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| ''The information on this page refers to firmware v2.52 and BetaPilot 4.0 v0.48, and higher.'' | | ''The information on this page refers to firmware v2.64e, and higher.'' |
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| The STorM32 gimbal controller can communicate with an [http://ardupilot.org/ardupilot/index.html ArduPilot] flight controller via a serial UART data line. The serial communication allows for a much richer data transmission and accordingly richer set of features than possible with the traditional PWM connections. Examples are advanced control functions, the [[STorM32-Link]] or the [[NT Camera]] features. It also can lead to a much cleaner wiring. | | 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. |
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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 following, and you may stop reading. Some of the more basic features discussed below can also be accomplished by workarounds. Decide yourself which approach fits your needs best. :) | | 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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| <div class="toclimit-3">__TOC__</div> | | 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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| ArduPilot offers two mount types, which can be used with the STorM32 controller, the '''''SToRM32 MAVLink''''' (MNT_TYPE = 4) and '''''SToRM32 Serial''''' (MNT_TYPE = 5) mounts. 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]. | | ArduPilot offers three mount types, which can in principle be used with the STorM32 controller: |
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| {{COMMENT|Unfortunately, ArduPilot's gimbal support is partially flawed. That is, many features you will find to work great, but some you will find to not work well. STorM32 can't do anything about it, it's ArduPilot. Please also note that the STorM32 firmware author is not responsible for the implementation of ArduPilot's mount types.}}
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| The '''''BetaPilot''''' fork of ArduPilot additionally offers the '''''STorM32 MAVLink2''''' (MNT_TYPE = 83) mount type, which provides the best range of functions.
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| A comparison of the different techniques to connect the STorM32 controller with the flight controller is given in the following feature matrix:
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| === Feature Matrix ===
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| (to the best of the authors knowledge)
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| {| class="wikitable" style="text-align: center;"
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| !Feature
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| !PWM
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| !SToRM32 MAVLink
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| !SToRM32 Serial
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| !BetaPilot /<br> STorM32 MAVLink2
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| |-
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| | style="text-align:left;" | Gimbal Angle Control || style="background-color: lightgreen;"| x || style="background-color: #d2f8d2;"| x <sup>(?)</sup> || style="background-color: lightgreen;"| x || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | MOUNT_STATUS message || - || style="background-color: #d2f8d2;"| x <sup>(1)</sup> || style="background-color: #d2f8d2;"| x <sup>(2)</sup> || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | ATTITUDE message || - || - || - || 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 || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Gimbal Point in MP || - || style="background-color: lightgreen;"| x || style="background-color: #d2f8d2;"| x <sup>(2)</sup> || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Solo Smart Shots || style="background-color: #d2f8d2;"| x <sup>(3)|| - || - || style="background-color: #d2f8d2;"| x <sup>(3)</sup>
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| |-
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| | style="text-align:left;" | Camera Manager in QGC || - || style="background-color: #d2f8d2;"| x <sup>(4)</sup> || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | MAVLink Parameters || - || style="background-color: lightgreen;"| x || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Video Control in Missions || - || style="background-color: lightgreen;"| x || - || 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;" | STorM32-Link: Horizon Drift Comp. || - || - || - || style="background-color: lightgreen;"| x <sup></sup>
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| |-
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| | style="text-align:left;" | STorM32-Link: Yaw Drift Comp. || - || - || - || style="background-color: lightgreen;"| x <sup></sup>
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| |-
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| | style="text-align:left;" | MAVLink Passthrough Configuration || - || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | MAVLink Camera Micro Service || - || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | MAVLink Advanced Features || - || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | STorM32 Gimbal Protocol v2 || - || - || - || style="background-color: lightgreen;"| x
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| |-
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| | style="text-align:left;" | Prearm Checks || - || - || - || style="background-color: lightgreen;"| x
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| |}
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| (?) Many but not all features work in the latest ArduPilot releases. Please check with the ArduPilot community.
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| (1) The message reports the last set point, not the actual gimbal/camera orientation.
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| (2) Works only for deprecated v0.9x firmwares.
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| (3) Only up to ArduCopter 3.6. ArduCopter 4.0 has introduced two bugs which the STorM32 controller cannot work around.
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| (4) Only basic features.
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| {{COMMENT|Note that some of the listed features only need BetaPilot but do not require that also the STorM32 MAVLink2 mount (MNT_TYPE 83) is enabled; this is so since they are standard MAVLink.}}
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| == BetaPilot == | | * '''''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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| BetaPilot, which includes BetaCopter and BetaPlane, is a fork of ArduPilot, with modifications which are largely directed at the STorM32 gimbal controller. If you want to make best use of your STorM32 gimbal and want 2020-ish capabilities, then you definitely want to chose BetaPilot (BetaCopter/BetaPlane). :)
| | 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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| In order to establish a working communication between the STorM32 controller and the flight controller, parameters in both the flight controller and the STorM32 controller need to be adjusted, as described in the following.
| | 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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| The BetaPilot fork implements the latest MAVLink standard as well as the '''''STorM32 MAVLink2''''' mount type (MNT_TYPE = 83), which make the following features possible.
| | '''''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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| {{COMMENT|Before using BetaPilot (BetaCopter/BetaPlane) it is '''strongly''' recommended to first install the original ArduPilot firmware and get the vehicle operating flawlessly with it, and only then to install BetaPilot.}}
| | == STorM32 MAVLink Mount Type (MNTx_TYPE = 4) == |
| <!--The latest versions of BetaCopter and the STorM32 firmware can be downloaded from here: [[Downloads]].-->
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| === STorM32 MAVLink2 ===
| | These settings in STorM32 and ArduPilot need to be made. |
| ----
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| The STorM32 controller needs to be connected via one of its UART ports to one of the UART ports on the flight controller, and these settings be made:
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| '''''Settings in STorM32:''''' | | '''''Settings in STorM32:''''' |
| * {{PARAMNAME|Mavlink Gimbal}} = {{PARAMVALUE|Gimbal1}} or higher | | * {{PARAMNAME|Mavlink Gimbal}} = {{PARAMVALUE|Gimbal1}} |
| * {{PARAMNAME|Mavlink Gimbal Stream}} = {{PARAMVALUE|attitude status}} or higher | | * {{PARAMNAME|Mavlink Gimbal Stream}} = {{PARAMVALUE|mountstatus}} |
| * {{PARAMNAME|Mavlink Uart Port}} = {{PARAMVALUE|uart}} if the UART port 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 |
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| The other settings can normally be left at their default. The STorM32 controller needs to be rebooted when you change the UART port. A complete description of the configuration parameters is provided in the article [[MAVLink Communication]].
| | 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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| '''''Settings in BetaPilot:''''' | | '''''Settings in ArduPilot:''''' |
| * MNT_TYPE = 83 | | * MNT1_TYPE = 4 |
| * SERIALx_PROTOCOL = 2 | | * SERIALx_PROTOCOL = 2 |
| * SERIALx_BAUD = 115 | | * SERIALx_BAUD = 115 |
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| SERIALx can be any of the available serial ports SERIAL1, SERIAL2, and so on. This enables the '''''STorM32 MAVLink2''''' mount. The flight controller must be rebooted for the changes to become effective. | | 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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| With these settings you should notice:
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| * In MissonPlanner or any other GCS, a additional MAVLink component named GIMBAL will be present.
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| * In the STorM32 {{GUI|Dashboard}}, the MAVLINK field will show PRESENT.
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| * In the STorM32{{GUI|Dashboard}}, the STorM32-Link field will show PRESENT or a similarly positive message.
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| This provides some quick indicators for whether things are working or not.
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| {{COMMENT|The default baudrate for the STorM32 serial ports is 115200 bps, hence in ArduPilot SERIALx_BAUD has to be set to 115. However, other baudrates can be configured; e.g., for 230400 bps one sets the STorM32 parameter {{PARAMNAME|Uart Baudrate}} to {{PARAMVALUE|230400}} and the ArduPilot parameter SERIALx_BAUD to 230.}}
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| ==== STorM32 via UAVCAN ====
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| ----
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| The STorM32 controller can also be connected via CAN bus to the ArduPilot flight controller (see [[CAN_Bus_Communication#UAVCAN|UAVCAN]]).
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| {{#ev:youtube|Sw24wAIoemA|360}}
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| === STorM32-Link ===
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| ----
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| Requires BetaPilot (BetaCopter/BetaPlane), and these settings:
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| '''''Settings in STorM32:'''''
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| * {{PARAMNAME|STorM32Link Configuration}} = {{PARAMVALUE|v1}}
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| With MNT_TYPE = 83, the flight controller also sends out the STorM32-Link data to the STorM32 gimbal, but the data are used by the STorM32 controller only when {{PARAMNAME|STorM32Link Configuration}} = {{PARAMVALUE|v1}} is also set.
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| {{COMMENT|This setting does not affect the message shown in the {{GUI|Dashboard}} STorM32-Link field! The message shown there, such as 'not available', PRESENT, INUSE, OK, reflects the incoming data stream, not its usage.}}
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| {{#ev:youtube|z03PkDf0R-0|360}}
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| === Virtual Channel Configuration ===
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| ----
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| '''''Settings in STorM32:'''''
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| * {{PARAMNAME|Virtual Channel Configuration}} = {{PARAMVALUE|serial}}
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| With this setting, all STorM32 [[Inputs and Functions|functions]] can be invoked by selecting any of the {{PARAMVALUE|Virtual-1}} - {{PARAMVALUE|Virtual-16}} input channels, exactly as one would do it if the STorM32 controller would be directly connected to a receiver.
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| This allows us to do many useful things, such as activating a script or triggering video on/off from the transmitter. It however also allows us to do nonsense, and it is in the user's responsibility to avoid that. For instance, if ArduPilot is in Rc Targeting mode, and e.g. {{PARAMNAME|Rc Pitch Control}} is set to a virtual input channel, then the gimbal may move in funny ways since it may receive the transmitter stick information from both ArduPilot and the receiver. On the other hand, if ArduPilot is in GPS or ROI Targeting mode, then one gets "free look", which is useful and quite cool actually. As said, all this is exactly as if the receiver would be directly connected to the STorM32 controller on its RC ports.
| | With these settings you should notice that: |
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| === Passthrough Configuration ===
| | * 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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| This feature allows you to connect the STorM32 GUI to the USB or any (MAVLink enabled) serial port of the flight controller, and to directly communicate with the STorM32 gimbal.
| | 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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| This is extremely convenient for configuring STorM32 gimbals when they are e.g. installed permanently in the vehicle. This also works via a wireless telemetry link, and thus opens the option of e.g. tuning the gimbal during flight, and further unheard of possibilities for controlling the gimbal during flight.
| | The above settings establish the basic configuration. Some features need additional adjustment of some parameters. |
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| This preliminary demo video demonstrates the pass-through feature:
| | === Further Settings in ArduPilot === |
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| {|
| | 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. |
| |width=370|{{#ev:youtube|FRyZ7VZ5lvY|360}}
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| |}
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| === Prearm Checks === | | == Virtual Channel Configuration == |
| ----
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| The STorM32 controller supports a rich set of prearm checks. The status of the prearm check is passed on to the ArduPilot flight controller, and lets it handle it exactly like any other prearm check. For instance, in a GCS it will display a message "PreArm: Mount prearm checks failed" in intervals of 30 seconds.
| | 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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| This provides a simple and quick check that the STorM32 gimbal is working as intended.
| | 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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| :[[File:Storm32-prearm.jpg|480px]]
| | For more details on the feature see [[Using_STorM32_with_BetaPilot#Virtual_Channel_Configuration|Virtual Channel Configuration]]. |
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| == Testing the Connection == | | == Testing the Connection == |
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| The serial MAVLink connection can be tested in several ways. The following tests do not require that the vehicle is completely built and/or set up, and do not require that the vehicle is armed. | | 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. |
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| * '''''MAVLINK field in the STorM32 GUI''''': The {{GUI|Dashboard}} has a field named MAVLINK. It should display PRESENT.
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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 PRESENT, AVAILABLE or OK.
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| * '''''MissonPlanner or QGroundControl''''': An additional MAVLink component named GIMBAL should be present.
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| * '''''Message box in MissonPlanner''''': With the GIMBAL component selected, in the message box several text messages related to the STorM32 gimbal should appear. In particular, a message like "STorM32 v2.40 nt v1.30 F103RC" informing about the STorM32 firmware version should be visible.
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| * '''''Gimbal RC Targeting''''': With ArduPilot in RC Targeting mode (which should be the default mode), the gimbal can be moved with the transmitter sticks. <!--* '''''Trigger Camera NOW''''': In MissionPlanner or QGroundControl the camera can be triggered. On v1.3 STorM32 boards the camera trigger can be tested by e.g. connecting a visible-light LED (red, green, blue, not IR) to the #IR port.-->
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| == Gimbal Point ==
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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:
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| '''''Settings in ArduPilot:'''''
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| * MNT_STAB_ROLL = 0
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| * 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.