Setup with Ardupilot

1. Hardware Setup

2. Setting on the remote control

Gimbal is compatible with the Remote Control (RC) that supports the QGroundControl app (QGC). In this manual, all settings are made on Remote Control (Ex : Siyi, Sbus remote, …), the other controller does the same.

a. RC Channel settings

Gimbal needs to set up 4 channels to control gimbal rotation, mode and retract.

b. Setup channel control gimbal in remote

· Siyi

• Gimbal control pitch, yaw rotation channel : CH6 and CH7

• Gimbal mode lock/follow, motor ON/OFF : CH8 and CH9 Note: Can remap channels for your application.

· FRsky

• Gimbal control pitch, yaw rotation channel : CH6 and CH7

• Gimbal mode lock/follow, motor ON/OFF : CH8 and CH9 Note: Can remap channels for your application.

3. Parameter Settings

Firmware Requiement

· Version: Ardupilot 4.3 or higher

· Support Mavlink v2 protocol

Serial Telemetry settings

· SERIAL2_PROTOCOL: “Mavlink2”

· SERIAL2_BAUD: “115200”

Control with an RC transmitter (aka RC Targeting)

While the gimbal is in “RC Targeting” mode (see above for how to change modes), the pilot can control the gimbal’s target roll, pitch and yaw angles using an RC transmitter channel for each axis. For example:

· set RC6_OPTION = 212 (“Mount1 Roll”) to control the gimbal’s roll angle with RC channel 6

· set RC7_OPTION = 213 (“Mount1 Pitch”) to control the gimbal’s pitch angle with RC channel 7

· set RC8_OPTION = 214 (“Mount1 Yaw”) to control the gimbal’s yaw angle with RC channel 8

· ensure the RCx_TRIM parameter for each RC input channel used is half way between RCx_MIN and RCx_MAX

By default the RC input specifies the angle but this can be changed to rate control by setting MNT1_RC_RATE to the desired rotation rate in deg/sec.

By default the yaw control is in “follow” mode (aka “body frame”) meaning that the gimbal’s heading will rotate as the vehicle rotates. The alternative is “lock” mode (aka “earth frame”) meaning the gimbal’s heading will stay locked onto a particular heading regardless of the vehicle’s yaw. The pilot can switch between these two modes with an auxiliary switch.

· set RC9_OPTION = 163 (“Mount Lock”) to switch between “lock” and “follow” mode with RC channel 9 The pilot can retract the gimbal with the “Retract Mount1” auxiliary switch · RC10_OPTION = 27 (“Retract Mount1”) to change the gimbal to Retract mode

Control from a Ground Station (MAVLink Targeting)

Ground stations can send MAVLink commands to control the gimbal. While each GCS’s interface is different below are the controls provided by Mission Planner.

The gimbal’s angles can be controlled as follows

· Set the mode to “MAVLink Targeting” using the Data screen’s Actions tab’s bottom left drop-down and then push the “Set Mount” button (see image above).

· Use the Payload Control tab to adjust the gimbal’s roll, pitch or yaw angles.

·Use the Aux Function tab to switch the yaw between “follow” and “lock” modes.

To point the gimbal at a particular location (e.g. lat, lon, alt), on the Data screen, right-mouse-button click on the map and select, “Point Camera Here” and enter an altitude above home.

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