# SETUP WITH ARDUPILOT

#### **1. Hardware Setup** <a href="#bkmrk-1.-hardware-setup-1" id="bkmrk-1.-hardware-setup-1"></a>

Connect the G-Hadron UART to the Telem2 on the Ardupilot systems<br>

<figure><img src="/files/tME388v2N2HNelyme09W" alt=""><figcaption></figcaption></figure>

#### **2. Setting on the remote control** <a href="#bkmrk-2.-setting-on-the-re" id="bkmrk-2.-setting-on-the-re"></a>

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:

<figure><img src="/files/b9sqPbquyXtJRr07eh7l" alt=""><figcaption></figcaption></figure>

Gimbal axis selection channel: CH8 (or any channels), use the camera button on the Herelink remote.

<figure><img src="/files/k44UPwTWa2EEi9bClAha" alt=""><figcaption></figcaption></figure>

#### **3. Setting parameters** <a href="#bkmrk-3.-setting-parameter" id="bkmrk-3.-setting-parameter"></a>

**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: “214” // PAN/TILT move
* RC7\_OPTION: “212” // Zooming, High: Zoom in, Neutral: Stop, Low: Zoom out
* RC8\_OPTION: “213” // PAN/TILT choose axis
* 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** <a href="#bkmrk-c2-a0-0" id="bkmrk-c2-a0-0"></a>

**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

<figure><img src="/files/rE6dp1W0y3SlNOBpU85D" alt=""><figcaption></figcaption></figure>

**Successful connection**

<figure><img src="/files/ZrrFEWNuek4WxlynpO8U" alt=""><figcaption></figcaption></figure>


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