> 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/gremsy-payloadsdk.md).
# GREMSY PAYLOADSDK
Tiny Gimbal: G-hadron
## HARDWARE SETUP
## **PAYLOAD SDK EXAMPLE**
**Clone Gremsy Payload SDK:**
```
git clone -b payloadsdk_v2 https://github.com/Gremsy/PayloadSdk.git
```
**Install required library**
```
sudo apt-get install libcurl4-openssl-dev libjsoncpp-dev
```
**Build Example**
```
cd PayloadSdk
mkdir build && cd build
cmake -DGHADRON=1 ../
make -j6
```
**Example Content**\
**1.\_Connect \_to\_Payload**
* Check connect Onboard Computer to G-Hadron Payload
**2.\_Load\_Payload\_Settings**
* Load all G-Hadron Payload Settings menu
**3.\_Set\_Payload\_Settings**
* Set G-Hadron Payload Camera parameter by setting menu
**4.\_Capture\_Image**
* Check storage micro SD card
* Change camera mode is CAMERA\_MODE\_IMAGE
* Capture 3 Images
**5.\_Record\_Video**
* Check storage micro SD card
* Change camera mode is CAMERA\_MODE\_VIDEO
* Record video
**6.\_Get\_Video\_Streaming**
* Get camera stream information.
* Get video stream by RTP GStreamer.
**7.\_Move\_Gimbal\_SpeedMode**
* Control Gimbal by speed mode
**8.\_Move\_Gimbal\_AngleMode**
* Control Gimbal by angle mode
**9.\_Get\_Status\_Gimbal**
* Get Angle Gimbal: Pitch, Roll, Yaw
**10.\_Set\_Camera\_Zoom\_Focus**
* Set zoom G-Hadron by send message MAV\_CMD\_SET\_CAMERA\_ZOOM
* Set focus G-Hadron by send message MAV\_CMD\_SET\_CAMERA\_FOCUS
\
---
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