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| ''The information on this page refers to firmware v2.48e and BetaPilot 4.0 v0.40, 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 here. Also, some of the features discussed below can 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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| == STorM32 - ArduPilot Support ==
| | 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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| 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].
| | <div class="toclimit-2">__TOC__</div> |
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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 mounts.}}
| | == STorM32 - ArduPilot Support == |
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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.
| | ArduPilot offers three mount types, which can in principle be used with the STorM32 controller: |
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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.
| | * '''''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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| === Feature Matrix ===
| | 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]. |
| (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;" | Solo Smart Shots || 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: #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;" | 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;" | Camera Manager in QGC || - || style="background-color: #d2f8d2;"| x <sup>(3)</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 on/off || - || - || - || 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>(4)</sup>
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| |-
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| | style="text-align:left;" | STorM32-Link: Yaw Drift Comp. || - || - || - || style="background-color: lightgreen;"| x <sup>(4)</sup>
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| |-
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| | style="text-align:left;" | 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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| (?) Most but not all features work well in the latest ArduPilot releases. Please check with the ArduPilot community. | | 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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| (1) The message reports the last set point, not the actual gimbal/camera orientation.
| | '''''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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| (2) Works only for deprecated v0.xx firmwares. | | == STorM32 MAVLink Mount Type (MNTx_TYPE = 4) == |
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| (3) Only elementary features work.
| | These settings in STorM32 and ArduPilot need to be made. |
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| (4) Works only for T-STorM32 gimbals. | | '''''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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| == BetaPilot ==
| | 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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| Some modifications to the ArduPilot firmware were made and the result called BetaPilot. If you want to make best use of your STorM32 gimbal and want 2019-ish capabilities then you definitely want to chose BetaPilot. :)
| | '''''Settings in ArduPilot:''''' |
| | | * MNT1_TYPE = 4 |
| {{COMMENT|Before using BetaPilot it is '''strongly''' recommended to first install the original ArduPilot firmware and get the vehicle operating flawlessly with it, and only then install BetaPilot.}}
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| <!--The latest versions of BetaCopter and the STorM32 firmware can be downloaded from here: [[Downloads]].-->
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| In order to establish a working communication between the STorM32 controller and the flight controller, parameters in both BetaPilot and STorM32 need to be adjusted, as described in the following.
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| The BetaCopter fork implements the '''''STorM32 MAVLink2''''' mount type, which handles '''''all''''' of the following features. If the STorM32 MAVLink2 mount is not activated, then the BetaPilot firmware will behave exactly like the original ArduPilot firmware, with no side effects.
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| === STorM32 MAVLink2 ===
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| ----
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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 BetaPilot:'''''
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| * MNT_TYPE = 83 | |
| * SERIALx_PROTOCOL = 2 | | * SERIALx_PROTOCOL = 2 |
| * SERIALx_BAUD = 115 | | * SERIALx_BAUD = 115 |
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| '''''Settings in STorM32:''''' | | 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. |
| * {{PARAMNAME|Mavlink Gimbal}} = {{PARAMVALUE|Gimbal1}} or higher
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| * {{PARAMNAME|Mavlink Gimbal Stream}} = {{PARAMVALUE|attitude}} or higher
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| * {{PARAMNAME|Mavlink Uart Port}} = {{PARAMVALUE|uart}} if the UART port is used (is default)
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| The other settings can normally be left at their default (a complete description of the configuration parameters is provided in the article [[MAVLink Communication]]);
| | With these settings you should notice that: |
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| With the mount activated, you should notice:
| | * 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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| * In MissonPlanner or any other ground control station an additional MAVLink component named GIMBAL will be present.
| | 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]]. |
| * In the STorM32 {{GUI|Dashboard}}, the MAVLINK field will show PRESENT.
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| * In the STorM32{{GUI|Dashboard}}, the STorM32-Link, providing horizon drift and yaw drift compensation, and additional features, is present.
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| {{COMMENT|The default baudrate of 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.}}
| | The above settings establish the basic configuration. Some features need additional adjustment of some parameters. |
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| === STorM32 via UAVCAN === | | === Further Settings in ArduPilot === |
| ----
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| The STorM32 can also be connected via CAN bus to the ArduPilot flight controller. This option is not further discussed here (details of STorM32's UAVCAN support are described in [[UAVCAN]]).
| | 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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| {{#ev:youtube|Sw24wAIoemA|360}}
| | == Virtual Channel Configuration == |
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| === STorM32-Link ===
| | 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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| '''''Settings in STorM32:''''' | | 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). |
| * {{PARAMNAME|STorM32Link Configuration}} = {{PARAMVALUE|v1}}
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| With the setting MNT_TYPE = 83 also the STorM32-Link is activated (for details see [[STorM32-Link]]). That is, in addition to the 'conventional' data also the data required for the functioning of the STorM32-Link are emitted by the flight controller. The setting {{PARAMNAME|STorM32Link Configuration}} = {{PARAMVALUE|v1}} makes the STorM32 using them. In the STorM32 GUI, specifically the {{GUI|Dashboard}} and/or the {{GUI|Data Display}}, you should note that the STorM32-Link field goes to INUSE and OK.
| | For more details on the feature see [[Using_STorM32_with_BetaPilot#Virtual_Channel_Configuration|Virtual Channel Configuration]]. |
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| {{COMMENT|If only the 'conventional' data but not the STorM32-Link data are received by the STorM32 controller, then an ISPRESENT and/or OK will be displayed to indicate that a working link has been established between STorM32 and BetaCopter, and that the 'conventional' control functions are all working. The INUSE flag will not appear, which indicates that the STorM32-Link, i.e., the horizon and yaw drift compensation feature, is not active.}}
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| {{COMMENT|The STorM32-Link is available only for T-STorM32 gimbals, but not for conventional STorM32 NT gimbals.}}
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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.
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| === Passthrough Configuration ===
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| ----
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| This feature allows you to connect the STorM32 GUI to the USB or any serial (MAVLink enabled) port of the flight controller, and to directly communicate with the STorM32 gimbal.
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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.
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| This preliminary demo video demonstrates the pass-through feature:
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| {|
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| |width=370|{{#ev:youtube|FRyZ7VZ5lvY|360}}
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| |}
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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}} haa a field named NAMVLINK. 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 OK, PRESENT or a similar positive message.
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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 should appear. In particular, a message like "STorM32 v2.40 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 finished initialization and entered NORMAL mode.-_>
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| * '''''Trigger Camera NOW''''': In MissionPlanner or QGroundControl the camera can be triggered. 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.
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| * '''''Gimbal RC Targeting''''': With ArduPilot in RC Targeting mode (which should be the default setting), the camera can be moved with the transmitter sticks.
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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.