SETUP WITH ARDUPILOT
Payload Telemetry & Gimbal Mount Settings
Ardupilot 4.3 or higher
Telemetry Setup
SERIAL2_PROTOCOL
2
Use MAVLink2 protocol
Telemetry Setup
SERIAL2_BAUD
115
Set baud rate to 115200
RC Channel Options
RCx_OPTION
214
x is desired channel match with remote/ground station button (joystick)
Standard mode: PAN control
Gremsy mode:PAN/TILT move (speed-based control)
RC Channel Options
RCy_OPTION
212
y is desired channel match with remote/ground station button (joystick)
Standard mode: Roll control
Gremsy mode: not applicable
RC Channel Options
RCz_OPTION
213
z is desired channel match with remote/ground station button (joystick)
Standard mode: TILT control
Gremsy mode: 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
Ardupilot lower 4.3 (limited support from Ardupilot)
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 PositionSR2_EXT_STAT=2→ GPS Lock Status
GPS Configuration via CAN
If using a UAVCAN GPS unit:
CAN Port Driver Enable
CAN_P1_DRIVER=1→ Enable CAN1CAN_P2_DRIVER=1→ Enable CAN2
GPS Type Selection
GPS_TYPE=9→ UAVCAN GPS
Notification LED Settings
NTF_LED_TYPES=231→ Enable Standard Notification LEDs
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