GREMSY T3 User manual

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Gremsy and Pixhawk comunication
Ver1.1 beta
Gremsy and Pixhawk comuncation
1. Introduction
The Gremsy’s Gimbal that can communicate with Ardupilot (Copter) using Mavlink
NOTE: Support for this Gimbal is include in Copter 3.3 (or higher) for gimbals running
•T1: gremsyT1_v605 or above
•T3: gremsyT3_v605 or above
•S1: gremsyS1_v605 or above
•Pixy: gremsyF_v605 or above
•gTuneDesktop: gTuneDesktop_v135_Beta or above
2. What’s New
•Support Ardupilot (Copter) remote in Single mode
•Support the advance features likeautomated aiming of the camera at a Region of
Interest (ROI).
•Support DO_MOUNT_CONTROL (Ardupilot will send angle requests to gimbal)
•Drift free horizon
•Gimbal (or mount) send a HEARTBEAT (e.g. every second) just like any other
MAVLink component. Additionally, it can send feedback about the angles it's
pointing using the message MOUNT_ORIENTATION.
3. Connecting the gimbal to the Pixhawk
Connect cable from COM2 port on Hyper Quick release to Telem2 or Telem1 on
Pixhawk.
Baurate on Pixhawk should be set at : - 115200bps,
-8 Data bits
-No Parity,
-1 Stop Bit (8N1)

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Gremsy and Pixhawk comunication
Ver1.1 beta
NOTE: The remaining 3 pins (VCC, RTS, CTS) of the cable should not be connected
4. Set-up through the Mission Planner (Mavlink protocol)
Through your GCS (i.e MP’s Full Param List or Tree) set the following parameters:
❖Using Telem 2
oSERIAL2_BAUD 115
oSERIAL2_PROTOCOL 2
❖Set up MNT parameter

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Gremsy and Pixhawk comunication
Ver1.1 beta
oSet “MNT_TYPE” to “4”to enable the Mavlink protocol
oSet “MNT_RC_IN_TILT” to “6” if you wish to control the gimbal’s tilt (aka
pitch angle) with your transmitter ch6 tunning knob (Single Mode).
oSet the MNT_ANGMAX_PAN, MNT_ANGMAX_ROLL,
MNT_ANGMAX_TILT and MNT_ANGMIN_PAN, MNT_ANGMIN_ROLL,
MNT_ANGMIN_TILT to match the range of gimbal (S1, T1, T3). For examble,
the screenshot below shows setup in which the gimbal S1 has:
▪PAN axis control: MNT_ANGMIN_PAN = -160 to
MNT_ANGMAX_PAN = +160.

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Gremsy and Pixhawk comunication
Ver1.1 beta
▪TILT axis control: MNT_ANGMIN_TILT = -135 to
MNT_ANGMAX_TILT = +90
▪ROLL axis control: MNT_ANGMIN_ROLL = -45 to
MNT_ANGMAX_ROLL = +45
5. How to control gimbal
This introduction assume that gimbal have already been connected and configured
❖In single mode
oSet “MNT_RC_IN_TILT” to “6” if you wish to control the gimbal’s tilt (aka
pitch angle) with your transmitter ch6 tunning knob (Single Mode) or another
channel.
oSet “MNT_DEFL_MODE” to “3” that is the RC targeting mode.
❖In Mission Planner to define camera survey missions
If a camera gimbal is used, you can set the camera position (yaw, roll, titl) or aim it at
specific region of interest (ROI).
oSet “MNT_DEFL_MODE” to “4” that is the Mavlink targeting mode.
oDO_SET_ROI –Target the camera towards a specified region of interest
(Position, including altitude)
oDO_MOUNT_CONTROL –Position the gimbal with the specified roll, pitch,
yaw

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Gremsy and Pixhawk comunication
Ver1.1 beta
6. How to configure gimbal
❖Smooth
-Smooth out the camera movement by adjusting this parameter. The higher the
value is the smoother camera move but at the expense of more delay in following
the movements
GTUNE →SETTINGS →CONTROLS →SBUS
Smooth value in range [0:100]

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Gremsy and Pixhawk comunication
Ver1.1 beta
7. How to run application
-When the first turn on the motor, make sure the pan axis is aligned with the forward
direction of the copter in order for the gimbal to calculatethe attitude correctly.
-After turning on the motor, the LED status turns to the blue color indicating that
connection between gimbal and flight cotroller has been established.
NOTE: To control gimbal should be switch gimbal to Lock Mode