SIYI ZR30 User manual

ZR30 User Manual v1.3
1 2024 SIYI Technology Copyright
ZR30
OPTICAL POD
4K RESOLUTION 30X OPTICAL ZOOM
USER MANUAL
V1.3
January 2024

ZR30 User Manual v1.3
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Thank you for purchasing SIYI’s product.
ZR30 is a zoom optical pod with quick release structure and up to 180X hybrid zoom
/ 30X optical zoom, carrying a 4K 1/2.7-inch Sony CMOS, 4K video recording and
photography, 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, ZR30 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 (su[email protected]).

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SIYI User Group - Facebook
SIYI Official Website (https://siyi.biz/en)
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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User Manual Update Log
Version
Date
Updates
1.3
2024.1
1. Product features
2. Technical specifications
3. Main firmware update log.
4. SIYI FPV app update log.
5. SIYI FPV SDK Guide.
6. SIYI Gimbal SDK
7. Add diagrams in some chapters.
8. Instruction for AI follow function
1.2
2023.10
1. Main firmware update log.
2. SIYI FPV app update log.
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 gimbal Mavlink control.
6. Instruction for integrating Mavlink flight attitude data.
7. Trouble shooting for abnormal gimbal attitude.
8. User manual update log.
9. Main firmware update log.
10. SIYI FPV app update log.
11. Necessary update for technical specification.

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CONTENT
READ TIPS.......................................................................................................................................................... 1
Icons................................................................................................................................................................. 1
Safety............................................................................................................................................................... 1
Storage / Carrying / Recycling....................................................................................................................... 2
1 INTRODUCTION............................................................................................................................................. 3
1.1 Product Features...................................................................................................................................... 3
1.2 Ports, Interface & Definition..................................................................................................................... 7
1.3 Technical Specification............................................................................................................................. 8
1.4 Packing List............................................................................................................................................. 10
1.5 Indicator Definition.................................................................................................................................. 11
2 GET READY TO USE ZR30......................................................................................................................... 12
2.1 Installation............................................................................................................................................... 12
2.2 Connection and Power........................................................................................................................... 13
2.3 Interesting Functions and Cautions....................................................................................................... 14
2.3.1 Capture with Time and Location Information ................................................................................ 14
2.3.2 Point to Focus & Focus Tracking ................................................................................................... 15
2.3.3 Output Four Video Streams from the Same RTSP Addresses.................................................... 15
3 GIMBAL CONTROL ...................................................................................................................................... 17
3.1 Enable AI Recognition, Tracking, and Follow through SIYI AI Tracking Module Using SIYI Optical
Pod (Gimbal Camera) and SIYI Link........................................................................................................... 18
3.2 Control SIYI Optical Pod (Gimbal Camera) in SIYI FPV App or SIYI QGC App through SIYI link.. 25
3.2.1 Preparation....................................................................................................................................... 26
3.2.2 Gimbal Pitch and Yaw Rotation...................................................................................................... 27
3.2.3 Zoom and Focus.............................................................................................................................. 28
3.2.4 Take pictures and Record Video.................................................................................................... 28
3.3 Control SIYI Optical Pod (Gimbal Camera) in SIYI QGC (Windows) Software through SIYI Link.. 29
3.3.1 Preparation....................................................................................................................................... 30
3.3.2 Gimbal Pitch and Yaw Rotation...................................................................................................... 32
3.3.3 Zoom and Focus.............................................................................................................................. 32
3.3.4 Take pictures and Record Video.................................................................................................... 32

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3.4 Control SIYI Optical Pod (Gimbal Camera) by S.Bus Signal and Forward S.Bus Signal to Flight
Controller through SIYI Link......................................................................................................................... 34
3.4.1 Preparation....................................................................................................................................... 35
3.4.2 Gimbal Pitch and Yaw Rotation (Taking an example of Dial Control)......................................... 37
3.4.3 Zoom and Focus (Taking an Example of Switch Control)............................................................ 38
3.4.4 Take Pictures and Record Video (Taking an Example of Button Control).................................. 39
3.5 UART / UDP Control (SIYI Gimbal SDK).............................................................................................. 40
3.5.1 SDK Protocol Format ...................................................................................................................... 40
3.5.2 SDK Communication Commands................................................................................................... 40
3.5.3 SIYI Gimbal Camera SDK Communication Interface................................................................... 59
3.5.4 SIYI Gimbal Camera SDK Communication Code Examples....................................................... 59
3.5.5 SDK CRC16 Code........................................................................................................................... 62
3.5.6 Advanced Guide for SIYI Gimbal SDK Integration ....................................................................... 63
3.5.7 Interface Documentation for SIYI Gimbal Camera’s Web Server ............................................... 68
3.6 Control SIYI Gimbal Camera by the ArduPilot Driver through UART and Integrate Flight Controller
Attitude Data.................................................................................................................................................. 75
3.7 Control SIYI Gimbal Camera by Mavlink Gimbal Protocol through UART and Integrate Flight
Controller Attitude Data................................................................................................................................ 80
3.8 Necessary Trouble Shooting Steps When Gimbal Attitude Control Is Abnormal.............................. 82
4 VIDEO OUTPUT............................................................................................................................................ 84
4.1 Output Video to Windows Device Directly through Ethernet .............................................................. 85
4.2 Output Video to Third-Party Link through Ethernet.............................................................................. 89
4.3 Output Video through Micro-HDMI........................................................................................................ 90
4.4 Solutions to No Image through Ethernet............................................................................................... 91
4.4.1 Video Output to Android Device..................................................................................................... 91
4.4.2 Video Output to Windows Device................................................................................................... 93
4.5 Common IP Addresses.......................................................................................................................... 95
5 SIYI FPV APP................................................................................................................................................ 96
5.1 Settings.................................................................................................................................................... 98
5.2 Link Status............................................................................................................................................... 99
5.3 Gimbal Camera..................................................................................................................................... 100
5.4 About SIYI FPV..................................................................................................................................... 102

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5.5 SIYI FPV App Update Log................................................................................................................... 103
7.6 SIYI FPV SDK Guide............................................................................................................................ 105
7.6.1 Access Method .............................................................................................................................. 105
7.6.2 Interface Instructions..................................................................................................................... 107
7.7 SIYI FPV SDK Update Log.................................................................................................................. 110
6 SIYI Assistant............................................................................................................................................... 111
6.1 Gimbal / Zoom Firmware Update........................................................................................................ 112
6.2 Camera Firmware Update.................................................................................................................... 115
6.3 Gimbal Camera Configuration............................................................................................................. 117
6.3.1 Channel Configuration................................................................................................................... 117
6.3.2 Camera Configuration................................................................................................................... 119
6.4 Gimbal Calibration................................................................................................................................ 120
6.4.1 IMU Calibration.............................................................................................................................. 120
6.4.2 IMU Constant Temperature Calibration....................................................................................... 122
6.4.3 Accelerator Hexahedral Calibration ............................................................................................. 123
6.5 Main Firmware Update Log.................................................................................................................. 124
6.6 SIYI PC Assistant Update Log............................................................................................................. 126
7 After-sale Service ........................................................................................................................................ 127
7.1 Repair Service....................................................................................................................................... 127
7.2 Warranty................................................................................................................................................ 128
7.2.1 7-Day Return & Refund................................................................................................................. 128
7.2.2 15-Day Replacement..................................................................................................................... 129
7.2.3 1-Year Warranty Repair................................................................................................................ 131

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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.
WARNING Warnings on manipulation possibly leads to human injuries.
CAUTION Cautions on what manipulation may lead to property loss.
Prohibited Mandatory Mark
Safety
ZR30 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 products are stand idle, or you are bringing it outdoors, or the
system reached service life, then please do read the precautions below.
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
Professional UAV Imaging System
ZR30 carries an 1/2.7-inch Sony image sensor, an 8 megapixels CMOS with
remarkable photosensitivity ability,impressive 4K video recording and photography.
Up to 180x hybrid zoom (30x optical zoom). 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 picture files captured by ZR30 can be written with GPS location information and time attrib
utes.
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.
Starlight Night Vision
The ultra-sensitive starlight CMOS keep images bright in low light environment.
HDR
HDR (High Dynamic Range) precisely captures good details of highlights and
shadows in dynamic scenes to get true colors and natural brightness.

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AI Enhanced Smart Identify and Tracking
ZR30 works with the optional SIYI AI tracking module, which combines SIYI’s self-
developed AI algorithm and collaborate with SIYI optical pods (gimbal cameras) to
achieve real-time tracking and capture of targets, and real-time focusing and
zooming to highlight the selected object in the picture. The target will always be in
the center of the picture and maintain a clearly visible proportion of the picture.
It supports the anti-lost function. During the following process, if the target is blocked
or briefly leaves the monitoring screen, the AI tracking module can automatically
recognize and continue tracking when it re-enters the monitoring screen.
540-Degree Yaw Axis Rotation
Quick Release, Fast Payload Switch
The yaw axis of ZR30 rotates in a range of 540 degrees. Hanging below VTOL
drones or planes, ZR30 optical pod captures 360 degrees around. SIYI quick
release structure will support more interesting payloads in the future. Welcome to
follow for updates!
Incomparable Gimbal Control Interface
SIYI optical pods' (gimbal cameras') powerful compatibility contribute to smart rob
otics ecology in all dimensions. They can be controlled through traditional S.Bus si

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gnal by switches and dials, or through Ethernet by touchscreen or by UDP / TCP c
ommands based on SIYI gimbal SDK, or through UART by SIYI gimbal SDK or by
mainstream open-source protocols ArduPilot and PX4 (Mavlink).
Gimbal Motion Mode
Nose Mode
When the gimbal is installed at an angle of 90 degrees to the horizontal plane, it w
ill automatically enter the nose mode, which is convenient for installation on the no
se position of the fixed-
wing drone to achieve a friendlier installation angle and a wider field of view.
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
Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output
enhanced stable images.

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High Accuracy and High Collaboration Control Algorithms
SIYI has done even more 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
mathematicalmodels and filtering algorithms, and fuse this informationto 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
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 Ports, Interface & Definition

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1.3 Technical Specification
Overall
Video Output Port
Ethernet
Micro-HDMI
Control Signal Input
Port
S.Bus
UART
Ethernet UDP / TCP
High Accuracy
3 Axis Stabilization
Yaw
Pitch
Roll
Working Voltage
11 ~ 25.2 V
(3S to 6S)
Power Consumption
Average 5 W
Summit 12 W
Waterproof Level
IP4X
Working Temperature
-10 ~ 50 ℃
Dimension
(Quick Release Board
Included)
132 x 100 x 180 mm
Weight
(Quick Release Board
Included)
668 g
ZR30 Quick Release Anti-Vibration Board
Dimension
82 x 65 x 20 mm
Weight
38 g
Gimbal
Angular Vibration Range
±0.01°
Controllable Pitch Angle
-90° ~ +25°
Controllable Yaw Angle
-270° ~ +270°
Rotatable Roll Angle
-45° ~ +45°

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Camera
Lens
30X Optical Zoom
(180X Hybrid Zoom)
Focal Length
4.5 ~ 148.4 mm (±5%)
Image Sensor
1/2.7 Inch Sony CMOS
8 MP Effective Resolution
Aperture
F1.3 ~ 2.8 (±5%)
FOV
Without Zoom: Diagonal 65.4°, Horizontal 58.1°
30X Optical Zoom: Diagonal 2.5°, Horizontal 2.1°
Video Recording
Resolution
4K (3840 x 2160) @ 25 fps
2K (2560 x 1440) @ 30 fps
1080p (1920 x 1080) @ 30 fps
720p (1280 x 720) @ 30 fps
Still Photo Resolution
4K (3840 x 2160)
Video Storage Bitrate
12 Mbps (H.265 Codec)
Supported File System
FAT32
ExFAT
Image Format
JPG
Video File Format
MP4
Supported MicroSD
Cards
MicroSD Class10, max 128 GB
Still Photography Mode
Single
Metering Mode
Evaluative metering
White Balance
Automatic
Mark
To make sure that you get smoothly recorded video, please format the SD card, and make
the minimum storage unit as 64 KB before recording.
Please format the SD card to FAT32 before camera firmware upgrade.

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1.4 Packing List
1 x ZR30 Optical Pod
1 x ZR30 Quick Release Board
1 x MK15 / HM30 Air Unit S.Bus Y Cable
(Connect SIYI MK15 and HM30 air unit’s S.Bus port to acquire control signal, then one connector
of the cable goes to SIYI gimbal, another goes to flight controller)
1 x 3 in 1 Control Cable
(A universal cable for ZT30, ZR30, and A8 mini, it connects SIYI gimbal’s control signal port with
SIYI link and controller, including UART control input, S.Bus input and output)
1 x SIYI Gimbal Power Cable
(Power supply cable for SIYI gimbal)
1 x SIYI Gimbal Ethernet Cable
(A backup cable for customer DIY purpose to connect SIYI gimbal to third-party Ethernet devices)
1 x SIYI Gimbal to SIYI Link Cable
(An all-in-one cable for only touch screen control to SIYI gimbal through SIYI link, it can power
SIYI gimbal and can also transfer video stream and control signal)
1 x SIYI Gimbal Ethernet to RJ45 Cable
(Connect SIYI gimbal with RJ45 device directly)
1 x SIYI Gimbal to PX4 / ArduPilot Flight Controller UART Cable
(A universal cable for ZT30, ZR30, and A8 mini, it connects SIYI gimbal to the UART port on PX4
/ ArduPilot flight controller for data communication and gimbal control)
1 x ZT30 / ZR30 Screw Pack
(Using with the fixing board to mount ZT30 quick release anti-vibration claw and ZR30 quick
release anti-vibration board, including 6 x Hex Socket Large Flat Head Cap Screw TM3*8)

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1.5 Indicator Definition
The status indicator on SIYI gimbal uses three different colors and different blinking
frequencies to indicate the system’s working or abnormal status.
Solid Green: Normally working.
Slow Green Blinks: S.Bus signal input is normal.
Double Green Blinks: Integrating flight controller attitude data is normal.
Slow Red Blinks: One of or all the firmware does not match (camera firmware, gimbal
firmware, zoom firmware).
Triple Red Blinks: Failed to identify zoom module (for optical zoom gimbal
camera only).
Red-Red-Yellow Blinks Continuously: Failed to identify camera board.
Yellow Blinks: Power input voltage is low (lower than 10 V).
Double Red Blinks: IMU temperature rising is abnormal.
Double Yellow Blinks: IMU temperature is rising.
Triple Yellow Blinks: IMU temperature is abnormal.

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2 GET READY TO USE ZR30
2.1 Installation
Screw Holes’ Position and Distance
Mark
The specs of the screws for fixing the four tube screws are M.3*8 mm. Quantity: 4.
Welcome to contact SIYI to get the SIYI Gimbal 3D Model for pre-installation.

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2.2 Connection and Power
SIYI optical pod and gimbal camera can be powered in many ways. If you plan to
carry SIYI gimbal by your plane and the plane may roll in a wide margin, then please
use connect SIYI gimbal’s power port directly by a 3S to 6S power battery, not
through power distribution board or air unit.