> 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/tiny-gimbal/g-hadron/autopilot-setup/setup-with-ardupilot.md).
# SETUP WITH ARDUPILOT
#### **1. Hardware Setup**
Connect the G-Hadron UART to the Telem2 on the Ardupilot systems
#### **2. Setting on the remote control**
G-Hadron is compatible with the Remote Control (RC) that supports the QGroundControl app (QGC). In this manual, all settings are made on Herelink Remote Control, the other controller does the same.
**SBUS channel settings**
G-Hadron needs to set up 2 channels to control the gimbal: one channel is for controlling rotation, and the other is for choosing the controlling axis.
**Set up channels controlling the gimbal**
Gimbal rotation control channel: CH6 (or any channels), use the wheel button on the Herelink remote:
Gimbal axis selection channel: CH8 (or any channels), use the camera button on the Herelink remote.
#### **3. Setting parameters**
**Firmware Requirement**
* Support Mavlink v2 protocol
* Version: Ardupilot 4.3 or higher
**Set up the telemetry baud rate**
G-Hadron connects to FC at the baud rate of 115200. In case of connecting G-Hadron 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](https://ardupilot.org/copter/docs/parameters.html#rc6-option) = 213 (“Mount Pitch”) to control the gimbal’s pitch rate with RC channel 6
* [RC7\_OPTION](https://ardupilot.org/copter/docs/parameters.html#rc7-option) = 214 (“Mount Yaw”) to control the gimbal’s yaw rate with RC channel 7
* 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"
#### **4. Setting App QGroundControl**
**Setup app QGroundControl**
* Step 1: Turn on Wifi on the remote to be able to download G-Hadron parameter list
* Step 2: Enable UDP from Application Setting -> AutoConnect to the following devices
**Successful connection**
---
# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.
## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation by asking a question.
Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters:
```
GET https://docs.gremsy.com/tiny-gimbal/g-hadron/autopilot-setup/setup-with-ardupilot.md?ask=&goal=
```
`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.
Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.
