H16 with SIYI ZR10 gimbal

Hi, I’m planning to use the RC solution H16 from CUAV (or Skydriod, same thing?).

Now I’m wondering, will it be possible to control the SIYI ZR10 gimbal?

Here: SIYI ZR10 and A8 Gimbals — Plane documentation
I find, that ArduPilot support these gimbals since v4.3.1.

However, I never had my hand on the H16 remote. The manual is also not helping.

I would appreciate any help or comment!