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| The STorM32 gimbal controller can communicate with an [http://ardupilot.org/ardupilot/index.html ArduPilot] flight controller via a serial data line. The serial communication allows for a much richer data exchange and accordingly richer set of features than possible with the traditional PWM connections. It also leads to a clean wiring. | | ''The information on this page refers to firmware v2.64e, and higher.'' |
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| Two aspects of the communication should be distinguished:
| | The STorM32 gimbal controller can communicate with an [http://ardupilot.org/ardupilot/index.html 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, CRSF, and alike. |
| * '''''Control of the gimbal:''''' The serial communication allows us to access all features of the STorM32 controller, such as those for controlling the orientation of the gimbal, triggering a camera, executing on-board scripts, and so on. It also allows the STorM32 to feed back information to the flight controller and the ground station, such as the actual camera orientation, which can be displayed e.g. by the ground station or an OSD. Advanced modes, provided by the flight controller and/or ground station, such a follow me, object tracking, and so on, also belong to that aspect.
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| * '''''Improved stabilization:''''' In addition, the serial communication can be used to transfer data from the flight controller to the STorM32, which helps it to achieve a better stabilization performance. For instance, yaw drift can be corrected or horizon shifts in high-speed turns removed. This part of the serial communication is called the [http://www.rcgroups.com/forums/showthread.php?t=2395475 STorM32-Link].
| | If you only need the range of functionality possible with the conventional tilt & pan control, then you may not need anything of the following. Some of the basic features can also be accomplished in traditional ways. Decide yourself which approach fits your needs best. :) |
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| This article is mostly concerned with the first aspect, also because STorM32-Link is not yet fully developed.
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| If you just need the range of functionality possible with the standard tilt&pan control, then you don't need anything of the below. :) | | If you want to make best use of your STorM32 gimbal and want 2020-ish capabilities, then you may want to chose [https://github.com/olliw42/BetaPilot 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]]. |
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| | <div class="toclimit-2">__TOC__</div> |
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| == STorM32 - ArduPilot Support == | | == STorM32 - ArduPilot Support == |
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| Three modes of operation are currently available:
| | ArduPilot offers three mount types, which can in principle be used with the STorM32 controller: |
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| === STorM32 Mavlink ===
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| * SERIAL_PROTOCOL = 1
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| * MOUNT_TYPE = 4
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| * STorM32 heartbeat must be activated, {{PARAMNAME|Mavlink Configuration}} = {{PARAMVALUE|emit heartbeat}} or higher
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| * available in ArduPilot and BetaCopter
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| For further details please visit [http://ardupilot.org/copter/docs/common-storm32-gimbal.html#common-storm32-gimbal| ArduPilot Docs > Copter > Optional Hardware > Camera&Gimbals > SToRM32 Gimbal Controller].
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| {{COMMENT|When the STorM32's {{PARAMNAME|Mavlink System ID}} is configured to be different from that of the autopilot, e.g. to the default value {{PARAMVALUE|71}}, when the mount works, but the gimbal point does not. Reversely, when the STorM32 is configured as component by setting its {{PARAMNAME|Mavlink System ID}} equal to that of the autopilot, usually {{PARAMVALUE|1}}, when the mount does not work, but the gimbal point does. Camera trigger works partially.}}
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| === STorM32 serial ===
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| * SERIAL_PROTOCOL = 8
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| * MOUNT_TYPE = 5 (the arducopter docu is wrong here)
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| * STorM32 heartbeat must be deactivated, {{PARAMNAME|Mavlink Configuration}} = {{PARAMVALUE|no heartbeat}}
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| * available in ArduPilot and BetaCopter
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| For further details please visit [http://ardupilot.org/copter/docs/common-storm32-gimbal.html#common-storm32-gimbal| ArduPilot Docs > Copter > Optional Hardware > Camera&Gimbals > SToRM32 Gimbal Controller].
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| === STorM32 native ===
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| * SERIAL_PROTOCOL = 83
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| * MOUNT_TYPE is irrelevant
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| * STorM32 heartbeat must be deactivated, {{PARAMNAME|Mavlink Configuration}} = {{PARAMVALUE|no heartbeat}}
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| * available only in BetaCopter
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| The remainder of this wiki page is devoted exclusively to describing the STorM32 native mode.
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| === Feature Matrix ===
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| {| class="wikitable" style="text-align: center;"
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| !Feature
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| !STorM32 Mavlink
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| !STorM32 serial
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| !STorM32 native
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| |-
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| | style="text-align:left;" | Gimbal Angle Control || style="background-color: lightgreen;"| x || style="background-color: lightgreen;"| x || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Camera Trigger || style="background-color: lightgreen;"| x || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | MAV_MOUNT_STATUS message || - || style="background-color: lightgreen;"| x || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Video on/off || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Extended Gimbal Angle Control || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | 360° Gimbal with Free Look || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | STorM32 Functions || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | STorM32 Scripts || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Transmitter Passthrough || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | STorM32-Link || - || - || style="background-color: lightgreen;"| x
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| |}
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| == BetaCopter 3.4 ==
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| I made some modification to ArduCopter 3.4 (currently AC3.4-rc2), yielding BetaCopter. However, unless the STorM32-specific features are activated by a "secret key" 83, BetaCopter will - to the best of my knowledge - behave exactly like the original code. This means that - to the best of my knowledge - there is no additional risk in using BetaCopter instead of ArduCopter.
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| For the following you need betacopter 3.4rc2 v017 and o323bgc v2.11e. You can download them here:
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| * o323bgc v2.11e: http://www.rcgroups.com/forums/showpost.php?p=35440964&postcount=8675
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| * betacopter 3.4rc2 v017: http://www.rcgroups.com/forums/showpost.php?p=35440964&postcount=8675
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| On the STorM32, the {{PARAMNAME|Mavlink Configuration}} parameter '''''must''''' be set to {{PARAMVALUE|no heartbeat}}.
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| The following settings or parameter fields are available. The features involve settings on both the BetaCopter and STorM32 side.
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| === ArduCopter: SERIALx_PROTOCOL = 83 ===
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| As serial protocol you may choose 83, which activates BetaCopter's native STorM32 protocol. SERIALx_BAUD must be set to 115. You should then notice this:
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| * All ArduCopter camera features are working. That is, whenever a certain path of actions (Mavlink, receiver, mission,...) lets ArduCopter think it wants to take a picture, the STorM32 will know and act.
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| * All ArduCopter mount features are working. Well, that's mostly exactly what you get also with the other modes of operation, e.g. when using the Mavlink connection with ArduPilot. One enhancement of the 83 mode is however that also the Mavlink MAV_MOUNT_STATUS message is emitted, so that in e.g. MissionPlaner the camera orientation can be read off. Furthermore, see the next parameters.
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| * In the Message box of MissonPlanner "STorM32 ..." messages will appear.
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| Setting SERIALx_PROTOCOL = 83 is '''''mandatory''''' for any of the STorM32-specific features to work, including all those that follow.
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| {{COMMENT|Setting MNT_TYPE is not required, in fact with the serial protocol set to 83 the MNT_TYPE parameter is ignored. This makes it easy to configure for the STorM32 native connection.}}
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| === ArduCopter: STORM Parameters === | | * '''''SToRM32 MAVLink mount''''', MNTx_TYPE = 4 |
| | * '''''SToRM32 Serial mount''''', MNTx_TYPE = 5 (not recommended) |
| | * '''''Greemsy mount''''', MNTx_TYPE = 6 (not recommended) |
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| BetaCopter introduces some new parameters, which are collected under the STORM header.
| | For further information visit [http://ardupilot.org/copter/docs/common-storm32-gimbal.html#common-storm32-gimbal| ArduPilot Docs > Copter > Optional Hardware > Camera&Gimbals > SToRM32 Gimbal Controller]. |
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| * '''STORM_ARMCHECKS''': Enables pre-arm and arm checks, 0:disabled or 1:enabled. <br> When enabled, this checks if the gimbal has been initialized, i.e. is in NORMAL state. Otherwise arming the copter is denied. In future this option will in addition allow us to extend the STorM32's initialization procedure to until the copter is ready to go, which the STorM32 gimbal controller will use to improve its calibration, and thus stabilization performance.
| | The ''SToRM32 MAVLink'' mount (MNTx_TYPE = 4) currently appears to work best with STorM32 in the sense that the main functionality works and it produces the least issues, but it is limited in its functionality. At the time of writing, it is not fully clear what works and what does not work, so the statement is that the ''SToRM32 MAVLink'' mount (MNTx_TYPE = 4) is your best guess. |
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| * '''STORM_HAS_PAN''': Allows to set the has_pan_control flag of the native STorM32 mount to 0:false or 1:true. <br> It is not totally clear to me what this flag does (for the other mounts it is set to false). From the code I speculate that when false the copter will yaw along with a yaw command to the gimbal, while when true the copter isn't affected by a yawing mount. If so, the latter would enable a free 360° panning independent on the copter as expected for 360° gimbals (see e.g. digaus' tracking work). Anyway, whatever this flag does, it will be interesting to figure it out.
| | '''''Disclaimer''': ArduPilot's gimbal support is a constant source of issues, in terms of incompatibilities with the official MAVLink standard and flaws, and the details can vary with the ArduPilot firmware version. Also the ArduPilot documentation can be out-of-date. Please understand that STorM32 cannot do anything about this, it is ArduPilot, and please also understand that the STorM32 firmware author is neither responsible for the implementation of ArduPilot's mount types nor for ArduPilot's documentation.'' |
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| * '''STORM_RC_TRGT''': Allows to modify the behavior of the native STorM32 mount in the RC Targeting mode. <br> A value of 0 sets it to the standard ArduPilot behavior, as you know it. In this setting, the camera motion is determined by the various MNT parameters. When set to 1, in contrast, the standard STorM32 behavior is obtained. Here, the camera motion is determined by the STorM32's {{PARAMNAME|Rc Input}} parameter fields. That is, the camera responds to transmitter inputs in exactly the same way as you know it for the STorM32. I guess, after having gotten used to it, most will prefer this operation mode. It is also somewhat more robust against rc failsafes.
| | == STorM32 MAVLink Mount Type (MNTx_TYPE = 4) == |
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| * '''STORM_DIS_MASK''': Bitmask to disable specific features by setting a corresponding bit. <br> It sometimes can be useful to disable a particular function. Bits 1: disable mount, 2: disable camera trigger, 4: disable transmitter passthrough.
| | These settings in STorM32 and ArduPilot need to be made. |
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| * '''STORM_FS_HOVER''': Enables BetaCopter's better radio failsafe, 0:disabled or 1:enabled. <br> For some receivers ArduPilot doesn't provide a satisfying failsafe handling, which easily leads to potentially harmful flying conditions. That's specifically so when using a Spektrum satellite. This is known for long but still not addressed; if you're using a Spektrum satellite it is recommended to enable that feature.
| | '''''Settings in STorM32:''''' |
| | * {{PARAMNAME|Mavlink Gimbal}} = {{PARAMVALUE|Gimbal1}} |
| | * {{PARAMNAME|Mavlink Gimbal Stream}} = {{PARAMVALUE|mountstatus}} |
| | * {{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 |
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| === STorM32: Virtual Channel Configuration = serial ===
| | Other MAVLink-related settings can normally be left at their default. A complete description of the parameters is provided in [[MAVLink_Communication#Parameters|MAVLink Communication: Parameters]] (please read it, just in case). |
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| The STorM32's {{PARAMNAME|Virtual Channel Configuration}} parameter can be set to {{PARAMVALUE|serial}}. This enables this feature:
| | '''''Settings in ArduPilot:''''' |
| | * MNT1_TYPE = 4 |
| | * SERIALx_PROTOCOL = 2 |
| | * SERIALx_BAUD = 115 |
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| All STorM32 [[Inputs and Functions|functions]] can be invoked by selecting a {{PARAMVALUE|Virtual-1}} - {{PARAMVALUE|Virtual-16}} input channel, as if the STorM32 would be directly connected to the receiver. This allows doing many useful things, such as activating a script or triggering video on/off from the transmitter. It however also allows doing nonsense, e.g. if the ArduCopter mount is activated and is in Rc Targeting mode, and a RC input control, e.g. {{PARAMNAME|Rc Pitch}}, is set to a virtual input channel, then the gimbal will move in funny ways since it receives the transmitter stick information from two different sides. In contrast, if the ArduCopter mount is in GPS or ROI Targeting mode, when one gets "free look", which is useful and quite cool actually. As said, all that is exactly as if the receiver would be directly connected to the STorM32 on its RC ports.
| | SERIALx can be any of the flight controller's serial ports SERIAL1, SERIAL2, and so on ('x' stands for 1, 2, ...). The default baudrate of the STorM32 serial ports is 115200 bps, SERIALx_BAUD is hence set to 115. |
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| === STorM32-Link ===
| | With these settings you should notice that: |
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| With SERIALx_PROTOCOL = 83 you should also note that in the STorM32 GUI, specifically the {{GUI|Dashboard}} and/or {{GUI|Data Display}}, the STorM32-Link field goes ON. If you want to know what the STorM32-Link is about, please see http://www.rcgroups.com/forums/showthread.php?t=2395475. In short, the STorM32-Link transmits data from the flight controller to the STorM32 controller, which allows for an improved stabilization performance such as a better horizon stability, lower yaw drift, or IMU calibration.
| | * In MissonPlanner or any other GCS, a MAVLink component named GIMBAL is present in addition. |
| | * In the STorM32 {{GUI|Dashboard}}, the MAVLINK field shows PRESENT. |
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| The main parts of the STorM32-Link functionality are actually not yet implemented in the STorM32, this will take some more time. However, as evidenced by STorM32-Link field going ON, the data exchange is established, which can be considered a crucial milestone.
| | Checking these points provides a quick indicator for whether things are working or not. For further testing, please see [[#Testing_the_Connection|Testing the Connection]]. |
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| == Testing the Serial Connection ==
| | The above settings establish the basic configuration. Some features need additional adjustment of some parameters. |
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| The serial connection can be tested in several ways. The following tests do not require that the copter build is completed, and do not require that the copter is armed.
| | === Further Settings in ArduPilot === |
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| * '''''Message box in MissonPlanner''''': In the message box several messages related to the STorM32 should appear. In particular, a message like "STorM32 v2.11e nt v1.30 F103RC" informing about the STorM32 firmware version should be visible. Also, a message "STorM32 in NORMAL mode" should occur when the gimbal has initialized.
| | Please '''''disable''''' (set to 0) '''''all SRy/MAVy''''' 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. |
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| * '''''STorM32-Link field in the STorM32 GUI''''': The {{GUI|Dashboard}} and {{GUI|Data Display}} each have a field which is related to the STorM32-Link. They should display OK or a similar positive message.
| | == Virtual Channel Configuration == |
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| * '''''Trigger Camera NOW''''': In MissionPlanner the camera can be triggered by a right-mouse-click dropdown menu in the Flight Data map. On the STorM32 side the camera trigger can be easily tested by connecting a visible-light LED (red, green, blue, not IR) to the #IR port.
| | ArduPilot does not emit the RC_CHANNELS MAVLink message by default, which could be desired for taking advantage of the STorM32's virtual channel feature. |
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| * '''''Gimbal RC Targeting''''': With the mount in RC Targeting mode (which should be the default setting), the camera can be turned with the transmitter sticks.
| | It can be activated in the flight controller by setting the SRy_RC_CHAN/MAVy_RC_CHAN parameter to a non-zero value, where 'y' refers to the stream associated to the serial port which is used for the MAVLink communication with the STorM32 controller ('y' is in general different to the 'x' in SERIALx). |
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| == Gimbal Point ==
| | For more details on the feature see [[Using_STorM32_with_BetaPilot#Virtual_Channel_Configuration|Virtual Channel Configuration]]. |
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| MissionPlanner supports what it calls a gimbal point. It is a blue point icon on the map, which indicates the estimated position at which the gimbal is looking at (see also e.g. https://github.com/ArduPilot/MissionPlanner/issues/1323). In order to activate it, the following ArduPilot parameters must be set:
| | == Testing the Connection == |
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| * MNT_STAB_ROLL = 0
| | The serial MAVLink connection can be tested in several ways. Suggestions can be found in [[Using_STorM32_with_BetaPilot#Testing_the_Connection | Using STorM32 with BetaPilot: Testing the Connection]]. Not all suggested tests may work with native ArduPilot, but many should. |
| * MNT_STAB_TILT = 1
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The information on this page refers to firmware v2.64e, 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, CRSF, 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 following. Some of the basic features can also be accomplished 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 can in principle be used with the STorM32 controller:
- SToRM32 MAVLink mount, MNTx_TYPE = 4
- SToRM32 Serial mount, MNTx_TYPE = 5 (not recommended)
- Greemsy mount, MNTx_TYPE = 6 (not recommended)
For further information visit ArduPilot Docs > Copter > Optional Hardware > Camera&Gimbals > SToRM32 Gimbal Controller.
The SToRM32 MAVLink mount (MNTx_TYPE = 4) currently appears to work best with STorM32 in the sense that the main functionality works and it produces the least issues, but it is limited in its functionality. At the time of writing, it is not fully clear what works and what does not work, so the statement is that the SToRM32 MAVLink mount (MNTx_TYPE = 4) is your best guess.
Disclaimer: ArduPilot's gimbal support is a constant source of issues, in terms of incompatibilities with the official MAVLink standard and flaws, and the details can vary with the ArduPilot firmware version. Also the ArduPilot documentation can be out-of-date. Please understand that STorM32 cannot do anything about this, it is ArduPilot, and please also understand that the STorM32 firmware author is neither responsible for the implementation of ArduPilot's mount types nor for ArduPilot's documentation.
STorM32 MAVLink Mount Type (MNTx_TYPE = 4)
These settings in STorM32 and ArduPilot need to be made.
Settings in STorM32:
- Mavlink Gimbal = “Gimbal1”
- Mavlink Gimbal Stream = “mountstatus”
- Mavlink Uart Port = “uart” if the serial port UART is used (this is the default)
- Mavlink System ID = “0” for auto-detection (which is the default) or system ID of autopilot
Other MAVLink-related settings can normally be left at their default. A complete description of the parameters is provided in MAVLink Communication: Parameters (please read it, just in case).
Settings in ArduPilot:
- MNT1_TYPE = 4
- SERIALx_PROTOCOL = 2
- SERIALx_BAUD = 115
SERIALx can be any of the flight controller's serial ports SERIAL1, SERIAL2, and so on ('x' stands for 1, 2, ...). The default baudrate of the STorM32 serial ports is 115200 bps, SERIALx_BAUD is hence set to 115.
With these settings you should notice that:
- In MissonPlanner or any other GCS, a MAVLink component named GIMBAL is present in addition.
- In the STorM32 [GUI:Dashboard], the MAVLINK field shows PRESENT.
Checking these points provides a quick indicator for whether things are working or not. For further testing, please see Testing the Connection.
The above settings establish the basic configuration. Some features need additional adjustment of some parameters.
Further Settings in ArduPilot
Please disable (set to 0) all SRy/MAVy 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.
Virtual Channel Configuration
ArduPilot does not emit the RC_CHANNELS MAVLink message by default, which could be desired for taking advantage of the STorM32's virtual channel feature.
It can be activated in the flight controller by setting the SRy_RC_CHAN/MAVy_RC_CHAN parameter to a non-zero value, where 'y' refers to the stream associated to the serial port which is used for the MAVLink communication with the STorM32 controller ('y' is in general different to the 'x' in SERIALx).
For more details on the feature see Virtual Channel Configuration.
Testing the Connection
The serial MAVLink connection can be tested in several ways. Suggestions can be found in Using STorM32 with BetaPilot: Testing the Connection. Not all suggested tests may work with native ArduPilot, but many should.