SIYI ZT30 User manual

ZT30 User Manual v1.0
1 2022 SIYI Technology Copyright
ZT30
FOUR-SENSOR OPTICAL POD
4K AI THERMAL RANGEFINDER
USER MANUAL
V1.0
May 2023

ZT30 User Manual v1.0
2 2022 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 v1.0
3 2022 SIYI Technology Copyright
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)

ZT30 User Manual v1.0
4 2022 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
3 GIMBAL CONTROL ...................................................................................................................................... 19
3.1 Control Gimbal Camera from SIYI FPV App or SIYI QGC App on SIYI Handheld Ground Station 19
3.1.1 Preparation....................................................................................................................................... 19
3.1.2 Gimbal Pitch and Yaw Rotation...................................................................................................... 21
3.1.3 Zoom and Focus.............................................................................................................................. 21
3.1.4 Take pictures and Record Video.................................................................................................... 22
3.2 Control Gimbal through S.Bus Signal (Taking an example of MK15 remote controller) .................. 22
3.2.1 Preparation....................................................................................................................................... 23
3.2.2 Gimbal Pitch and Yaw Rotation (Taking an example of MK15 Dials)......................................... 25
3.2.3 Zoom and Focus (Taking an example of MK15 Switches) .......................................................... 26
3.2.4 Take Pictures and Record Video (Taking an Example of MK15 Buttons).................................. 27
3.3 UART / UDP Control (through SDK)..................................................................................................... 28
3.3.1 SDK Protocol Format ...................................................................................................................... 28
3.3.2 SDK Communication Commands................................................................................................... 28
3.3.3 SIYI Gimbal Camera SDK Communication Interface................................................................... 37
3.3.4 SIYI Gimbal Camera SDK Communication Code Examples....................................................... 37

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3.3.5 SDK CRC16 Code........................................................................................................................... 39
3.3.6 Advanced Guide for SIYI Gimbal SDK Integration ....................................................................... 41
3.4 Control SIYI Gimbal Camera in SIYI QGC Windows Software through HM30 Image Transmission
System........................................................................................................................................................... 45
3.4.1 Preparation....................................................................................................................................... 45
3.4.2 Gimbal Pitch and Yaw Rotation...................................................................................................... 47
3.4.3 Zoom and Focus.............................................................................................................................. 48
3.4.4 Take pictures and Record Video.................................................................................................... 48
3.5 Control SIYI Gimbal Camera by the Ardupilot Driver through UART................................................. 49
4 VIDEO OUTPUT............................................................................................................................................ 52
4.1 Single Camera & Single Image............................................................................................................. 52
4.2 Dual Camera & Split Image................................................................................................................... 52
4.3 Dual Camera & Main / Sub Window Image.......................................................................................... 53
4.4 Triple Camera & Split Image & Main / Sub Window............................................................................ 53
4.5 Output Video Stream to SIYI Handheld Ground Station..................................................................... 54
4.6 Output Video Stream to Android Device through HM30 Full HD Image Transmission System ...... 54
4.7 Output Video Stream to Windows Device through HM30 Full HD Image Transmission System.... 56
4.8 Output Video to Windows Device Directly............................................................................................ 57
4.9 Output Video to Third-Party Link........................................................................................................... 59
4.10 Solutions to No Image.......................................................................................................................... 60
4.10.1 Video Output to Android Device................................................................................................... 61
4.10.2 Video Output to Windows Device................................................................................................. 62
4.11 Common IP Addresses........................................................................................................................ 63
5 SIYI FPV APP................................................................................................................................................ 65
5.1 Settings.................................................................................................................................................... 67
5.2 Link Status............................................................................................................................................... 68
5.3 Gimbal Camera....................................................................................................................................... 69
5.4 About SIYI FPV....................................................................................................................................... 71
6 Firmware Upgrade and Configuration.......................................................................................................... 72
6.1 Gimbal / Zoom Firmware Update.......................................................................................................... 72
6.2 Camera Firmware Update...................................................................................................................... 75
6.3 Gimbal Camera Configuration............................................................................................................... 77

ZT30 User Manual v1.0
6 2022 SIYI Technology Copyright
6.3.1 Channel Configuration..................................................................................................................... 77
6.3.2 Camera Configuration..................................................................................................................... 79
6.3.3 Gimbal Calibration........................................................................................................................... 79
7 After-sale Service .......................................................................................................................................... 84
7.1 Repair Service......................................................................................................................................... 84
7.2 Warranty.................................................................................................................................................. 85
7.2.1 7-Day Return & Refund................................................................................................................... 85
7.2.2 15-Day Replacement....................................................................................................................... 86
7.2.3 1-Year Warranty Repair.................................................................................................................. 88

ZT30 User Manual v1.0
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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 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 should follow an

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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.
CAUTION
Always place your SIYI products at places where babies or kids do not reach.
DANGER
SIYI products should be placed in places with below conditions:
Not too hot (above 60℃) or too cold (under -20℃).
Not under direct sunshine or too dusty or too wet.
Not on an unstable holder which lacks solid supports or may cause vibration.
Not nearby steam or other heat sources.

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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.
*The Mavlink protocol control for SIYI optical pods is in development and will be supported by
upgrade later.
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.

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FPV Mode
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.

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High-Precision FOC Motor Control Algorithms
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 SIYI 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
UDP (Ethernet)
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)
182*140*134.5 mm
Weight
(Quick Release Anti-
Vibration Claw Included)
854 g
ZT30 Quick Release Anti-Vibration Claw
Dimension
141*140*42.5 mm
Weight
104 g
Gimbal
Angular Vibration Range
±0.01°
Controllable Pitch Angle
-90°~ +25°
Controllable Yaw Angle
Limitless
Rotatable Roll Angle
-45°~ +45°

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Zoom Camera
Lens
30X Optical Zoom
(180X Hybrid Zoom)
Focal Length
4.8 ~ 149 mm (±5%)
Image Sensor
1/2.7 Inch, 8 MP effective resolution
Aperture
F1.3 ~ 4.8 (±5%)
FOV
Horizontal: 62°
Video Recording
Resolution
4K (4096 x 2160) @ 30 fps
2K (2560 x 1440) @ 30 fps
1080p (1920 x 1080) @ 30 fps
720p (1280 x 720) @ 30 fps
Still Photo Resolution
4K (4096 x 2160)
Thermal Imaging Camera
Resolution
640 x 512
Zoom
2X Digital
Lens
Focal Length: 19 mm
Aperture: F1.1
Fixed Focus
Athermalization
Wavelength Range
8 ~ 14 um
Temperature Measuring
Range
High Gain: -20 ~ +150℃
Low Gain: 0 ~ +550℃
Temperature Measuring
Accuracy
±2℃(-20 ~ +150℃)
±3℃(0 ~ +550℃)
Temperature Measuring
Mode
Point to Measurement
Full Screen Measurement
Selected Area Measurement
Wide Angle Camera
Image Sensor
1/2.8 Inch, 4 MP effective resolution
Equivalent Focal Length
21 mm

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FOV
Horizontal: 88°
Video Recording
Resolution
2K (2560 x 1440) @ 30 fps
Still Photo Resolution
2K (2560 x 1440)
Laser Rangefinder
Range
5 ~ 1200 m
Wavelength Range
900 ~ 908 nm
Resolution
0.1 m
Ranging Accuracy
±1 m (3 ~ 100 m)
±1 + L*0.25% m, L=Length (100 ~ 600 m)
Laser Pulse Frequency
3 Hz
Max Laser Power
5 mW
General Camera Specs
Video Storage Bitrate
15 Mbps (H.265 Codec)
File Storage Format
FAT32
Image Format
JPG
Video Format
MP4
Supported MicroSD
Cards
MicroSD Class10, Max 128 GB
Still Photography Mode
Single
Metering Mode
Evaluative metering