# 3. Parameter Settings

### Firmware **Requirement**

* Version: Ardupilot 4.3 or higher
* Support Mavlink v2 protocol

### **Set up the telemetry baud rate**

Vio connects to FC at the baud rate of 115200.\
In case of connecting Vio to FC at any telemetry, note the telemetry setting at the corresponding baud rate. Example for telemetry 2:

* SERIAL2\_PROTOCOL: “Mavlink2”
* SERIAL2\_BAUD: “115200”

### **Set mount params**

#### Ardupilot 4.3 or higher

* RC6\_OPTION: “214” // PAN/TILT move
* RC7\_OPTION: “212” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out
* RC8\_OPTION: “213” // PAN/TILT choose axis
* MNT1\_DEFLT\_MODE: "3"
* MNT1\_TYPE: “6”
* MNT1\_RC\_RATE: “240” // change control gimbal by speed
* CAM\_TYPE: "6"

#### Ardupilot lower 4.3

* RC6\_OPTION: “0”
* RC7\_OPTION: “0”
* RC8\_OPTION: “0”
* MNT\_RC\_IN\_PAN: “6” // PAN/TILT move
* MNT\_RC\_IN\_ROLL: “7” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out
* MNT\_RC\_IN\_TILT: “8” // PAN/TILT choose axis
* MNT\_TYPE: “SToRM32 MAVLINK"

### **Settings stream rate to receive forward messages from telemetry 1 (from Autopilot)**

* SR2\_POSITION: "10" // receive GPS messages
* SR2\_EXT\_STAT: "2" // receive GPS lock signal

### **Set params GPS connect the CAN cable connector to CAN1 or CAN2 port on the flight controller.**

* CAN\_P1\_DRIVER: "1" (First drive) // enable CAN1 port
* CAN\_P2\_DRIVER: "1" (First drive) // enable CAN1 port
* GPS\_TYPE: "9" (UAVCAN)
* NTF\_LED\_TYPES: "231"


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