Release date: 11 April 2020
Revision Number: 1.0.2
Gremsy’s Gimbal supports SBUS, SPECTRUM and PPM receivers.
This article will show you how to use S.Bus signal output from a remote controller (Futaba, Herelink, …) for simultaneous control of Autopilot, Gimbal and camera as well.
In this specific example, we will use a T3 gimbal connected directly to Pixhawk’s SBUS.o port, and also connect the third party Seagull #Rec for triggering and zooming the Sony Camera.
Using Remote Control (Herelink):
Let’s get started!
1. Items required
2. Firmware update
The gimbal must be running a firmware version from v7.4.0 or higher and a software v1.4.1 or higher.
3. Hardware setup guide
SBUS port is located on the Hyper Quick Release or the Gimbal Controller.
Connect the FC’s SBUS output port (labelled “SBUSo” on a Cube, “SB” on a Pixhawk) to the gimbal’s SB or “SBUS” port.
a. Configuring Gimbal
NOTE: This feature will only appear when you upgrade the latest firmware and software. Please see the instructions above.
Open gTune and navigate to SETTINGS à CONTROLS à HERELINK.
There are some parameters to be aware of before controlling gimbal.
b. Configuring Pixhawk FC
Ardupilot allows you to configure a particular port for many purposes. It has 6 AUX Ports (AUX1 – AUX6, referred to as SERVO9-SERVO14 in mission planner).
The BRD_SBUS_OUT parameter must be enabled (=1).
SERVO_SBUS_RATE controls the update rate to the servos. The default is 50 Hz but can be set to any value in the range of 25 Hz to 250 Hz.
NOTE: SBUS will output values when switching the safety button. For testing, you should disable the BRD_SAFETY_ENABLE (by setting it to zero).
Set default channel SERVO9_FUNCTION for switching between PAN and TILT axis during control.
SERVO9_FUNCTION = 1 (RCPassthru).
Set default channel SERVO10_FUNCTION for controlling gimbal axis (PAN/TILT).
SERVO10_FUNCTION = 1 (RCPassthru).
NOTE: These parameters have been configured in the firmware. DO NOT CHANGE the channels.
In mission planner, navigate to INITIAL SETUP-> OPTIONAL HARDWARE -> CAMERA GIMBAL.
1400 μS <> 1600 μS
1266 μS <> 1399 μS
1132 μS <> 1265 μS
If you don’t want to use SERVO7, you can choose another channel, but DO NO USE SERVO9-SERVO11. It is used for Gimbal.
Setting the channel 12 (SERVO12_FUNCTION) to RCPassThru for zooming feature. It means that the value is coming into the FC from the corresponding input channel.
SERVO12_FUNCTION = 1 then channel AUX OUT4 will always equal to channel 12 input from the Herelink.
If you don’t want to use SERVO12, you can choose another channel, but DO NO USE SERVO9 - SERVO11. It is reserved for Gimbal.
Hereinafter configuring the RC1 with channels for gimbal and camera control.
This channel is reserved for toggling the axis (TILT or PAN). Aside from resetting the home position when pressed about 2 seconds.
Note : Switch type should be set at Monetary switch
This channel is reserved for controlling Tilt or Pan.
D long press: Zoom in
C long press: Zoom out.
C & D short press: Reset zoom state as neutral value like below
NOTE: Neutral should be around 1400 μS <> 1600 μS
The value is assigned for D long press and C long press set to speed1. If you want to
move faster, you can find the speed value in the Seagull Rec manual.
The video below shows the T3V3 being tested on Pixhawk Cube and Herelink.
As for the connection and configuration above, you can use the Herelink Remote Controller to control your aircraft with 2 joysticks and button A and B for switch mode or another purpose. Besides, you can also control gimbal with TILT/PAN and camera as well.
a. Check connection
Status LED is solid Blue during operation.
NOTE: The SBUS.o only outputs when the safe button is pressed or the
BRD_SAFETYENABLE = 0. This is only for testing. When pressing the safety button,
you can fly and control the gimbal as well.
b. Control Gimbal
Use the scroll wheel to control TILT/PAN. At that time, only the TILT axis or Pan Axis
is controlled. You can use the TOP (Right) button to toggle axis.
Gimbal will run in FOLLOW mode and allow control PAN in FOLLOW mode, which
is a new feature.
Press the TOP (Right) button for about 2 seconds. Gimbal will return to the home
c. Control Camera
Using SEAGULL #REC custom will avoid twisting the SEAGULL’ cable.
Now you can control zoom in or zoom out with the C and D button.
Long Press D button then the camera will zoom in.
Long Press C button then the camera will zoom out.
If you want to trigger a camera, use the virtual trigger button on the Herelink.
Support page: https://support.gremsy.com/support/home