> For the complete documentation index, see [llms.txt](https://docs.gremsy.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.gremsy.com/payloads/vio/autopilot-setup/setup-with-px4/3.-setting-parameters.md).

# 3. Setting parameters

### Firmware **Requirement**

* Version: update to the latest version.
* 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:

* MAV\_1\_CONFIG: “TELEM 2”
* SER\_TEL2\_BAUD: “115200 8N1"
* MAV\_1\_FORWARD: "1"

### **Set mount params**

* MNT\_MODE\_IN: “RC”
* MNT\_MODE\_OUT: “Unknown: 2”
* MNT\_RC\_IN\_MODE: “1”
* MNT\_MAN\_PITCH: “AUX3” // PAN/TILT choose axis
* MNT\_MAN\_ROLL: “AUX2” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out (current: only using mode control by angle)
* MNT\_MAN\_YAW: “AUX1” // PAN/TILT move
* COM\_RC\_IN\_MODE: “Unknown: 3”

### **Set RC map channels**

* RC\_MAP\_AUX1: “Channel 6” // set channel 6 to AUX1 (Yaw)
* RC\_MAP\_AUX2: “Channel 7” // set channel 7 to AUX2 (Roll)
* RC\_MAP\_AUX3: “Channel 8” // set channel 8 to AUX3 (Pitch)


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