Setup with the Ardupilot System

VioZio Control Cable

I. Pixhawk Configuration:

1. Change the baud rate of the TELEMETRY port used for the gimbal to 115200.

Example: The image below uses the TELE2 port.

Step 1: Change the parameter SERIAL2_BAUD to 115.

Step 2: Click "Write Param" in the upper right corner of the screen and receive the notification as shown.

  1. Enable SBUS out feature on Pixhawk (optional feature: can be used or not).

Step 1: Adjust Pixhawk's parameters to enable the SBUS out feature:

  • BRD_SBUS_OUT = 1



Step 2: Assign channel 9 to "CAM short press" and channel 10 to "Scroll Wheel" on the remote Herelink to use Herelink mode for the gimbal.

Note: The "Default Value" and "Active Value" values need to be set as shown.

II. Entire Airpixel Configuration

Configure the Uni port-B and Uni port-C of the Entire module as shown below according to the steps:

Step 1: Connect the device to Entire's wifi.

Step 2: Open any browser and access the following IP address:

Step 3: After successful access, the interface will appear as shown below.

Step 4: Change the function of the Uni port-B to MAVlink with baudrate of 115200.

Step 5: Change the function for Uni port-C to Gremsy (no need to select baudrate).

Step 6: Turn off Force SBUS mode on Entire.

Go to Menu -> Miscellaneous -> Gimbal control options -> Gremsy options -> Force SBUS mode.

Step 7: Check that the connections are working normally through the parameters in the red block box.

Significance of the information:

III. Camera Configuration

1. EXIF Geotagging Configuration


SETUP->USB->USB Connection Mode->MassStorage


Open camera MENU and navigate to: NETWORK->Cnct./PC Remote->PC Remote Function->OFF


  • Your setup is ready to be used for geotsagging at this point

  • ENTIRE has Self-Test routines for GeoTagging to easily check if all wiring is working well

  • Make sure that all equipment is turned ON and camera is set to MASS STORAGE MODE

  • Click to MENU->Configuration test and let the Entire to do a self-test

    • At the beginning of the test, one photo will be triggered

    • Entire will check if HotShoe sensor has properly recognized trigger

    • Entire will check all necessary input data connections

    • In case of any problems, result will provide hints to solve the issue

    • Test photo will not be geotagged in the test method!

2. WiFi Configuration for Control


Open camera MENU and navigate to NETWORK->Network Option->Access Authen. Settings Open this item and in submenu DISABLE authentication Confirm all warnings OK Access Authen. Settings should be OFF


Navigate to: NETWORK->Wi-Fi->Access Point Set And enter item Wait for scan of available access points


From the list of networks, select Access point of the ENTIRE Entire_xxxx Confirm OK


Camera will connect the ENTIRE via WiFi now Once done, confirm OK for return to the list


Click right (MANUAL SETTINGS) on the ENTIRE’s WiFi item to enter manual IP settings Scroll to IP Address settings “Auto” and change to “Manual".


Fill IP addresses and masks:

Confirm OK

Camera will now re-connect the ENTIRE


Once connection is done, scroll up to “Wi-Fi Connect” and turn it ON


Navigate to: NETWORK->Cnct./PC Remote->PC Remote Function->ON


Now scroll to PAIRING and enter item

Wait for initialization

Once pairing confirmation for the ENTIRE shows, confirm OK



WiFi control should be now available along with the geotagging via USB. You can control exposure values via MavCam / ENTIRE’s web page, AIR Commander Link or MissionPlanner plugin.

IV. Gimbal Configuration

STEP 1: Connect the gimbal to Gtune software by USB cable

STEP 2: Open Gtune then navigate to SETTINGS -> PROFILE -> IMPORT -> CHOOSE THE PROFILE VIO/ZIO Cable -> LOAD

V. Control the Gimbal and Camera.

1. Control the Gimbal.

  • Control the gimbal by using Herelink Mode (requires turning on SBUS out in item 1):

Setup "Cam short press" and "Scroll Wheel" buttons on Herelink as channel 9 and channel 10 respectively.

Follow instructions in Section 1b to Enable SBUSout of Pixhawk to use this feature.

After Reboot:

+ Use "Cam short press" button to select PAN/TILT control axis.

+ Use "Scroll Wheel" button to control gimbal PAN(left-right) / TILT(up-down).

  • Use the MAVCAM app to switch Gimbal controls using the Herelink button or the Joystick on the screen.

When using the Joystick on the screen, it will automatically disable control the Herelink button. To turn it back on, press the red block button as shown:

When you need to quickly control the gimbal axis tilt mapping 90º or return to home 0º, press the red block button as shown:

On or Off gimbal motor:

2. Control the camera.

  • Use the MAVCAM application to control the camera with the following features:

  • Use QGrounControl App to Trigger Camera.

IV. Setup mapping mission

Step 1: Check that the memory card is installed and that there is enough free space.

Step 2: Create maps as usual with Mission Planner or QGroundControl.

More information about creating maps: Link Here

Step 3: Record the newly created map to Pixhawk

Step 4: Edit command to control the gimbal with the Mission Planner application.

  • Go to the tab "Plan".

  • Click the "Read" button in the upper right corner to read the map recorded to Pixhawk in Step 3.

  • Find and edit Command "DO_MOUNT_CONTROL" to "DO_DIGICAM_CONFIG" as shown below:

  • Notes:

+ Mode = 250

+ CommanID is the angle of the gimbal (always positive)

+ The next box is positive or negative

For example: In the map above.

After take-off you want the TILT gimbal to go down to 90º , set Mode = 250, CommandID = 90 and 2.

Before RTL you want the gimbal TILT to 0º, set Mode = 250, CommandID = 0 and 1.

Step 5: Download the new map after changing the command to Pixhawk.

Step 6: Fly test.

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