Welcome to Gremsy Documentation Here you’ll find comprehensive manuals, user guides, and technical resources for all Gremsy products. Whether you're setting up a new gimbal or troubleshooting an issue, this is your go-to knowledge base.

If you can't find the information you need or require further assistance, feel free to contact us at [email protected] — we're here to help.

What you can expect:

• Up-to-date documentation for all current products

• Step-by-step setup and configuration guides

• Firmware update instructions

• Troubleshooting tips and FAQs

• Technical specifications and integration resources

Contact to [email protected] to get more information

Orus L Fully compatible with the Gremsy Payload Plus Android application, offering advanced control and configuration capabilities over Ethernet (UDP + RTSP).

Key Highlights

• Seamless Integration with Payload Plus: Orus L works natively with the Gremsy Payload Plus app, enabling intuitive setup, real-time gimbal control, and live video preview directly from an Android device.

• Ethernet Connectivity: Utilizes high-speed Ethernet interface to ensure stable and low-latency communication for both control (UDP) and video streaming (RTSP).

• Precise Gimbal Control: Control Pan, Tilt, and Roll angles smoothly using the app interface. Adjust movement speed, mode switching, and gimbal behavior on the fly.

• Live Video Streaming via RTSP: Stream real-time video feed from the integrated camera to the Payload Plus app using RTSP, ensuring immediate visual feedback for target framing and mission planning.

• Advanced Configuration: Access full payload settings including object tracking, AI detection, camera indeep settings—all within the Payload Plus app.

For the detailed installation and connect with the Payload Plus, refer to the link below:

There will be two different control mode based on the Mavlink protocol

Settings on the Camera Settings - QgroundControl when you connect the Gremsy Payload.

Orus L support connect with PC or similar device running Windows/Mac/Unbutu over USB-ETH connection in order to initial setup, settings param and troubleshooting

It will require for some configuration to have the stable connection over the USB-ETH connection

Why Set a Static IP?

While you connect to your computer as default IP, it may change and affect to the connection, leading to loss and instability

This article will show you how to change the IP address of computer for stable connection with ORUS-L via USB connection

The Gremsy payload is designed for many different UAV platforms, so the control types are also diverse to serve each specific setup. This Articel will help you understand and know the correct setup steps for your remote control type.

1. Diagram

Available Camera Component IDs

Before upgrading firmware, please download the latest firmware and install requirment software:

• ZIO PAYLOADS:

• VIO PAYLOADS:

ORUS L and other gremsy payload compliance with the Mavlink protocol v2 and support for the payload settings over Mavlink telementry.

It could be integrate/embedded to the autopilot software such as Qground Control easily by manual or auto ( with internet access in the first time connect).

Note: If you're running the customize software, you may need to customize the payload menu settings UI by using Payload SDK for call the API.

Supported Micro SD Cards

• The Zio comes with a 64GB Micro SD card and this is the maximum capacity the Zio supports.

• We recommend using a UHS-1 Micro SD card to minimize the delay when reading and writing high-resolution video data.

Used Micro SD Cards

• Config file set IP address of Zio and IP address of UDP stream receiver.

• Config file control Zio with Ethernet.

• Save images and videos.

Please carefully follow the guidelines to have the proper camera settings.

ZIO supports video streaming over Ethernet.

Please update to the latest firmware and follow the following instructions .

ZIO supports control over Ethernet Telementry

Please update to the latest firmware and follow the following instructions .

Parameter Setup

• Version: update to the latest version.

• Support Mavlink v2 protocol

Orus L Fully compatible with the Gremsy Assistance Desktop offering advanced control and configuration capabilities over USB-Ethernet for settings and testing the payload.

Video Stream and Control via Payload Assistant Desktop

Use the USB-C port to stream and control the Orus-L payload using the Payload Assistant Desktop application.

1. Overview

This feature will come with the SBUS extension board from Gremsy to convert SBUS input to MAVlink message before sending to the payload.

2. Setup remote channels by App Setting

Step 1: Connect to the Settings app via Ethernet.

Step 2: Open "Set Up Remote Channels"

Step 3: Select the channels you want to control corresponding to the functions. The value should be between 1 and 18; if not used, please set it to default -1.

Step 4: Tilt - Roll - Pan can select "deadzone" depending on remote.

Config the micro SD-card to Zio

• Remove all file .conf in the micro SD card or unplug micro SD-card from Zio

Setup app QGroundControl

• Step 1: Turn on Wifi on the remote to be able to download Zio parameter list

• Step 2: Enable UDP from Application Setting -> AutoConnect to the following devices

• Successful connection

Zio 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.

1. SBUS channel settings

Zio 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.

2. 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.

Got video stream with QGroundControl app

General/Video setup as follows:

Got video stream with Gstreamer

In the case of using an embedded computer with the Gstreamer library, the video can be received via the command:

Zio 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.

1. SBUS channel settings

Zio 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.

2. 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.

Gimbal device settings on Qground Control

1. Gimbal Mode

Set gimbal mode

There are 3 options:

• Off

• Lock

• Follow

2. Gimbal Combine Zoom

Set gimbal control speed split when Zio Payload is zooming.

There are 2 options: Disable/Enable

NOTE: Gimbal Combine Zoom only works when using PayloadSDK

1. Using GremsyFlashTools

1.1 Install the latest version of GremsyFlashTools

Orus L is designed to be highly flexible, allowing it to integrate into a wide range of UAVs and robotics platforms. With support for UART, Ethernet (UDP & RTSP), MAVLink, and the Gremsy Payload SDK, users can easily adapt Orus L to fit their specific system architecture—whether it’s a flight controller-based drone, an onboard computer, or a mobile robot.

Below are four common integration setups that demonstrate how Orus L can be deployed in real-world applications:

1. Mavlink Autopilot Integration (UART + Ethernet)

Ideal for traditional drones using PX4 or ArduPilot firmware.

Default IP Address of ORUS-L Payload

Isotherms Regions – Orus-L

The Isotherms function highlights temperature ranges within the thermal image to enhance visibility of specific heat zones.

Mode

Gimbal Device – Firmware Update

Update the gimbal firmware using a .hex file provided by the manufacturer.

Steps to Update Firmware:

1. Click “Choose File” and select the appropriate .hex

M-PORT QUICK RELEASE (IP VERSION) MOUNTING DIMENSION

CONNECTION HUB MOUNTING DIMENSION

Use USB-C (bottom of ORUS-L) to connect the Payload Web Setting.

To check the Firmware version and Software version, also configure the parameter of Payloads

1. How to Connect?

• LINK: 192.168.55.1:8000

From the new firmware below, ZIO supports streaming and control over Ethernet along with many new updates to Autolilot and Payload SDK. Check it out in the following article.From the new firmware below, ZIO supports

Gimbal Firmware

Payload Firmware

1. Overview

• This is a method to allow user can change the parameter of RTSP streaming from the Zio payload.

• Software: v2.0.1.3 or higher,

Connect the ZIO UART to the Telem2 on the PX4 systems

1. Manual

Download the suitable with your software version here:

Install to the Software Camera Settings folder

E.g: QGroundControl

1. Auto

Connect the Ground Station/Remote which is running the software to the internet.

Gremsy, a front-runner in drone gimbal and payloads manufacturing, proudly introduces the Vio series, its groundbreaking lightweight, plug-and-play EO/IR payload for multiple drone platforms. The Vio series marks Gremsy's inaugural entry into advanced EO/IR payloads, featuring a 4K zoom sensor, a 640x512 radiometric thermal camera, and an integrated laser rangefinder with an impressive range of up to 3000m. Its cutting-edge features make it an indispensable tool for professionals in various sectors, from industrial inspections to search and rescue operations.

The Vio Series comes with 2 versions: Vio F1 and Vio G1.

Zio 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.

1. SBUS channel settings

Zio 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.

Select Timezone

• Locate the Select Timezone option.

• Timezone options correspond to standard global time zones (e.g., UTC±offset).

Config the micro SD-card to Zio

• Remove all file .conf in the micro SD card or unplug micro SD-card from Zio

Setup app QGroundControl

• Step 1: Turn on Wifi on the remote to be able to download Zio parameter list

Connect the ZIO UART to the Telem2 on the Ardupilot systems

This section covers general configuration options to tailor Orus-L’s behavior and measurement units to your operational needs.

LRF Unit (Laser Range Finder)

Select the preferred unit of measurement for distance readings:

• Meters

• Yards

• Feet

• Miles

• Kilometers (km)

GPS Unit Format

Choose the format for displaying GPS coordinates:

• Decimal Degrees (DD) – e.g., 41.40338, 2.17403

• Degrees, Minutes, Seconds (DMS) – e.g., 41°24'12.2"N 2°10'26.5"E

• Degrees Decimal Minutes (DDM) – e.g., 41°24.2028', 2°10.4418'

Tracking Autozoom

Enable or disable automatic zoom during object tracking:

• Enable – Zooms automatically to keep the target centered and sized

• Disable – Zoom level remains fixed regardless of target movement

Camera Definition Location

Specify where the camera configuration is sourced from:

• Offline – Uses onboard definitions without requiring internet access

• Online – Loads updated definitions from the cloud when connected

Saving Your Settings

After configuring the above options, click “APPLY” to save the settings. Changes will be applied immediately or after a system restart, depending on the option.

IR Camera Settings – Orus-L

This section provides configuration options to optimize the infrared (IR) camera's display, measurement accuracy, and Flat-Field Correction (FFC) behavior.

Scale

Adjust how the IR image is displayed on screen:

• Original – Maintains the sensor’s native aspect ratio

• Full Screen – Scales the image to fill the display

Overlay ROI (Region of Interest)

Enable or disable visual overlays for measurement regions:

• Enable – Displays measurement boxes on the IR image

• Disable – Hides all ROI overlays

ROI Measurement

Select the size of the temperature measurement region:

• Small

• Medium

• Large

• Full Screen

📌 Choose a smaller ROI for precise spot measurements or larger regions for broader thermal averaging.

FFC Mode (Flat-Field Correction)

Control how thermal noise and image uniformity are corrected:

• Auto – Automatic calibration based on internal logic

• Manual – User-triggered calibration

• External – Triggered by external signal

• External with Auto Table Switch – Uses external trigger and auto compensation table selection

FFC Period (Seconds)

Set how frequently FFC is triggered in Auto mode.

Example: Enter 60 to run FFC every 60 seconds.

FFC Temp Delta (°C)

Set the minimum change in temperature that triggers an automatic FFC operation.

FFC Integration Period

Select the number of frames used to integrate the image during FFC:

• 2 Frames

• 4 Frames

• 8 Frames

• 16 Frames

Higher values improve uniformity but may slightly delay frame refresh.

Saving Your Settings

Click “APPLY” to confirm and apply your IR camera configuration. Settings will be used immediately or after the next FFC trigger.

• Take out the micro SD card from Zio.

• Connect and open the micro SD folder on your computer.

• Create the file payload_setup.txt in the micro SD card top folder.

File name: payload_setup.txt File Content:

/*PAYLOAD CONFIGURATION*/ 

# IP address of Payload
ZIO_ADDR = 192.168.12.200
NETMASK = 255.255.255.0
GATEWAY = 192.168.12.1

On the above example Zio IP: 192.168.12.200

• Insert the SD card containing the file payload_setup.txt into Zio.

• Reboot the Zio.

• Zio will set up according to the information in the file automatically.

NOTE: When Zio starts up without detecting the file payload_setup.txt on the memory card, Zio will automatically reset to the default IP (192.168.12.240).

Clone Gremsy PayloadSDK

Build Example

Examples Content

1._Connect _to_Payload

• Check connect Onboard Computer to Zio Payload

2._Load_Payload_Settings

• Load all Zio Payload setting menu

3._Set_Payload_Settings

• Set Zio 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 infomation

• 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 Zio by send message MAV_CMD_SET_CAMERA_ZOOM

• Set focus Zio by send message MAV_CMD_SET_CAMERA_FOCUS

ORUS L CONNECTION HUB CONNECTORS AND PINOUTS

1. POWER

Input range: 19-52 VDC

Connector type: JST SM02B-SFKH-TF

2. HDMI

Use to output video from the camera

Connector type: HDMI micro

3. MULTIPLEX PORT

ETH

Connector Type: BM05B-GHS-TBT

Pinout:

• LAN_TX_P

• LAN_TX_N

• LAN_RX_P

• LAN_RX_N

COM4/CAN/JR/PPM/SBUS

Connector Type: BM09B-GHS-TBT

Pinout:

• 5V

• SBUS/PPM

• GND

• SPEK (JR)

MAVLINK

Connector Type: BM07B-GHS-TBT

Pinout:

• RESERVE

• RESERVE

• MAVLINK_RX

• MAVLINK_TX

PAYLOAD CONNECTOR

1. USB-C

USB Ethernet to configure the ORUS L settings via web app and upgrade software

2. Reset Button

To reset the computer processor inside ORUS L

ORUS L CONTROL CABLE

RC_SBUS_PPM Cable

Connector type 1: Housing 3 2.54mm

Connector type 2: GHR-09V-S

Ethernet RJ45

Connector type 1: GHR-05V-S

Connector type 2: RJ45

Ethernet HereLink

Connector type 1: GHR-05V-S

Connector type 2: GHR-05V-S

MavLink UART

Connector type 1: GHR-07V-S

Connector type 2: GHR-06V-S

Option 1: Auto Upgrade

Step 1: Before the upgrade

1. Download the latest Software version for MAC or Windows if not installed yet.

2. Unplug the Remote Receiver (SBUS, JR, …) if it was plugged into the gStabi system.

3. Power on the gimbal.

4. Connect Gimbal to your Mac or PC by USB cable.

Step 2: Upgrade firmware

1. Run the gTune Desktop software.

2. Click on the “Connect” button.

3. Go to “UPGRADE” -> "UPGRADE FIRMWARE" tab.

1. Click "AUTO UPGRADE"

1. Make sure the RF receiver (if available) is already removed.

2. Select Gimbal firmware version to upgrade

1. Click “Upgrade” button. The process will take about 2 minutes. When the firmware is upgraded successfully, click "DONE", the gimbal will be restarted automatically.

Option 2: Manual upgrade

Step 1: Before the upgrade

1. Download the latest Software version for MAC or Windows if not installed yet.

2. Unplug the Remote Receiver (SBUS, JR, …) if it was plugged into the gStabi system.

3. Power on the gimbal.

4. Connect Gimbal to your Mac or PC by USB cable.

Step 2: Upgrade firmware

1. Run the gTune Desktop software.

2. Click on the “Connect” button.

3. Go to “UPGRADE” -> "UPGRADE FIRMWARE" tab.

1. Click "MANUAL UPGRADE"

1. BROWSE” to firmware file from your computer.

1. Disconnect any RC or COM port that are being connect with gimbal before upgrading.

2. Click “Upgrade” button. The process will take about 2 minutes. When the firmware is upgraded successfully, click "DONE", the gimbal will be restarted automatically.

1. Setting Payload Default channels on the Webserver app

• Go to "Set Up Remote Channels" on the Webserver app

• Params explaination

Control Mode:

• Disable

• Raw Input: Control Gremsy Payload by sbus from gimbal

• Autopilot Convert: Control Gremsy Payload by sbus from autopilot

Image Capture: Select push button. Capture Image when pressing button

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

2. Setup Ardupilot param

2.1 Disable control by SBUS/PPM. Only use MAVlink to control the Payload

• Setting App:

  • Select Disable in Control Mode

• Set param Ardupilot:

2.2 SBUS/PPM directly to gimbal

• Setting App:

  • Select Raw Input in Control Mode

  • Select the channel of the function to be controlled on App Setting

2.3 SBUS/PPM from Autopilot SBUS-OUT

• Select Raw Input in Control Mode

• Set param Ardupilot:

  • BRD_SBUS_OUT: 50Hz (1)

2.4 Control by Autopilot RC-MAVlink convert

• Setting App:

  • Select Autopilot convert in Control Mode

  • Select the channel of the function to be controlled

• Set param Ardupilot:

1. Overview

• This section will be used to do OTA software update for the Vio/Zio payload

• The Vio payload support 2 ways to update their software: using GremsyFlashTools or using this feature

• This feature will be connect to Gremsy server and download the latest software package.

• The customer must make sure that the Vio/Zio payload was connected to the Internet before applying this feature.

2. Process OTA update

Step 1: Connect Vio/Zio to the Internet.

Step 2: Open "Update Payload Software"

• The customer can see the current version of all apps in the Vio/Zio payload system before they deceide to do upgrade their Vio/Zio system.

Step 3: Click "Update" the "OK" to perform this feature.

Step 4: Wait for the download and update process to be successful.

• The result of the OTA progress.

Step 5: Reboot the system after updating. The boot process can take 3-5 minutes for the system to update completely.

Note: do not turn off the power during the update process.

Step 6: App version information after successful update

Step 7: After successfully updating, select Setup Custom Models

Click Apply to apply 2 models, COCO and CUSTOM for Payload Vio. The service will be restarted then checked for object detection.

3. Troubleshooting

• The notification only pop up when the host PC is connecting to the Setting app via USB.

• In this case, the Vio/Zio payload has 2 connection: USB to the host PC and Ethernet to the Internet router

3.1 No internet connection

• The Settings app will send a notify to the user when this problem was detected.

• Please check the Internet connection for the Vio/Zio payload.

3.2 The Internet connection broken while the OTA progress performing

• If the Internet connection to the Vio/Zio payload was not stable, a notify will be pop up and the OTA progress will be canceled.

• Please check the Internet connection for the Vio/Zio payload and try again

3.3 Lost the power while the OTA progress performing

• Please make sure the Vio/Zio payload will be not powered off while the OTA performing.

This section describes how to configure the storage and recording options for the Orus-L system.

IR Image Type

Select the format in which infrared images will be saved:

• JPEG – Standard image format

• JPEG & CSV – Saves both the image and raw thermal data in CSV format

✅ Use “JPEG & CSV” if thermal analysis is required in post-processing.

Video Format

Choose the video file format for recorded footage:

• MP4 – Widely supported and efficient for general use

• MKV – Supports more advanced features and metadata

Record Format

Select the video encoding standard:

• H.265 (HEVC) – Higher compression, smaller file sizes, ideal for longer recordings

• H.264 (AVC) – Greater compatibility with legacy systems

📌 H.265 is recommended for modern workflows and efficient storage.

Record Bitrate Settings

Electro-Optical (EO) Camera:

Choose the desired video quality based on your storage and performance needs:

• 20 Mbps (highest quality)

• 14 Mbps

• 8 Mbps

Infrared (IR) Camera:

Select from the following bitrate options:

• 4 Mbps

• 2 Mbps

• 1 Mbps

⚠️ Higher bitrates offer better image quality but use more storage.

Saving Your Settings

Once all desired options are selected, click the “APPLY” button to save changes. The new configuration will take effect immediately or after a system restart, depending on the setting.

1. Diagram.

2. Explaination.

Control Mode:

• Disable.

• Raw Input: Control Zio Payload by SBUS from gimbal.

• Autopilot Convert: Control Zio Payload by SBUS from autopilot.

Image Capture: Select push button. Capture Image when pressing button.

Video record: Select push button. Pressing the first time will start record video, pressing the next time will stop recording video.

Zooming: Select stick with 3 states. 3 states: zoom tele, stop zoom, zoom wide.

Tilt: Select rotate button. Control tilt axis.

Roll: currently not in use.

Pan: Select rotate button. Control tilt axis.

Mode: Select stick with 3 states. 3 states correspond to 3 gimbal mode: OFF, LOCK, FOLLOW.

Return Home: Select push button. Gimbal returns home when press button.

Firmware

Gimbal Firmware

Gremsy Zio Firmware Latest version

What's new? - Add window dead zone in follow mode (only available when turn off REDUCE DIFT by DRONE PAN AXIS) - Limit rotation control with max window value (angle) - Compatible with Zio_Software Payload Firmware

Payload Zio SoM Software

Download Image and Video – Orus-L

This section allows users to manage stored media files directly from the Orus-L interface.

IMAGE Management

Options to manage captured infrared and electro-optical images:

• Download All – Download all stored images to the host computer

• Delete All – Permanently remove all stored images from internal storage

VIDEO Management

Options to manage recorded video files:

• Download All – Download all recorded videos

• Delete All – Permanently delete all stored video files

⚠️ Caution: Deleting media is irreversible. Ensure backups are made before selecting "Delete All."

https://github.com/Gremsy/PayloadSdk/tree/payloadsdk_v2

Hardware

• Ubuntu PC (x86_64)

• Jetson platform (aarch64)

• Raspberry Pi

Clone the project

Hardware setup

PayloadSDK supports 2 control conections, that's configured at payloadsdk.h:

Figure 1: Hardware setup use Ethernet or UART connection

How to build

• Install required lib

• Build project

1. Hardware Setup.

2. Setting on the remote control.

Zio is compatible with the Remote Control (RC) that supports the QGroundControl app (QGC). In this manual, all settings are made on the Herelink Remote Control, the other controller does the same.

SBUS channel settings.

Zio needs to set up two 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 parameter.

Zio connects to FC at the baud rate of 115200. In case of connecting Zio to FC at any telemetry, note the telemetry setting at the corresponding baud rate. Example for telemetry 2:

Set mount params

Set RC map channels

4. Setting App Auterion

Updating...

1. Default IP address of Zio payload.

• The Zio payload will be shipped with default IP address is: 192.168.12.240

• There are two ways to setting an IP address for the Zio payload:

1.1 Setup IP address via SDcard.

• Power off Zio payload

• Create payload_setup.txt file in SDcard with your required IP address:

• Plugin SDcard to Zio payload and power on Zio payload

NOTE: After rebooting Zio Payload, payload_setup.txt file in SDcard will be moved to the Zio payload and the file will be lost.

1.2 Setup IP address via App Setting.

• If you don't know Zio address, you can set IP address via SDcard (Tte section 1.1)

• Using the web browser to open the Zio payload Setting app, with the url http://<zio_ip>:8000 (example: http://192.168.12.207:8000)

• Open tab "Set Up Static IP Address" then input your required IP address

• Click "Apply" and "OK" to reboot the Zio system to apply the new IP address.

Gremsy Payload Integration with Mavlink-based Autopilot Systems

Integration Capabilities

Gremsy payloads support standard communication protocols to interface smoothly with Pixhawk systems, including:

• MAVLink v2 Protocol: Compatible with popular firmware such as PX4 and ArduPilot. The payload can receive and respond to gimbal control commands from the autopilot, including angle control, ROI (Region of Interest) tracking, and camera navigation along waypoints.

• UART/Serial Communication: Gremsy gimbals offer UART ports for direct communication with the flight controller. Baud rate and protocol settings can be configured to match the specific autopilot setup.

• Ethernet Interface: Enables high-speed, low-latency communication for advanced use cases:

  • UDP Protocol for real-time gimbal and camera control commands from onboard computers or ground stations.

  • RTSP (Real-Time Streaming Protocol) for live video streaming from the payload camera to ground control software or network video recorders.

General Hardware Connection

1. Flight Stack without onboard computer E.g: Cube Pilot, Pixhawk series with Herelink v1.1 remote

1. Flight Stack with onboard computer built-in E.g: Skynode, VOXL2 with Herelink v1.1

Firmware Requirement

• Version: update to the latest version.

• Support Mavlink v2 protocol

Set up the telemetry baud rate

Zio connects to FC at the baud rate of 115200. In case of connecting Zio to FC at any telemetry, note the telemetry setting at the corresponding baud rate. Example for telemetry 2:

• MAV_1_CONFIG: “TELEM 2”

• SER_TEL2_BAUD: “115200 8N1"

• MAV_1_FORWARD: "1"

Set mount params

• MNT_MODE_IN: “RC”

• MNT_MODE_OUT: “Unknown: 2”

• MNT_RC_IN_MODE: “1”

• MNT_MAN_PITCH: “AUX3” // PAN/TILT choose axis

Set RC map channels

• RC_MAP_AUX1: “Channel 6” // set channel 6 to AUX1 (Yaw)

• RC_MAP_AUX2: “Channel 7” // set channel 7 to AUX2 (Roll)

• RC_MAP_AUX3: “Channel 8” // set channel 8 to AUX3 (Pitch)

Orus L – Optimized Aerodynamic Spherical Payload - Master Every Unseen Edge

In an increasingly complex and challenging world, Grempsy introduces a groundbreaking solution: the ORUS Large (ORUS L) – more than just a payload, it's the key to expanding vision and shaping the future. Our mission is to provide the most advanced surveillance and analysis tools, empowering our clients to make informed decisions in all conditions, even the most demanding. With ORUS L, you can see the unseen, master every challenge, and turn potential risks into competitive advantages. ORUS L: The ultimate payload solution for every mission, delivering safety, efficiency, and success.

Rugged Design, Endurance-Ready

1. System Overview Diagram

2. Hardware Connection

Option A: Ethernet (Recommended)

• Connect Orus L's Ethernet port to the onboard computer's Ethernet port (or via USB-C to Ethernet adapter)

Option B: UART (Alternative)

Camera Definition File Download

• For generate the camera setting menu, the QGroundControl app need to download the camera definition file from Gremsy github server. The download path will be sent by the Zio automatically.

What is the size and weight of Zio?

The weight of the gimbal is 480g

Parameter Settings

In the Advanced menu, adjust the MAVLink settings as needed.

Switch to the Mount section to continue configuring other parameters.

Step 1: Access to the boot mode of Zio

• Power on ZIO

• Plug-in USB-C cable on the camera side.

• Press Reset button

Step 2: Upgrade firmware

GremsyFlashTools app supports update with file ".zip" and ".7z"

• Download file zip file

• After downloading the zip file, extract this file and make sure that The Firmware folder includes two files “setting.json” and “upgrade.7z”. These files must be in the same folder

NOTE:

• Do not save the folder on Network Drive

• Do not rename the folder or files. If you want to move the files to another place, copy the whole folder.

• The firmware folder link must not have space (blank) or special characters. Ex: link on the picture above.

Open the Gremsy Flash tool then choose “Payload Zio”.

Choose “OPEN FILE” and browse the “upgrade.7z” firmware file or whole ".zip" file

On the Gremsy Flash Tool, choose “CHECK DEVICE” and then the connection successfully will show

Choose “FLASH PAYLOAD ZIO” and wait for 3 -5 minutes for the process to complete:

Step 3: Remember to exit boot mode after upgrading

• Plug-out USB-C from the payload

• Reset the power or press the Reset button

Troubleshooting

The firmware folder name has space (blank)

This problem will be fixed when saving the folder where the path has no spaces or special characters.

Example: C:\Users\Admin\Desktop\PixySM300_SoM_Firmware\Pixy_SM_v2.1.0.38 (no spaces and special characters)

Lost file setting.json

This error will be fixed by extracting the firmware again and not moving the files contained in the folder after decompression.

During the loading process, if there are other errors, please capture the error code and contact our support team by email: [email protected]

1. Setting channels on the Webserver app

• Go to "Set Up Remote Channels" on the Webserver app.

• Params explanation:

Control Mode:

• Disable.

• Raw Input: Control Zio Payload by SBUS from gimbal.

• Autopilot Convert: Control Zio Payload by SBUS from autopilot.

Image Capture: Select push button. Capture Image when pressing button.

Video record: Select push button. Pressing the first time will start record video, pressing the next time will stop record video.

Zooming: Select stick with 3 states. 3 states: zoom tele, stop zoom, zoom wide.

Tilt: Select rotate button. Control tilt axis.

Roll: currently not in use.

Pan: Select rotate button. Control tilt axis.

Mode: Select stick with 3 states. 3 states corresponding to 3 gimbal mode: OFF, LOCK, FOLLOW.

Return Home: Select push button. Gimbal return home when press button.

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

2. Setup Ardupilot param.

2.1. Disable control by SBUS/PPM. Only use MAVlink to control the Payload.

• Setting App: Select Disable in Control Mode

• Set param Ardupilot:

  • RC6_OPTION: “214”

2.2 SBUS/PPM directly to gimbal.

Setting App:

• Select Raw Input in Control Mode

• Select the channel of the function to be controlled on App Setting.

2.3 SBUS/PPM from Autopilot SBUS-OUT

• Select Raw Input in Control Mode

• Set param Ardupilot:

  • BRD_SBUS_OUT: 50Hz (1)

X is the channel number you want to SBUS out

For Example: RC6_OPTION: 0, SERVO6_FUNTION: RCIN6 --> SBUS out channel 6.

2.4 Control by Autopilot RC-MAVlink Converter.

• Setting App:

  • Select Autopilot convert in Control Mode

  • Select the channel of the function to be controlled

• Set param Ardupilot:

Firmware Requirement

• Version: Ardupilot 4.3 or higher

• Support Mavlink v2 protocol

Set up the telemetry baud rate

Zio connects to FC at the baud rate of 115200. In case of connecting Zio 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"

Ardupilot lower 4.3

• RC6_OPTION: “0”

• RC7_OPTION: “0”

• RC8_OPTION: “0”

• MNT_RC_IN_PAN: “6” // PAN/TILT move

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"

1. SETUP

1.1. Firmware

Environmental Factors – Orus-L

This section allows you to configure environmental parameters to improve the accuracy of thermal measurements based on real-world conditions.

Atmospheric Temperature (K)

• Range: 100 to 500 Kelvin Set the ambient air temperature for thermal compensation.

Distance (m)

• Range: 0 to 255 meters Enter the distance between the Orus-L and the target object to enhance thermal accuracy.

Emissivity Target (%)

• Range: 0% to 100% Defines the emissivity of the target surface.

⚠️ Default for most organic materials is around 95%.

Humidity (%)

• Range: 0% to 100% Input the relative humidity of the environment, which may affect thermal readings.

ModifyB / ModifyK

• Range: 0 to 255 (each) Advanced calibration parameters used for fine-tuning thermal correction models.

Only modify if you have specific calibration requirements or guidance.

Window Reflect Temperature (K)

• Range: 100 to 500 Kelvin Temperature of the window or lens surface through which the sensor observes the target.

Temperature Unit

Choose your preferred unit for displaying temperature:

• Celsius (°C)

• Fahrenheit (°F)

• Kelvin (K)

Saving Your Settings

Click “APPLY” to save and activate the new environmental configuration. Settings will be used to refine thermal imaging calculations in real time.

Important note

Payload Telemetry & Gimbal Mount Settings

Ardupilot 4.3 or higher

Ardupilot lower 4.3 (limited support from Ardupilot)

Data Stream Rate Settings (Telemetry 2)

To receive essential positioning and status information:

• SR2_POSITION = 10 → GPS Position

• SR2_EXT_STAT = 2 → GPS Lock Status

GPS Configuration via CAN

If using a UAVCAN GPS unit:

CAN Port Driver Enable

• CAN_P1_DRIVER = 1 → Enable CAN1

• CAN_P2_DRIVER = 1 → Enable CAN2

GPS Type Selection

• GPS_TYPE = 9 → UAVCAN GPS

Notification LED Settings

• NTF_LED_TYPES = 231 → Enable Standard Notification LEDs

After successfully connecting Zio with Autopilot:

1. Object Detection

Allow turn on/off the Auto Object Detection function of Zio.

2. RC Mode (Remote Controller Mode)

Payload control by remote.

There are 2 options:

• Single Operation: controlled by a Herelink remote, Pan channel will be the speed value, Tilt channel will be the axis selection value (assigned to a button on the remote)

• Dual Operation: controlled by 2 Herelink remotes (the main remote controls the drone, and the secondary remote controls the payload). The Pan channel controls the Pan axis, Tilt channel controls the Tilt axis.

3. OSD Mode

Set “On Screen Display” mode.

OSD feature only overlays on the HDMI output, not on the Ethernet output.

There are 3 modes to choose from:

• Disable: turn off the OSD feature, do not overlay on the screen.

• Debug: display Debug parameters on the screen.

• Status: display the operating parameters of the system on the screen.

4. Setting Target

Select module settings:

• Camera Device: settings for the camera

• Gimbal Device: settings for gimbal

5. Camera device settings

5.1 Video Flip

Flip video output settings. There are 2 options: ON/OFF

Autosave

5.2 Video Output

Set video output

There are 3 options:

• HDMI 1080p60

• Ethernet 1080p60

• HDMI 1080p60 and Ethernet 720p60 simultaneously

Autosave

5.3 Defog mode

Set Defog mode for Sony Block There are 2 options: ON/OFF

5.4 Auto Exposure Mode

Exposure settings for Sony Block

There are 5 options:

• Full Auto (recommend)

• Manual: mode can choose Shutter speed and Aperture manually

• Shutter speed priority

• Iris priority

Autosave

5.5 Shutter Value

Set Shutter Value for Sony Block.

There are 10 options: 1/10 to 1/2000

5.6 Aperture Value

Set Shutter Value for Sony Block.

5.7 WB Mode

Set white balance mode for Sony Block

There are 6 options:

• Auto (recommend)

• Indoor

• Outdoor

• One Push WB (not available)

Autosave

5.8 Zoom Mode

Set Zio zoom mode There are 2 options:

• Combine: this zoom mode is a combination of Optical and Digital, allowing a maximum zoom of 240x.

• Super Resolution: special zoom mode from Sony, automatically analyzes and combine Optical and Digital zoom, ensuring the best image quality. allows up to 30x. zoom.

5.9 Zoom Level

Set the Zoom level for the camera

• With Combine mode. these are 7 options: 1x to 240x

• With Super Resolution mode. these are 16 options: 1x to 30x

Autosave

5.10 Focus Mode

Set Focus Mode for Sony Block There are 4 options:

• Manual

• Auto Zoom trigger: regain focus every time the Zoom level is changed

• Auto Focus Near: automatically focus on close

• Auto Focus Far: automatically focus far away

Autosave

6. Gimbal device settings

6.1 Gimbal Mode

Set gimbal mode

There are 3 options:

• Off

• Lock

• Follow

6.2 Gimbal Combine Zoom

Set gimbal control speed split when Zio Payload is zooming.

There are 2 options: Disable/Enable

NOTE: Gimbal Combine Zoom only works when using PayloadSDK

Setup with Herelink system