Using STorM32 with ArduPilot: Difference between revisions
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''The information on this page refers to firmware v2. | ''The information on this page refers to firmware v2.64e, and higher.'' | ||
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, and alike. | 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. | ||
If you only need the range of functionality possible with the conventional tilt & pan control, then you may not need anything of the | 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 [https://github.com/olliw42/BetaPilot BetaPilot] (BetaCopter/BetaPlane), | 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]]. | ||
<div class="toclimit- | <div class="toclimit-2">__TOC__</div> | ||
== STorM32 - ArduPilot Support == | == STorM32 - ArduPilot Support == | ||
ArduPilot offers three mount types, which can in principle be used with the STorM32 controller: | |||
* '''''SToRM32 MAVLink''''' | * '''''SToRM32 MAVLink mount''''', MNTx_TYPE = 4 | ||
* '''''SToRM32 Serial''''' | * '''''SToRM32 Serial mount''''', MNTx_TYPE = 5 (not recommended) | ||
* '''''Greemsy mount''''', MNTx_TYPE = 6 (not recommended) | |||
For further | 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]. | ||
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:''''' | |||
* {{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 | |||
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). | |||
'''''Settings in ArduPilot:''''' | |||
* MNT1_TYPE = 4 | |||
* SERIALx_PROTOCOL = 2 | |||
* SERIALx_BAUD = 115 | |||
(1) The | 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|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 [[Using_STorM32_with_BetaPilot#Virtual_Channel_Configuration|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 | Using STorM32 with BetaPilot: Testing the Connection]]. Not all suggested tests may work with native ArduPilot, but many should. | |||
Latest revision as of 19:16, 26 October 2025
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.