Copter gimbal control problem

ArduCopter Copter 4.0
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1

Hi everyone!
I have a gimbal camera, which doesn’t support sbus, mavlink.It’s only support a custom serial protocol, But I want this gimbal worked with arduCopter, I have few ideas.

  1. Read the PWM output through a arduino, then convert to angle data send to the gimbal, But I don’t how to calculate the angle with the pwm value

  2. I notice that mavlink support a gimbal protocol. It’s should possible to read the angle data through the mavlink, Just like the Storm32, But I’m not good at code.
    Any idea will be very helpful.
    Thanks!

2

Probably the easiest thing to do is replace the control board with an alexmos board like something from SimpleBGC.