Using STorM32 with BetaPilot - Revision history

OlliW: /* Further Settings in BetaPilot to Consider */

2025-10-24T09:52:17Z

Further Settings in BetaPilot to Consider

← Older revision		Revision as of 11:52, 24 October 2025
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	=== Further Settings in BetaPilot to Consider ===		=== Further Settings in BetaPilot to Consider ===

	Please '''''disable''''' (set to 0) '''''all ~~SRx~~/~~MAVx~~''''' streaming parameters for the serial port you are using for STorM32. This avoids that the STorM32 controller is bombarded with superfluous messages and helps it to achieve consistent behavior. Depending on the vehicle type and ArduPilot firmware version you may find that the streaming parameters are enabled or disabled by default. So, please check.		Please '''''disable''''' (set to 0) '''''all SRy/MAVy''''' streaming parameters for the serial port you are using for STorM32 (note that 'y' is in general different to the 'x' in SERIALx). This avoids that the STorM32 controller is bombarded with superfluous messages and helps it to achieve consistent behavior. Depending on the vehicle type and ArduPilot firmware version you may find that the streaming parameters are enabled or disabled by default. So, please check.

	The control of the gimbal depends also on the '''''mount mode''''' (see [[#Mount Mode\|Using Gimbal Protocol V2: Mount Mode]]). The mount mode at startup is determined by the ArduPilot parameter [https://ardupilot.org/copter/docs/parameters.html#mnt1-deflt-mode MNT1_DEFLT_MODE]. For unrestricted control by the Gimbal Protocol v2 messages, the setting MNT1_DEFLT_MODE = 2 should be choosen.		The control of the gimbal depends also on the '''''mount mode''''' (see [[#Mount Mode\|Using Gimbal Protocol V2: Mount Mode]]). The mount mode at startup is determined by the ArduPilot parameter [https://ardupilot.org/copter/docs/parameters.html#mnt1-deflt-mode MNT1_DEFLT_MODE]. For unrestricted control by the Gimbal Protocol v2 messages, the setting MNT1_DEFLT_MODE = 2 should be choosen.

OlliW: /* STorM32 MAVLink2 Mount Type */

2025-10-24T08:49:35Z

STorM32 MAVLink2 Mount Type

← Older revision		Revision as of 10:49, 24 October 2025
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	'''''Settings in STorM32:'''''		'''''Settings in STorM32:'''''
	* {{PARAMNAME\|Mavlink Gimbal}} = {{PARAMVALUE\|Gimbal1}} or higher		* {{PARAMNAME\|Mavlink Gimbal}} = {{PARAMVALUE\|Gimbal1}} or higher
	* {{PARAMNAME\|Mavlink Gimbal Stream}} = {{PARAMVALUE\|device status}} ~~(you also can use {{PARAMVALUE\|mountstatus}} if backwards compatibility is desired, do not use {{PARAMVALUE\|manager status}})~~		* {{PARAMNAME\|Mavlink Gimbal Stream}} = {{PARAMVALUE\|device status}}
	* {{PARAMNAME\|Mavlink Uart Port}} = {{PARAMVALUE\|uart}} if the serial port UART is used (this is the default)		* {{PARAMNAME\|Mavlink Uart Port}} = {{PARAMVALUE\|uart}} if the serial port UART is used (this is the default)
	* {{PARAMNAME\|Mavlink System ID}} = {{PARAMVALUE\|0}} for auto-detection (which is the default) or system ID of autopilot		* {{PARAMNAME\|Mavlink System ID}} = {{PARAMVALUE\|0}} for auto-detection (which is the default) or system ID of autopilot

OlliW: /* MAVLink Camera Microservice */

2025-06-15T12:38:16Z

MAVLink Camera Microservice

← Older revision		Revision as of 14:38, 15 June 2025
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	== MAVLink Camera Microservice ==		== MAVLink Camera Microservice ==

	~~BetaPilot implements the MAVLink protocol as specified in the [https://mavlink.io/en/ MAVLink] standard. Therefore, with~~ BetaPilot installed, also the [https://mavlink.io/en/services/camera.html MAVLink Camera Protocol v2] microservice ~~can be~~ fully ~~used~~.		With BetaPilot installed, also the [https://mavlink.io/en/services/camera.html MAVLink Camera Protocol v2] microservice is fully available.

	The STorM32 gimbal controller implements a MAVLink Camera controller, which is described in much detail in the articles [[MAVLink Communication#MAVLink Camera\|MAVLink Camera]] and [[NT Camera]].		The STorM32 gimbal controller implements a MAVLink Camera controller, which is described in much detail in the articles [[MAVLink Communication#MAVLink Camera\|MAVLink Camera]] and [[NT Camera]].

OlliW: /* Auxiliary Functions */

2025-06-15T12:35:55Z

Auxiliary Functions

← Older revision		Revision as of 14:35, 15 June 2025
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	* "Camera Mode Toggle": allows to switch between photo and video mode, as well as starts/stops the video recording. HIGH: change to video mode and start recording, MID: stop video recording if in video mode, else nothing, LOW: change to photo mode and take picture.		* "Camera Mode Toggle": allows to switch between photo and video mode, as well as starts/stops the video recording. HIGH: change to video mode and start recording, MID: stop video recording if in video mode, else nothing, LOW: change to photo mode and take picture.
	* "Camera Record Video": starts/stops video recording when in video mode. HIGH: start recording, else stop recording.		* "Camera Record Video": starts/stops video recording when in video mode. HIGH: start recording, else stop recording.
			* "Camera Zoom":
			* "Camera Manual Focus":
			* "Camera Auto Focus":

	The auxiliary functions can be invoked by associating them in ArduPilot to RC channels (see [https://ardupilot.org/copter/docs/common-auxiliary-functions.html ArduPilot: Auxiliary functions]). They also can be invoked by sending the [https://mavlink.io/en/messages/ardupilotmega.html#MAV_CMD_DO_AUX_FUNCTION MAV_CMD_DO_AUX_FUNCTION] command to the autopilot. The latter can be ~~connveniently~~ done via MissionPlanner's Aux Function tab.		The auxiliary functions can be invoked by associating them in ArduPilot to RC channels (see [https://ardupilot.org/copter/docs/common-auxiliary-functions.html ArduPilot: Auxiliary functions]). They also can be invoked by sending the [https://mavlink.io/en/messages/ardupilotmega.html#MAV_CMD_DO_AUX_FUNCTION MAV_CMD_DO_AUX_FUNCTION] command to the autopilot. The latter can connveniently be done via MissionPlanner's Aux Function tab.

	{{COMMENT\|The auxiliary functions "Camera Mode Toggle" and "Camera Record Video" require that the CAM_TRIGG_TYPE parameter is set to 3 (Mount)}}.		{{COMMENT\|The auxiliary functions "Camera Mode Toggle" and "Camera Record Video" require that the CAM_TRIGG_TYPE parameter is set to 3 (Mount)}}.

	{{COMMENT\|~~Except of "Retract Mount1", the~~ same functionality can also be achieved using the STorM32's [[Inputs_and_Functions\|functions]] in combination with the [[#Virtual_Channel_Configuration\|virtual channels]] feature. This approach is in fact more STorM32-ish, and offers more possibilities, like triggering scripts and more, which are not available via ArduPilot's auxiliary ~~functions~~ mechanism. The advantage of using ArduPilot's auxiliary functions can be that it's more ArduPilot-ish, and that you can trigger them through e.g. MissionPlanner.}}		{{COMMENT\|The same functionality can also be achieved using the STorM32 [[Inputs_and_Functions\|functions]] in combination with the [[#Virtual_Channel_Configuration\|virtual channels]] feature. This approach is in fact more STorM32-ish, and offers more possibilities, like triggering scripts and more, which are not available via the ArduPilot auxiliary function mechanism. The advantage of using ArduPilot's auxiliary functions can be that it is more ArduPilot-ish, and that you can trigger them through e.g. MissionPlanner.}}

	::[[File:MissionPlannerAuxFunctionBox.jpg\|360px]]		::[[File:MissionPlannerAuxFunctionBox.jpg\|360px]]

OlliW: /* BetaPilot */

2025-06-15T12:29:59Z

BetaPilot

← Older revision		Revision as of 14:29, 15 June 2025
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	{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}		{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}

	The additions by BetaCopter/BetaPlane to the main code are minimally infectious, meaning that if not used/enabled they do not impact normal behavior. It is no problem to swap firmware between ArduCopter/ArduPlane and BetaCopter/BetaPlane, which can help sort out issues in case of doubt of the origin of an issue. The main impact of BetaCopter/BetaPlane is a slightly increased flash and RAM footprint, which can have effects on boards which are short of flash and/or RAM. That's a general problem with this kind of boards.		The additions of BetaCopter/BetaPlane to the main code are minimally infectious, meaning that if not used/enabled they do not impact normal behavior. It is no problem to swap firmware between ArduCopter/ArduPlane and BetaCopter/BetaPlane, which can help sort out issues in case of doubt of the origin of an issue. The main impact of BetaCopter/BetaPlane is a slightly increased flash and RAM footprint, which can have effects on boards which are short of flash and/or RAM. That's a general problem with this kind of boards.
	-->		-->
	{{ALERT\|Before using BetaPilot(Copter/Plane), it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}		{{ALERT\|Before using BetaPilot(Copter/Plane), it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}

OlliW at 12:29, 15 June 2025

2025-06-15T12:29:23Z

← Older revision		Revision as of 14:29, 15 June 2025
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	== BetaPilot ==		== BetaPilot ==

	BetaPilot implements ~~the latest '''''MAVLink standard''''' and in particular~~ the '''''STorM32 MAVLink2''''' mount type, which ~~make~~ the features below possible.		BetaPilot implements the '''''STorM32 MAVLink2''''' mount type, which makes the features below possible.

	In order to establish a working communication between the STorM32 controller and the flight controller, a serial connection needs to be established, and parameters in both the flight controller and the STorM32 controller need to be adjusted, as described in the subsequent chapters.		In order to establish a working communication between the STorM32 controller and the flight controller, a serial connection needs to be established, and parameters in both the flight controller and the STorM32 controller need to be adjusted, as described in the subsequent chapters.

	BetaPilot is ~~currently~~ available for copters and planes. The code additions are however such that it should be trivial to extend to other vehicles supported by ArduPilot.		BetaPilot is available for copters and planes. The code additions are however such that it should be trivial to extend to other vehicles supported by ArduPilot.
	<!--		<!--
	{{ALERT\|ArduPilot has seen quite a lot of changes in the gimbal and camera section since v4.3, which is good, but still continuing as of today. This makes it not so reasonable to continuously catch up. Accordingly, the BetaCopter/BetaPlane branches are quite out of date and not recommended for use as of today, while the BetaPilot branch is updated regularly. That is, currently, BetaPilot is the "gold standard" and should be considered.}}		{{ALERT\|ArduPilot has seen quite a lot of changes in the gimbal and camera section since v4.3, which is good, but still continuing as of today. This makes it not so reasonable to continuously catch up. Accordingly, the BetaCopter/BetaPlane branches are quite out of date and not recommended for use as of today, while the BetaPilot branch is updated regularly. That is, currently, BetaPilot is the "gold standard" and should be considered.}}
Line 38:		Line 38:

	For installing/flashing the binary follow the common instructions for installing custom firmware. In MissionPlanner, e.g., go to 'Setup -> Install Firmware -> Load custom firmware'.		For installing/flashing the binary follow the common instructions for installing custom firmware. In MissionPlanner, e.g., go to 'Setup -> Install Firmware -> Load custom firmware'.
	~~-->~~
	{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}		{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}

	The additions by BetaCopter/BetaPlane to the main code are minimally infectious, meaning that if not used/enabled they do not impact normal behavior. It is no problem to swap firmware between ArduCopter/ArduPlane and BetaCopter/BetaPlane, which can help sort out issues in case of doubt of the origin of an issue. The main impact of BetaCopter/BetaPlane is a slightly increased flash and RAM footprint, which can have effects on boards which are short of flash and/or RAM. That's a general problem with this kind of boards.		The additions by BetaCopter/BetaPlane to the main code are minimally infectious, meaning that if not used/enabled they do not impact normal behavior. It is no problem to swap firmware between ArduCopter/ArduPlane and BetaCopter/BetaPlane, which can help sort out issues in case of doubt of the origin of an issue. The main impact of BetaCopter/BetaPlane is a slightly increased flash and RAM footprint, which can have effects on boards which are short of flash and/or RAM. That's a general problem with this kind of boards.
			-->
			{{ALERT\|Before using BetaPilot(Copter/Plane), it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}

			The additions of BetaPilot to the main code are minimally infectious, meaning that if not used/enabled they do not impact normal behavior. It is no problem to swap firmware between ArduCopter/ArduPlane and BetaCopter/BetaPlane, which can help sort out issues in case of doubt of the origin of an issue. The main impact of BetaCopter/BetaPlane is a slightly increased flash and RAM footprint, which can have effects on boards which are short of flash and/or RAM. That's a general problem with this kind of boards.

	== STorM32 MAVLink2 Mount Type ==		== STorM32 MAVLink2 Mount Type ==

OlliW: /* Further Settings in BetaPilot to Consider */

2025-06-15T11:17:43Z

Further Settings in BetaPilot to Consider

← Older revision		Revision as of 13:17, 15 June 2025
Line 90:		Line 90:
	=== Further Settings in BetaPilot to Consider ===		=== Further Settings in BetaPilot to Consider ===

	Please '''''disable''''' (set to 0) '''''all SRx''''' streaming parameters for the serial port you are using for STorM32. This avoids that the STorM32 controller is bombarded with superfluous messages and helps it to achieve consistent behavior. Depending on the vehicle type and ArduPilot firmware version you may find that the streaming parameters are enabled or disabled by default. So, please check.		Please '''''disable''''' (set to 0) '''''all SRx/MAVx''''' streaming parameters for the serial port you are using for STorM32. This avoids that the STorM32 controller is bombarded with superfluous messages and helps it to achieve consistent behavior. Depending on the vehicle type and ArduPilot firmware version you may find that the streaming parameters are enabled or disabled by default. So, please check.

	The control of the gimbal depends also on the '''''mount mode''''' (see [[#Mount Mode\|Using Gimbal Protocol V2: Mount Mode]]). The mount mode at startup is determined by the ArduPilot parameter [https://ardupilot.org/copter/docs/parameters.html#mnt1-deflt-mode MNT1_DEFLT_MODE]. For unrestricted control by the Gimbal Protocol v2 messages, the setting MNT1_DEFLT_MODE = 2 should be choosen.		The control of the gimbal depends also on the '''''mount mode''''' (see [[#Mount Mode\|Using Gimbal Protocol V2: Mount Mode]]). The mount mode at startup is determined by the ArduPilot parameter [https://ardupilot.org/copter/docs/parameters.html#mnt1-deflt-mode MNT1_DEFLT_MODE]. For unrestricted control by the Gimbal Protocol v2 messages, the setting MNT1_DEFLT_MODE = 2 should be choosen.

OlliW: /* BetaPilot */

2025-06-15T11:17:07Z

BetaPilot

← Older revision		Revision as of 13:17, 15 June 2025
Line 41:		Line 41:
	{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}		{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}

	The additions by BetaCopter/BetaPlane to the main code are minimally infectious, meaning that if not used/enabled they do not impact normal behavior. It is ~~usually~~ no problem ~~at all~~ to swap ~~the~~ firmware between ArduCopter/ArduPlane and BetaCopter/BetaPlane, which can help sort out issues in case of doubt of the origin of an issue. The main impact of BetaCopter/BetaPlane is a slightly increased flash and RAM footprint, which can have effects on boards which are short of flash and/or RAM. That's a general problem with this kind of boards.		The additions by BetaCopter/BetaPlane to the main code are minimally infectious, meaning that if not used/enabled they do not impact normal behavior. It is no problem to swap firmware between ArduCopter/ArduPlane and BetaCopter/BetaPlane, which can help sort out issues in case of doubt of the origin of an issue. The main impact of BetaCopter/BetaPlane is a slightly increased flash and RAM footprint, which can have effects on boards which are short of flash and/or RAM. That's a general problem with this kind of boards.

	== STorM32 MAVLink2 Mount Type ==		== STorM32 MAVLink2 Mount Type ==

OlliW: /* BetaPilot */

2025-06-15T11:16:20Z

BetaPilot

← Older revision		Revision as of 13:16, 15 June 2025
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	* '''''BetaPlane4.3:''''' This is based on ArduPlane 4.3.4 stable, and is hence the go-to version for plane users. (see red message, do not use)		* '''''BetaPlane4.3:''''' This is based on ArduPlane 4.3.4 stable, and is hence the go-to version for plane users. (see red message, do not use)
	* '''''BetaPilot branch:''''' This is based on ArduPilot master, which is ArduPilot's development branch (= not stable). The support of the BetaPilot branch is not steady but on and off. Typically, the BetaPilot branch is progressing when required features are in master but not in the stable or beta/rc branches, but usually it tends to lack behind, possibly even by quite a bit.		* '''''BetaPilot branch:''''' This is based on ArduPilot master, which is ArduPilot's development branch (= not stable). The support of the BetaPilot branch is not steady but on and off. Typically, the BetaPilot branch is progressing when required features are in master but not in the stable or beta/rc branches, but usually it tends to lack behind, possibly even by quite a bit.
	~~-->~~
	{{COMMENT\|The label 'BetaPilot' is used in the following as shorthand for denoting the project or referring to BetaCopter or BetaPlane, and not to refer to the BetaPilot branch.}}		{{COMMENT\|The label 'BetaPilot' is used in the following as shorthand for denoting the project or referring to BetaCopter or BetaPlane, and not to refer to the BetaPilot branch.}}

Line 38:		Line 38:

	For installing/flashing the binary follow the common instructions for installing custom firmware. In MissionPlanner, e.g., go to 'Setup -> Install Firmware -> Load custom firmware'.		For installing/flashing the binary follow the common instructions for installing custom firmware. In MissionPlanner, e.g., go to 'Setup -> Install Firmware -> Load custom firmware'.
			-->
	{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}		{{ALERT\|Before using BetaCopter/BetaPlane, it is '''strongly''' recommended to first install the original ArduCopter/ArduPlane firmware and get the vehicle operating flawlessly with it. Only then install BetaCopter/BetaPlane.}}

OlliW: /* BetaPilot */

2025-06-15T11:15:48Z

BetaPilot

← Older revision		Revision as of 13:15, 15 June 2025
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	BetaPilot is currently available for copters and planes. The code additions are however such that it should be trivial to extend to other vehicles supported by ArduPilot.		BetaPilot is currently available for copters and planes. The code additions are however such that it should be trivial to extend to other vehicles supported by ArduPilot.
			<!--
	{{ALERT\|ArduPilot has seen quite a lot of changes in the gimbal and camera section since v4.3, which is good, but still continuing as of today. This makes it not so reasonable to continuously catch up. Accordingly, the BetaCopter/BetaPlane branches are quite out of date and not recommended for use as of today, while the BetaPilot branch is updated regularly. That is, currently, BetaPilot is the "gold standard" and should be considered.}}		{{ALERT\|ArduPilot has seen quite a lot of changes in the gimbal and camera section since v4.3, which is good, but still continuing as of today. This makes it not so reasonable to continuously catch up. Accordingly, the BetaCopter/BetaPlane branches are quite out of date and not recommended for use as of today, while the BetaPilot branch is updated regularly. That is, currently, BetaPilot is the "gold standard" and should be considered.}}

Line 25:		Line 25:
	* '''''BetaPlane4.3:''''' This is based on ArduPlane 4.3.4 stable, and is hence the go-to version for plane users. (see red message, do not use)		* '''''BetaPlane4.3:''''' This is based on ArduPlane 4.3.4 stable, and is hence the go-to version for plane users. (see red message, do not use)
	* '''''BetaPilot branch:''''' This is based on ArduPilot master, which is ArduPilot's development branch (= not stable). The support of the BetaPilot branch is not steady but on and off. Typically, the BetaPilot branch is progressing when required features are in master but not in the stable or beta/rc branches, but usually it tends to lack behind, possibly even by quite a bit.		* '''''BetaPilot branch:''''' This is based on ArduPilot master, which is ArduPilot's development branch (= not stable). The support of the BetaPilot branch is not steady but on and off. Typically, the BetaPilot branch is progressing when required features are in master but not in the stable or beta/rc branches, but usually it tends to lack behind, possibly even by quite a bit.
			-->
	{{COMMENT\|The label 'BetaPilot' is used in the following as shorthand for denoting the project or referring to BetaCopter or BetaPlane, and not to refer to the BetaPilot branch.}}		{{COMMENT\|The label 'BetaPilot' is used in the following as shorthand for denoting the project or referring to BetaCopter or BetaPlane, and not to refer to the BetaPilot branch.}}

← Older revision		Revision as of 10:49, 24 October 2025
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	'''''Settings in STorM32:'''''		'''''Settings in STorM32:'''''
	* {{PARAMNAME\|Mavlink Gimbal}} = {{PARAMVALUE\|Gimbal1}} or higher		* {{PARAMNAME\|Mavlink Gimbal}} = {{PARAMVALUE\|Gimbal1}} or higher
	* {{PARAMNAME\|Mavlink Gimbal Stream}} = {{PARAMVALUE\|device status}} ~~(you also can use {{PARAMVALUE\|mountstatus}} if backwards compatibility is desired, do not use {{PARAMVALUE\|manager status}})~~		* {{PARAMNAME\|Mavlink Gimbal Stream}} = {{PARAMVALUE\|device status}}
	* {{PARAMNAME\|Mavlink Uart Port}} = {{PARAMVALUE\|uart}} if the serial port UART is used (this is the default)		* {{PARAMNAME\|Mavlink Uart Port}} = {{PARAMVALUE\|uart}} if the serial port UART is used (this is the default)
	* {{PARAMNAME\|Mavlink System ID}} = {{PARAMVALUE\|0}} for auto-detection (which is the default) or system ID of autopilot		* {{PARAMNAME\|Mavlink System ID}} = {{PARAMVALUE\|0}} for auto-detection (which is the default) or system ID of autopilot