# CONTROL BY SBUS REMOTE CONTROLLER

### Compatible software

* Mainboard version: v1.1.1\_build.03102024 or higher
* Gimbal version: gremsy\_G\_Hadron\_v783\_Official or higher

### Step 1: Change to SBUS control in Gtune <a href="#bkmrk-step-1-3a-change-to-sb" id="bkmrk-step-1-3a-change-to-sb"></a>

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-09/scaled-1680-/image-1727410005541.png" alt=""><figcaption></figcaption></figure>

### Step 2: Setting channels on the Webserver app <a href="#bkmrk-step-2-3a-setting-chan" id="bkmrk-step-2-3a-setting-chan"></a>

* Go to "Set Up System Configurations" on the Webserver app

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-09/scaled-1680-/image-1726038955956.png" alt=""><figcaption></figcaption></figure>

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-09/scaled-1680-/image-1726039101828.png" alt=""><figcaption></figcaption></figure>

* Params explaination

> ***Control Mode:***
>
> * Disable
> * Raw Input: Control Zio Payload by sbus from gimbal
> * Autopilot Convert: Control Zio Payload by sbus from autopilot
>
> ***Image Capture:*****&#x20;Select push button. Capture Image when pressing button**
>
> ***Video record:*****&#x20;Select push button. Pressing the first time will start record video, pressing the next time will stop record video**
>
> ***Zooming:*****&#x20;Select stick with 3 states. 3 states: zoom tele, stop zoom, zoom wide**
>
> ***Zooming Mode:*****&#x20;Continuous, Step, Range**
>
> ***Change View Source:*****&#x20;Select push button. Each state in pressing button: EO/IR, EO, IR, IR/EO**
>
> ***Change Record Source:*****&#x20;Select push button. Each state in pressing button: EO and IR, EO, IR, OSD**
>
> ***Tilt:*****&#x20;Select rotate button. Control tilt axis**
>
> ***Roll:*****&#x20;currently not in use.**
>
> ***Pan:*****&#x20;Select rotate button. Control pan axis**
>
> ***Mode:*****&#x20;Select stick with 3 states. 3 states corresponding to 3 gimbal mode: OFF, LOCK, FOLLOW**
>
> ***Return Home:*****&#x20;Select push button. Gimbal return home when press button**

* ***Notes: If the channels will not be use, please set it to "-1"***

## Setup Ardupilot param <a href="#bkmrk-setup-ardupilot-para" id="bkmrk-setup-ardupilot-para"></a>

### **1. Disable control by SBUS/PPM. Only use MAVlink to control the Payload**

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-09/scaled-1680-/image-1726041320117-drawio.png" alt=""><figcaption></figcaption></figure>

* Setting App:
  * Select `Disable` in `Control Mode`
* Set param Ardupilot:
  * ***RC6\_OPTION***: “214”
  * ***RC7\_OPTION***: “212”
  * ***RC8\_OPTION***: “213”

### **2. SBUS/PPM directly to gimbal**

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-09/scaled-1680-/image-1726044363772-drawio.png" alt=""><figcaption></figcaption></figure>

* Setting App:
  * Select `Raw Input` in `Control Mode`
  * Select the channel of the function to be controlled on App Setting

### **3. SBUS/PPM from Autopilot SBUS-OUT**

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-09/scaled-1680-/image-1726044617623-drawio.png" alt=""><figcaption></figcaption></figure>

* Select `Raw Input` in `Control Mode`
* Set param Ardupilot:

  * ***BRD\_SBUS\_OUT:*** 50Hz (1)

  * ***BRD\_SAFETY\_MASK:*** 0 (Uncheck channel control)

  * ***RCx\_OPTION:*** 0

  * ***SERVOx\_FUNTION:*** RCINx

  > ***x*****&#x20;is the channel number you want to Sbus out**
  >
  > ***Ex:*** RC6\_OPTION: 0, SERVO6\_FUNTION: RCIN6 --> Sbus out channel 6

### 4. Control by Autopilot RC-MAVlink convert

<figure><img src="https://bookstack.gremsy.vn/uploads/images/gallery/2024-09/scaled-1680-/image-1726041320117-drawio.png" alt=""><figcaption></figcaption></figure>

&#x20;

* Setting App:
  * Select `Autopilot convert` in Control Mode
  * Select the channel of the function to be controlled
* Set param Ardupilot:
  * ***SR2\_RC\_CHAN:*** 10Hz