Common: add topotek gimbal

common/source/docs/common-master-features.rst

@@ -15,6 +15,7 @@ This lists features or changes merged in master and build in the "latest" firmwa
 .. toctree::
     :maxdepth: 1
 
+    Topotek Camera Gimbals <common-topotek-gimbal>
     Other wiki changes <common-future-wiki-changes>
 [/site]
 [site wiki="rover"]

common/source/docs/common-topotek-gimbal.rst

@@ -0,0 +1,59 @@
+.. _common-topotek-gimbal:
+
+[copywiki destination="plane,copter,rover"]
+
+===============
+Topotek Gimbals
+===============
+
+`Topotek <https://topotek.com/>`__ provides a wide variety of camera gimbals which communicate with ArduPilot using a custom serial protocol.
+
+.. image:: ../../../images/topotek-gimbal.png
+    :target: https://topotek.com/kiy10s4k-4k-resolution-10x-optical-zoom-3-axis-small-gimbal-p5127630.html
+
+.. warning::
+
+    Support for these gimbals is available in ArduPilot 4.6 (and higher)
+
+
+Where to Buy
+------------
+
+These gimbals can be purchased directly from `Topotek <https://topotek.com/>`__
+
+Connecting to the Autopilot
+---------------------------
+
+.. image:: ../../../images/topotek-autopilot.png
+    :target: ../_images/topotek-autopilot.png
+    :width: 450px
+
+Connect the gimbal's RX, TX and GND pins to one of the autopilot's serial ports as shown above.
+
+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,
+
+- :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
+
+- Optionally these auxiliary functions are also available
+
+  - :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
+
+Control and Testing
+-------------------
+
+See :ref:`Gimbal / Mount Controls <common-mount-targeting>` for details on how to control the gimbal using RC, GCS or Auto mode mission commands