I’m running pixhawk cube with the latest Arducopter and the herelink radio system. I am revisiting the idea of setting a Gremsy T7up via mavlink control with the new version of Herelink Firmware.
I am running into an issue of a lot of the tutorials or info being set to the old firmware of herelink and the newer update, not quite knowing how to proceed. I have messed around for a while now but cant seem to get anything working.
Has anyone attempted this who can share some insight/setup info? My knowledge of Herelink and Ardupilot is pretty limited, the more i dig into it the more i seem to be in over my head!
I went to their website and the setup instructions are just about identical to how I setup my Storm32 gimbals.
If you want to control the gimbal via the radio you need to setup the radio first and then calibrate the radio INCLUDING THE CAMERA CONTROL CHANNEL(S) in Mission Planner > Setup > Mandatory Hardware > Radio Calibration.
In Mission Planner > Setup > Optional Hardware > Camera Gimbal set the gimbal control input(s) to the SERVO # that corresponds to the channel assigned in the radio.
My radio is a Taranis X9e tray. I use Channles 9 and 10. 9 is for pitch and 10 is for azimuth. The corresponding SERVO #'s are SERVO9 and SERVO10
What did you try, what did you expect, what was the actual result?
While I didn’t do the initial setup for our Gremsy gimbal, the key to get the gimbal to play nice with a Pixhawk seems to lie with the MNT_* parameters, especially MNT_TYPE, which should be 4 = MAVLink type gimbal.
Thanks for the replys,
so far I havent bee able to get any control via mavlink.
I feel like this would be much simpler with a more standard type radio but for this project I need to use the Herelink. And this is where im outta my league a bit.
With the Herelink I did the Hardware- mandatory calibration- I see live stick monitor on Mission Planner but not in Qgroundcontrol for some reason. I get the error, no RC channels detected-need at least 5 channels
In my Optional Hardware-Camera Gimbal setup I think is where the issues are lying
I would like to use the herelink as in gremsy tutorial with the hardware wheel able to switch between tilt and pan via the “camera” button. The gremsy tutorial is with the old version of the Herelink firmware and I am not savvy enough yet to figure out the differences. Do i need to use SBUS instead of Mavlink? The Cube pilot reference says to use "sync’ setting in Gtune.
This seems to be where I get stuck in the mire of settings. I am needing to get the gimbal controlled via Mavlink due to other hardware I am going to run, the gimbal must be set to mavlink mode in Gtune
I can see in the herelink that tilt and azimuth on gimbal are linked to channel 10 in the summary page is this the correct setting?
My MNT_Type is 4 as suggested.
In summary I think I am just confused onto what channels are what with the herelink and how to set and activate the correct channels of communication to get everything talking correctly.
For Mavlink control, connect one of the TELEM ports on Pixhawk to the COM2 port of the gimbal. Set the gimbal mode to Mavlink in Gtune app. Set Pixhawk parameters as shown here. In your case the MNT_DEFL_MODE should be 3(RC targeting mode).
On the Herelink, assign the buttons to the channels you want and on Pixhawk set MNT_RC_IN_TILT and MNT_RC_IN_PAN accordingly. Also it might be good idea to update the T7 firmware to the latest one.
There are two SBUS cables on the Herelink. Sbus1 should be connected to the FC. Switch the cables and try
This has been helpful but I simply can not get gimbal control, I have followed everyone’s advice and the various Gremsy Tutorials and can see the channel maps and monitors for the appropriate channels and I still have no control. I am aware of the SBUS1 and SBUS2 cables on the air unit being a common problem. I think I am going to contact Gremsy directly for some support on this matter. It seems strange
No such luck here either, I am able to get it to move using the PX4 firmware, set in Mavlink mode
My setup:
Gremsy T3v3 Latest fimware (gremsyT3V3_v765_Offical) Set you Mavlink mode
Connected to Com 2 via Pixhawk Cube Black on standard carrier board
Set Pixhawk parameters as shown [here] the the best that I could as some parameters have been changed or have been renamed (How to setup Gremsy gimbal with Pixhawk Cube? : Gremsy)
MAV_BRODCAST was missing for me?
Latest PX4 Firmware 1.12.3 not Ardupilot, (just seemed easier)
I have the Mavlink protocol forced set to two.
I have the baud set to 115200
I have MNT_MODE_IN = RC
I have MNT_MODE_OUT = Mavlink protocol 1 (this was the only one that seemed to kind of work)
I set SYS_AUTOSTART = 4001 the same as Gremsy showed the default was 6001
I set MNT_MAN_PITCH to AUX 2 and under radio tab assigned RC_MAP_AUX 2 to channel 5 of my controller that I can clearly see moving on the RC channel monitor, the responds of the gimbal for tilt is strange it only tilts up slightly when the channel moves from center one direction, and when the channel is re centered the gimbal tilts back to a neutral state where it started, and that’s all I get.