code></td><td><code>0</code></td><td>Disabled</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_PAN</code></td><td><code>6</code></td><td>PAN/TILT move (assigned to RC channel 6)</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_ROLL</code></td><td><code>7</code></td><td>Zoom control (High = Zoom In, Neutral = Stop, Low = Zoom Out)</td></tr><tr><td><strong>Mount RC Mapping</strong></td><td><code>MNT_RC_IN_TILT</code></td><td><code>8</code></td><td>Axis select (assigned to RC channel 8)</td></tr><tr><td><strong>Mount Settings</strong></td><td><code>MNT_TYPE</code></td><td><code>4</code> (<code>SToRM32 MAVLINK</code>)</td><td>Set gimbal mount type to SToRM32 MAVLink</td></tr></tbody></table>

## **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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## &#x20;**Notification LED Settings**

* `NTF_LED_TYPES` = `231` → **Enable Standard Notification LEDs**