# GREMSY PAYLOADSDK

## HARDWARE SETUP

<figure><img src="/files/nKFpv6q8BQopUeyvJEBJ" alt=""><figcaption></figcaption></figure>

## **PAYLOAD SDK EXAMPLE** <a href="#bkmrk-payload-sdk-example" id="bkmrk-payload-sdk-example"></a>

**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

\ <br>


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.gremsy.com/tiny-gimbal/g-hadron/gremsy-payloadsdk.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
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.