CUBE PILOT
MIO
Cube Pilot
Instruction Step:
We recommend connecting the Gimbals’s COM2 port to one of the autopilot’s Serial/Telemetry ports like Telem2 as shown above.
Connect with a ground station and set the following parameters:
MNT_TYPE to “4” for “SToRM32 MavLink”
SERIAL2_BAUD to “115” for 115200 bps. “SERIAL2” can be replaced with another serial port (i.e. SERIAL1) depending upon the physical connection
SERIAL2_PROTOCOL to 2 for “MAVLink2”
SR2_EXTRA1 to 10
SR2_POSITION to 10
The gimbal’s maximum angles can be set using these parameters:
MNT_ANGMIN_ROL to -3000 to allow leaning left up to 30deg
MNT_ANGMAX_ROL to 3000 to allow leaning right up to 30deg
MNT_ANGMIN_TIL to -9000 to allow pointing 90deg down
MNT_ANGMAX_TIL to 3000 to allow pointing 30deg up
MNT_ANGMIN_PAN to -18000 to allow turning around to the left
MNT_ANGMAX_PAN to 18000 to allow turning around to the right
To control the gimbal’s lean angles from a transmitter set:
MNT_RC_IN_TILT to 6 to control the gimbal’s tilt (aka pitch angle) with the transmitter’s Ch6 tuning knob
MNT_RC_IN_ROLL to some input channel number to control the gimbal’s roll angle
MNT_RC_IN_PAN to some input channel number to control the gimbals’ heading
Gremsy’s instructions can be found below:
Configuring the Gimbal
The gimbal should work without any additional configuration but to improve performance you may need to adjust the gimbal’s gains to match the camera’s weight
Download, install and run the gTune setup application
Connect the gimbal to your Desktop PC using a USB cable
Push the “CONNECTION” button on the left side of the window, then select the COM port and press “Connect”
Select the “CONTROLS” tab and ensure “SYNC” is selected so the gimbal communicates with the autopilot using MAVLink
Select the “STIFFNESS” tab and adjust the Tilt, Roll and Pan gains so that the gimbal holds the camera in position without shaking
Testing Controlling the Gimbal from RC
Disconnect the USB cable connecting your PC to the gimbal
Powerup the vehicle and gimbal
Move the transmitter’s channel 6 tuning knob to its minimum position, the camera should point straight down
Move the ch6 knob to maximum and the gimbal should point upwards
Note
The RC’s channel 6 input can be checked from Mission Planner’s Radio calibration page
Testing ROI
The ROI feature points the vehicle and/or camera to point at a target. This can be tested by doing the following:
Ensure the vehicle has GPS lock
If using the Mission Planner, go to the Flight Data screen and right-mouse-button-click on a point about 50m ahead of the vehicle (the orange and red lines show the vehicle’s current heading), select Point Camera Here and input an altitude of -50 (meters). The camera should point forward and then tilt down at about 45 degrees
Video tutorial
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