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.. _common-topotek-gimbal: | ||
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[copywiki destination="plane,copter,rover"] | ||
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=============== | ||
Topotek Gimbals | ||
=============== | ||
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`Topotek <https://topotek.com/>`__ provides a wide variety of camera gimbals which communicate with ArduPilot using a custom serial protocol. | ||
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.. image:: ../../../images/topotek-gimbal.png | ||
:target: https://topotek.com/kiy10s4k-4k-resolution-10x-optical-zoom-3-axis-small-gimbal-p5127630.html | ||
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.. warning:: | ||
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Support for these gimbals is available in ArduPilot 4.6 (and higher) | ||
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Where to Buy | ||
------------ | ||
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These gimbals can be purchased directly from `Topotek <https://topotek.com/>`__ | ||
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Connecting to the Autopilot | ||
--------------------------- | ||
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.. image:: ../../../images/topotek-autopilot.png | ||
:target: ../_images/topotek-autopilot.png | ||
:width: 450px | ||
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Connect the gimbal's RX, TX and GND pins to one of the autopilot's serial ports as shown above. | ||
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Connect with a ground station and set the following parameters. The params below assume the autopilot's telem2 port is used and the Camera1 control instance, | ||
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- :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` to 8 ("Gimbal") | ||
- :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` to "115" for 115200 bps | ||
- :ref:`MNT1_TYPE <MNT1_TYPE>` to "12" ("Topotek") and reboot the autopilot | ||
- :ref:`MNT1_PITCH_MIN <MNT1_PITCH_MIN>` to -90 | ||
- :ref:`MNT1_PITCH_MAX <MNT1_PITCH_MAX>` to 45 | ||
- :ref:`MNT1_YAW_MIN <MNT1_YAW_MIN>` to -180 | ||
- :ref:`MNT1_YAW_MAX <MNT1_YAW_MAX>` to 180 | ||
- :ref:`MNT1_RC_RATE <MNT1_RC_RATE>` to 60 (deg/s) to control speed of gimbal when using RC targetting | ||
- :ref:`CAM1_TYPE<CAM1_TYPE>` to 4 / "Mount" to allow control of the camera | ||
- :ref:`RC6_OPTION <RC6_OPTION>` = 213 ("Mount Pitch") to control the gimbal's pitch angle with RC channel 6 | ||
- :ref:`RC7_OPTION <RC7_OPTION>` = 214 ("Mount Yaw") to control the gimbal's yaw angle with RC channel 7 | ||
- :ref:`RC8_OPTION <RC8_OPTION>` = 163 ("Mount Lock") to switch between "lock" and "follow" mode with RC channel 8 | ||
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- Optionally these auxiliary functions are also available | ||
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- :ref:`RC9_OPTION <RC9_OPTION>` = 9 ("Camera Trigger") to take a picture | ||
- :ref:`RC9_OPTION <RC9_OPTION>` = 166 ("Camera Record Video") to start/stop recording of video | ||
- :ref:`RC9_OPTION <RC9_OPTION>` = 167 ("Camera Zoom") to zoom in and out | ||
- :ref:`RC9_OPTION <RC9_OPTION>` = 168 ("Camera Manual Focus") to adjust focus in and out | ||
- :ref:`RC9_OPTION <RC9_OPTION>` = 169 ("Camera Auto Focus") to trigger auto focus | ||
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Control and Testing | ||
------------------- | ||
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See :ref:`Gimbal / Mount Controls <common-mount-targeting>` for details on how to control the gimbal using RC, GCS or Auto mode mission commands |
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