SIYI ZT30 User manual

ZT30 User Manual v1.1
1 2023 SIYI Technology Copyright
ZT30
FOUR-SENSOR OPTICAL POD
4K AI THERMAL RANGEFINDER
USER MANUAL
V1.1
Sep 2023

ZT30 User Manual v1.1
2 2023 SIYI Technology Copyright
Thank you for purchasing SIYI’s product.
ZT30 is a four-sensor hybrid optical pod, zoom camera, thermal imaging camera,
laser rangefinder, and wide-angle camera collaborate efficiently. 640 x 512
resolution thermal imaging sensor, 1200-meter range high accuracy rangefinder,
180X hybrid zoom and 30X optical zoom, 4K 1/2.7-inch Sony CMOS, 2K wide-
angle camera, powerful AI identify tracking based on neural network processing
unit, limitless yaw axis, upgraded quick release structure, abundant gimbal control
interface compatible with both SIYI links and third-party links. High accuracy and
high collaboration control algorithms ensure stable imaging and zooming ability
during flight. HDR and starlight night vision extend the application scenarios to
both day and night. In a word, ZT30 optical pod is a rare and good payload for
multi-rotors, VTOLs, and robotics.
To ensure you a good experience of the product, please read this manual carefully.
If you encounter any issue using the product, please consult the manual or check
the online pages of this product on SIYI official store (https://shop.siyi.biz). You
can also write an email to SIYI official A/S center ([e-mail]).

ZT30 User Manual v1.1
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SIYI User Group - Facebook
SIYI Official Store (https://shop.siyi.biz)
SIYI Official AliExpress Store (https://siyi.aliexpress.com)
SIYI YouTube Channel (https://www.youtube.com/c/SIYITech)

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4 2023 SIYI Technology Copyright
User Manual Update Log
Version
Date
Updates
1.1
2023.8
1. Special interesting functions and cautions.
2. Instruction for acquiring and download files from SIYI camera’s
web server.
3. Necessary update for SIYI FPV app.
4. Necessary update for SDK commands.
5. Instruction for using the thermal camera.
6. Instruction for using the laser rangefinder.
7. Instruction for gimbal Mavlink control.
8. Instruction for integrating Mavlink flight attitude data.
9. Trouble shooting for abnormal gimbal attitude.
10. User manual update log.
11. Main firmware update log.
12. SIYI FPV app update log.
13. Necessary update for technical specification.

ZT30 User Manual v1.1
5 2023 SIYI Technology Copyright
CONTENT
READ TIPS.................................................................................................................................................................1
Icons.........................................................................................................................................................................1
Safety.......................................................................................................................................................................1
Storage / Carrying / Recycling.............................................................................................................................2
1 INTRODUCTION....................................................................................................................................................3
1.1 Product Features.............................................................................................................................................3
1.2 Parts..................................................................................................................................................................9
1.2.1 At a Glance...............................................................................................................................................9
1.2.2 Pinouts.....................................................................................................................................................11
1.3 Technical Specification.................................................................................................................................12
1.4 Packing List....................................................................................................................................................15
1.5 Indicator Definition ........................................................................................................................................16
2 GET READY TO USE ZT30...............................................................................................................................17
2.1 Installation......................................................................................................................................................17
2.2 Connection and Power.................................................................................................................................18
2.3 Interesting Functions and Cautions............................................................................................................18
2.3.1 Capture with Time and Location Information.....................................................................................18
2.3.2 Synchronize Shooting and Split Image...............................................................................................19
2.3.3 Point to Focus, Focus Tracking...........................................................................................................19
2.3.4 Output Four Video Streams from the Same RTSP Addresses.......................................................20
2.3.5 Acquire Position of Laser Rangefinder Target ..................................................................................20
3 GIMBAL CONTROL.............................................................................................................................................21
3.1 Control Gimbal Camera from SIYI FPV App or SIYI QGC App (Android) on SIYI Handheld Ground
Station....................................................................................................................................................................21
3.1.1 Preparation..............................................................................................................................................21
3.1.2 Gimbal Pitch and Yaw Rotation...........................................................................................................23
3.1.3 Zoom and Focus....................................................................................................................................23
3.1.4 Take pictures and Record Video.........................................................................................................24
3.2 Control Gimbal through S.Bus Signal (Taking an example of MK15 remote controller)....................24
3.2.1 Preparation..............................................................................................................................................25
3.2.2 Gimbal Pitch and Yaw Rotation (Taking an example of MK15 Dials)............................................27

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3.2.3 Zoom and Focus (Taking an example of MK15 Switches)..............................................................28
3.2.4 Take Pictures and Record Video (Taking an Example of MK15 Buttons)....................................29
3.3 UART / UDP Control (through SDK)..........................................................................................................30
3.3.1 SDK Protocol Format.............................................................................................................................30
3.3.2 SDK Communication Commands........................................................................................................30
3.3.3 SIYI Gimbal Camera SDK Communication Interface.......................................................................43
3.3.4 SIYI Gimbal Camera SDK Communication Code Examples..........................................................43
3.3.5 SDK CRC16 Code.................................................................................................................................45
3.3.6 Advanced Guide for SIYI Gimbal SDK Integration...........................................................................47
3.3.7 Interface Documentation for SIYI Gimbal Camera’s Web Server ..................................................51
3.4 Control SIYI Gimbal Camera in SIYI QGC (Windows) Software through HM30 Transmission
System...................................................................................................................................................................57
3.4.1 Preparation..............................................................................................................................................57
3.4.2 Gimbal Pitch and Yaw Rotation...........................................................................................................59
3.4.3 Zoom and Focus....................................................................................................................................60
3.4.4 Take pictures and Record Video.........................................................................................................60
3.5 Control SIYI Gimbal Camera by the Ardupilot Driver through UART....................................................61
3.6 Control SIYI Gimbal Camera by Mavlink Gimbal Protocol through UART...........................................64
3.7 Integrate Mavlink Flight Controller Attitude to Improve Gimbal Performance While Aircraft Attitude
Is Changing Fast..................................................................................................................................................67
3.8 Necessary Trouble Shooting Steps When Gimbal Attitude Control Is Abnormal................................70
4 VIDEO OUTPUT...................................................................................................................................................72
4.1 Single Camera & Single Image...................................................................................................................72
4.2 Dual Camera & Split Image.........................................................................................................................74
4.3 Dual Camera & Main / Sub Window Image...............................................................................................76
4.4 Triple Camera & Split Image & Main / Sub Window................................................................................78
4.5 Output Video Stream to SIYI Handheld Ground Station.........................................................................79
4.6 Output Video Stream to Android Device through HM30 Transmission System..................................80
4.7 Output Video Stream to Windows Device through HM30 Transmission System................................82
4.8 Output Video to Windows Device Directly through Ethernet..................................................................82
4.9 Output Video to Third-Party Link.................................................................................................................84
4.10 Solutions to No Image................................................................................................................................85
4.10.1 Video Output to Android Device........................................................................................................86

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4.10.2 Video Output to Windows Device......................................................................................................88
4.11 Common IP Addresses..............................................................................................................................89
5 LASER RANGEFINDER......................................................................................................................................91
5.1 Laser Rangefinder.........................................................................................................................................92
5.2 Laser Calibration...........................................................................................................................................92
6 THERMAL IMAGING...........................................................................................................................................94
6.1 Palette.............................................................................................................................................................94
6.2 Thermometric.................................................................................................................................................99
6.2.1 Full Image Thermometric....................................................................................................................100
6.2.2 Point Thermometric .............................................................................................................................100
6.2.3 Box Thermometric................................................................................................................................101
6.3 Thermal Synchronize Zoom ......................................................................................................................101
7 SIYI FPV APP.....................................................................................................................................................103
7.1 Settings.........................................................................................................................................................105
7.2 Link Status....................................................................................................................................................106
7.3 Gimbal Camera............................................................................................................................................107
7.4 About SIYI FPV............................................................................................................................................109
7.5 SIYI FPV App Update Log.........................................................................................................................110
8 Firmware Upgrade and Configuration.............................................................................................................111
8.1 Gimbal / Zoom Firmware Update..............................................................................................................111
8.2 Camera Firmware Update..........................................................................................................................114
8.3 Gimbal Camera Configuration...................................................................................................................116
8.3.1 Channel Configuration.........................................................................................................................116
8.3.2 Camera Configuration.........................................................................................................................118
8.4 Gimbal Calibration.......................................................................................................................................119
8.4.1 IMU Calibration.....................................................................................................................................119
8.4.2 IMU Constant Temperature Calibration............................................................................................121
8.4.3 Accelerator Hexahedral Calibration ..................................................................................................122
8.5 Main Firmware Update Log.......................................................................................................................123
8.6 SIYI PC Assistant Update Log..................................................................................................................124
9 After-sale Service...............................................................................................................................................125
9.1 Repair Service.............................................................................................................................................125

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9.2 Warranty.......................................................................................................................................................126
9.2.1 7-Day Return & Refund.......................................................................................................................126
9.2.2 15-Day Replacement...........................................................................................................................127
9.2.3 1-Year Warranty Repair......................................................................................................................129

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READ TIPS
Icons
Please pay more attention to content indicated with the following marks:
DANGER Dangerous manipulation probably leads to human injuries.
WARNINGWarnings on manipulation possibly leads to human injuries.
CAUTION Cautions on what manipulation may lead to property loss.
Prohibited Mandatory Mark
Safety
ZT30 four-sensor optical pod is designed for professional application in specific
scenes, which has been done necessary configuration before delivery, it is
forbidden to disassemble the gimbal or to change its mechanical structure. And
don’t add more payload to the gimbal other than its own camera. Gimbal camera
is designed with very precise structure, users who approach to the equipment
should have the basic knowledge of how to operate it. Irregular or irresponsible
manipulations to the device may cause damage, property loss, or human injuries,
and SIYI Technology is not obliged to any of the damage, loss, or injury. It is
prohibited to use SIYI products for military purpose. Users under 14 years’ old

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should follow an experienced trainer’s guide. Disassembling or modification to the
system is prohibited without permission from its manufacturer, SIYI Technology.
Storage / Carrying / Recycling
When your SIYI product is left unused, or you are bringing it outdoors, or the
product life has expired, please do read the below precautions.
DANGER
Always place your SIYI products at places where babies or kids do not reach.
SIYI products should be placed in places which are too hot (above 60℃) or too cold
(under -20℃).
CAUTION
SIYI products should not be placed in places under direct sunshine or too dusty or too wet.
Carrying or transporting SIYI products should avoid vibration or shatter by which
components may break.

ZT30 User Manual v1.1
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1 INTRODUCTION
1.1 Product Features
Hybrid Four Sensors
A hybrid-sensor solution born to lead the industry. Zoom camera, thermal imaging
camera, laser rangefinder, and wide-angle camera collaborate efficiently to detect
heat sources, while measuring distance to targets, capturing clearer pictures, and
having a broad view.
High Resolution Thermal Imaging
Full-Screen / Point-Anywhere Temperature Measuring
ZT30 four-sensor optical pod carries a 640 x 512 resolution thermal imaging
sensor of 19 mm focal length and 30 fps frame rate. Vision is wide and far. Video
is smooth and clear. Quick and accurate reactions can be taken as long as
abnormal heat source is detected where temperature can be measured by
touching on infrared images.
High-Accuracy Laser Rangefinder
ZT30 optical pod comes with a 1200-meter-range and 0.1-m measuring accuracy
rangefinder. Sensitive and reliable, can obtain accurate coordinates in real time in
high-risk operation scenarios, helps command decision-making, and ensures safe
operation space.

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AI Enhanced Smart Identify and Tracking
Built-in NPU neural network computing unit, combined with SIYI Technology’s
self-developed new AI algorithm, ZT30 optical pod will be able to automatically
identify people, vehicles, ships, and other moving targets. And through the
cooperation of the gimbal attitude control and flight control system, it can realize
autonomous identification, positioning, and even continuous tracking. With the
automatic zoom function of the visible light camera, the target will always be in the
center of the screen and maintain a clear and visible screen ratio.
*AI feature is under development and can be supported by upgrade later.
Professional Comprehensive UAV Imaging System
In addition to the 180x hybrid zoom (30x optical zoom) 1/2.7-inch Sony 4K image
sensor camera, ZT30 also has a wide-angle camera with 2K resolution, providing
an unprecedented wide view and panoramic shooting capabilities. The scenery is
clear, the algorithm is fast and accurate, and the viewpoint is automatically
focused, making it easy to produce grand pictures. Silky movement, smooth zoom,
distant scenery, now within reach.
*The images recorded by ZT30 will have GPS location information and time attributes.
Infrared Zoom
Thermal camera supports 2x digital zoom and accurately controls more picture
details.
Synchronized Zoom

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Thermal imaging camera and zoom camera can zoom in and out synchronously in
the same perspective. The operator can quickly obtain valuable information by
comparing the details of the picture.
Video Split-Screen
ZT30 can split screen for video streams from any two sensors freely and the third
sensor can be streamed in the floating window simultaneously.
Starlight Night Vision
The ultra-sensitive starlight CMOS keep images bright in low light environment.
Point To Focus
Point anywhere to focus lens from zoom camera to get clear view on selected part
of screen.
Focus Tracking
Zoom camera stays focusing and keeps filming smooth videos while users are
scaling images.
HDR
HDR (High Dynamic Range) precisely captures good details of highlights and
shadows in dynamic scenes to get true colors and natural brightness.
Limitless Yaw Axis Rotation
Upgraded Quick Release and Anti-Vibration
The yaw axis of ZT30 gimbal rotates limitlessly. Hanging below VTOL drones or
planes, ZT30 optical pod captures 360 degrees around. SIYI quick release

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structure is upgraded with even better stabilization and more load bearing. It is
compatible with ZR30 and will support more SIYI payloads in the future. Welcome
to follow for updates!
Incomparable Gimbal Control Interface
SIYI optical pods provide powerful compatibility to contribute to smart robotics
ecology in all dimensions. They can be controlled through traditional S.Bus signal
by switches and dials, or through Ethernet by touchscreen or by UDP based on
SIYI SDK, or through UART by SIYI SDK or popular open-source protocols like
Ardupilot driver and Mavlink.
*Developing on SIYI SDK through Ethernet UDP or UART can control SIYI optical pods by
protocol and acquire relevant data.
Gimbal Motion Mode
Upside Down Mode
Gimbal automatically activates upside down mode when it is placed upside down,
very convenient to be mounted on multiple kinds of vehicles like UGV, USV, robot
dog, and more robotics.
Follow Mode
Horizontally, gimbal follows when aircraft rotates.
Lock Mode
Horizontally, gimbal does not follow when aircraft rotates.
FPV Mode

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Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output
enhanced stable images.
High Accuracy and High Collaboration Control Algorithms
During development stage of ZT30, SIYI has made multiple breakthroughs in
control algorithms and stabilization algorithms.
IMU Calibration Algorithms
Compensate and correct errors of the inertial measurement unit, reduce
interference factors such as zero bias, scale factor, inter-axis error, temperature
drift, noise, etc., greatly improve the measurement accuracy of IMU, and improve
the stability of the gimbal in large temperature differences, wide margin steering,
and strong vibration environments.
Attitude Fusion Algorithms
Comprehensively utilize the data of sensors such as accelerometers and
gyroscopes, obtain the pitch angle, roll angle, and yaw angle of the gimbal
through mathematical models and filtering algorithms, and fuse this information to
effectively improve system performance, stability, and robustness.
Industry-Level 3-Axis Stabilization Algorithms
Deeply integrate and utilize 3-axis gyroscopes, 3-axis accelerometers, PID
controllers, motors, and magnetic encoders to achieve gimbal attitude stabilization
control and continuously output stable high-definition video images during motion.
High-Precision FOC Motor Control Algorithms

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Control the current components of the motor to control torque and magnetic field
respectively, thereby achieving decoupling control of the brushless motor and
greatly reducing picture jitter.

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1.2 Parts
1.2.1 At a Glance
Interface of ZT30 Quick Release Anti-Vibration Claw

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ZT30 Interface

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1.2.2 Pinouts
DP / DM / RX- / RX+ / TX- / TX+ / GND / IO / NC
GND / GND
/ 3S-6S / 3S-6S
S.BUS OUT / S.BUS IN / GND / TX / RX

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1.3 Technical Specification
Overall
Video Output Port
Ethernet
Control Signal Input
Port
S.Bus, UART, Ethernet UDP
Control Signal Output
Port
S.Bus
High Accuracy
3 Axis Stabilization
Yaw, Pitch, Roll
Working Voltage
11 ~ 25.2 V
Power Consumption
Average 9 W
Summit 20 W
Waterproof Level
IP4X
Working Temperature
-10 ~ 50 ℃
Dimension
(Quick Release Anti-
Vibration Claw Included)
201*140*134.5 mm
Weight
(Quick Release Anti-
Vibration Claw Included)
854 g
ZT30 Quick Release Anti-Vibration Claw
Dimension
140*140*63 mm
Weight
104 g
Gimbal
Angular Vibration Range
±0.01°
Controllable Pitch Angle
-90°~ +25°
Controllable Yaw Angle
Limitless
Rotatable Roll Angle
-45°~ +45°