Using STorM32 with ArduPilot

The information on this page refers to firmware v2.52, and higher.

The STorM32 gimbal controller can communicate with an ArduPilot flight controller via a serial UART data link. The serial communication allows for a much richer data transmission and accordingly richer set of features than possible with the traditional connections such as PWM, PPM, SBUS, and alike.

If you only need the range of functionality possible with the conventional tilt & pan control, then you may not need anything of the below. Some of the basic features can also be accomplished by workarounds in traditional ways. Decide yourself which approach fits your needs best. :)

If you want to make best use of your STorM32 gimbal and want 2020-ish capabilities, then you may want to chose BetaPilot (BetaCopter/BetaPlane). This fork of ArduPilot is specifically designed for the STorM32 gimbal controller, and provides the best range of functions. For details see Using STorM32 with BetaPilot.

STorM32 - ArduPilot Support

ArduPilot offers three mount types, which in principle can be used with the STorM32 controller:

• SToRM32 MAVLink: MNT_TYPE = 4
• SToRM32 Serial: MNT_TYPE = 5
• Greemsy: MNT_TYPE = 6

Concerning the two SToRM32 mounts, for further details and instructions on how to use them please visit ArduPilot Docs > Copter > Optional Hardware > Camera&Gimbals > SToRM32 Gimbal Controller.

The SToRM32 Serial (MNT_TYPE = 5) mount does not work with v2.xx firmware, and should not be considered except for the legacy I2C setups running v0.9x firmware.

The Greemsy (MNT_TYPE = 6) mount is also MAVLink based, and thus can in principle be used with STorM32. This mount type in fact exploits the 'new' gimbal messages of the gimbal protocol v2, and would offer some real benefits. However, it violates the MAVLink standard in various respects, and interoperability with STorM32 is thus mixed.

The SToRM32 MAVLink (MNT_TYPE = 4) mount currently appears to work best with STorM32 in the sense that it produces the least issues, but it is quite limited in its functionality.

For both the SToRM32 MAVLink (MNT_TYPE = 4) and Greemsy (MNT_TYPE = 6) mounts, the details of what works and what does not work are not fully clear at the time of writing, but the SToRM32 MAVLink (MNT_TYPE = 4) should work fine with respect to controlling a STorM32 gimbal.

Disclaimer: ArduPilot's gimbal support is a constant source of issues, in terms of flaws and/or incompatibilities with the official MAVLink standard, and the details can vary much with the ArduPilot firmware version. Also the ArduPilot documentation can be out-of-date. Please note that STorM32 can't do anything about this, it's ArduPilot, and please also note that the STorM32 firmware author is neither responsible for the implementation of ArduPilot's mount types nor for ArduPilot's documentation.

Virtual Channel Configuration

ArduPilot does not emit RC_CHANNELS MAVLink messages by default, which could be desired for taking advantage of the STorM32's virtual channel feature.

It can be activated by setting the SRx_RC_CHAN parameter to a non-zero value, there the 'x' refers to the serial which is used for the MAVLink communication with the STorM32 controller.

For more details on the feature see Virtual Channel Configuration.

Testing the Connection

The serial MAVLink connection can be tested in several ways. Suggestions (which may or may not work with ArduPilot) can be found in Using STorM32 with BetaPilot: Testing the Connection.