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About GPS/Flight Control Integration

1. Q: How to access external GPS information to the gimbal?

Case 1: The gimbal is directly connected to the GPS module

Answer: 1) Change the baud rate of the GPS module to 115200, GPS has GGA or RMC information output under the NEMA-0183 protocol. 2) Cross connect TX and RX and sent the data to gimbal serial port.

Case 2: Open source flight control output GPS information to gimbal GPS

Answer: Connecting with GPS module the flight control will send GPS data GLOBAL_POSITION_INT ( #33 ) to the gimbal serial port through FC telem port (setting: 115200, Mavlink1);

Case 3: Need development: Send GPS data to the gimbal serial port through the serial port position analysis protocol or the M packet format in the Viewlink protocol.

2. Q: How to display external GPS information on the gimbal camera image and photo attributes / exif?

Solution 1: Set by Viewlink: Connect the gimbal to Viewlink by serial port or TCP, on Viewlink: ”Settings” -> “OSD Configuration” -> Turn onn”GPS” and “GPS Input” -> “Save”

Solution 2: Set serial commands via serial port assistant: ”AA 55 05 00 FF” (Dispaly GPS on OSD), “AA 55 07 B7 FF” (OSD save)

3. Q: Test GPS display by sending commands

Answer: Send any of below commands to verify whether the GPS information can be displayed or not.

(1) {7E 7E 44 80 00 83 37 E4 07 09 10 10 05 31 00 00 00 00 00 00 00 00 00 00 00 00 00 24 83 90 02 72 DA 44 40 7F 82 CB E7 40 DC 5E 40 00 00 48 42 C4}

(2) {7E 7E 44 80 00 83 37 E4 07 09 10 10 05 31 00 00 00 00 00 00 00 00 00 00 00 00 00 24 83 90 02 72 DA 44 C0 7F 82 CB E7 40 DC 5E C0 00 00 48 42 C4}

(3) {F9 FB E3 07 0A 0B 0C 0D 13 15 F0 6C 3C B7 FD 84 3C 62 C9 91 40 0E 3F 57 17 59 B4 F7 45 00 00 00 00 40}

(4) {55 aa dc 6d b1 07 00 00 00 00 00 00 00 00 8f ff 62 e3 23 6c 94 50 96 33 00 00 00 0d 40 1d ad 43 a2 68 bb 00 00 06 ea 00 00 00 f0 00 f0 00 00 27}

(5) {$GPRMC,023543.00,A,2308.28715,N,11322.09875,E,0.195,,240213,,,A*78}

4. Q: How to change GPS time zone?

Answer: Send serial command “AA 55 04 08 FF”, “08″ represents the East 8 zone, East is positive and West is negative. Send commands to change zone according to the location. This command adapt to the case that GPS or flight control data is connected, and cannot be used to the protocol M package. Correct time information need to be provided.

F9 FB E3 07 0A 0B 0C 00 00 15 F0 6C 3C B7 FD 84 3C 62 C9 91 40 0E 3F 57 17 59 B4 F7 45 00 00 00 00 20 (2019.10.11  12:00:00)

Note:

Set time zone protocol update:

AA 55 04 HH FF AA 55 34 MM FF  HH is signed integer, is the hour of the time zone, and MM is a minute of the time zone, also a signed integer.

For example, sett to -5:30: AA 55 04 FB FF AA 55 34 E2 FF

5. T series, not connect with GPS module, send according to location protocol or M package, can write time into exif when take photos.

Answer: Keep sending command with time/GPS input, Viewlink protocol command “55 AA DC 11 30 00 01 00 3F FC 00 00 00 00 04 D0 00 00 00 37″ to take photos with time or GPS attributes.

For example:

Send:F9 FB E3 07 0A 0B 0C 0D 13 15 F0 6C 3C B7 FD 84 3C 62 C9 91 40 0E 3F 57 17 59 B4 F7 45 00 00 00 00 40

Receive:FE FC E3 07 0A 0B 0C 0D 13 00 00 00 00 00 00 DB 0F C9 B9 6A D9 2E 40 00 00 A0 40 15 F0 6C 3C B7 FD 84 3C 62 C9 91 40 00 00 00 00 3D A3 64 88 E7 DE E5 3F A6 22 7C 04 E4 63 00 40 14 EF 62 6A E8 DE E5 3F 18 44 23 77 E4 63 00 40 F9

Expatiation:

E3 07 0A 0B:2019.10.11

0B 0C 0D:12:13:19

0E 3F 57 17:int32 0x17573F0E:39.1593742° –>39°09”33.75’

0.1593742*60=9.562452–>0.562452*60=33.74712

00 00 A0 40: float  big endian  0x40A00000–》5m

6. Q: Which models support geo-tagging (write GPS and time into photo exif)?

Answer: Z40K, Z40KT/Q40TIR/Z40TIR/Q20T and other T series gimbals.

7. Q: How to set up the open source flight control to solve the roll axis tilting problem of gimbal when fixed wing turns too fast?

Answer:

Connect the gimbal serial port to a TELEM of a open source flight control (e.g.: Pixhawk) to compensate for horizon drift during high dynamic flight.

FC TELEM port parameter settings: baud rate 115200, MAvlink1.

Set the parameters in ArduPilot:

•SERIALx_BAUD = 115

•SERIALx_PROTOCOL = 1

Where “x” is the port number. The value is 1 (Mavlink).

In addition, set the following message rates for this port:

•SRx_EXTRA1 = 10

•SRx_POSITION = 10

Note: All other SRx_xx parameters should be set to 0 to prevent unnecessary data from overloading the channel.

dtrhg (8)

8. Q: Problems encountered when using the flight control Mavlink serial port and S.bus control

Answer:

(1) Roll axis tilt: Turn off SR1_EXRA3 data

(2) Big delay: Change SRx_RC_CHAN to 20HZ

(3) No respond to FC Mavlink serial port control: The program is older than 20210429. Update.

9. Q: How to control gimbal by SBUS out of flight control?

Case 1: Pixhawk, Pixkack/ V3 FC connect to RSSI, V5 series FC connect to SBUS_out pin

Answer: BRD_SBUS_OUT  set to 1 (50hz)

SERVO_SBUS_OUT  default as 50

BRD_SAFETYENABLE  change default 1 to 0 , or turn on safety button.

Case 2: X7 series FC do not have independent SBUS_OUT interface, output SBUS signal by serial port directly

Answer: SERIAL4_PROTOCOL  set to 15

SERIAL4_OPTIONS  set to 2

After the above settings, TX pin of FC uart4 interface will output SBUS signal. Similarly, other serial port can also be set as SBUS output.

Control method:

Servo8 set as 56, the channel 6 of the RC controls the channel 8 output by FC, which is to control the channel 8 output by SBUS.

Appendix:

SONY 30x Optical Zoom Ratio&Pos

index

POS hex 0xpqrs

ZOOM Ratio

H FOV

V FOV

0

0

1.00

63.7

38.5

1

40

1.01

63.1

38.1

2

80

1.01

63.1

38.1

3

C0

1.02

62.6

37.8

4

100

1.03

62.1

37.4

5

140

1.03

62.1

37.4

6

180

1.04

61.7

37.1

7

1C0

1.05

61.2

36.8

8

200

1.05

61.2

36.8

9

240

1.06

60.7

36.5

10

280

1.07

60.2

36.1

11

2C0

1.07

60.2

36.1

12

300

1.08

59.8

35.8

13

340

1.09

59.3

35.5

14

380

1.10

58.9

35.2

15

3C0

1.10

58.9

35.2

16

400

1.11

58.4

34.9

17

440

1.12

58.0

34.6

18

480

1.13

57.6

34.3

19

4C0

1.13

57.6

34.3

20

500

1.14

57.1

34.1

21

540

1.15

56.7

33.8

22

580

1.16

56.3

33.5

23

5C0

1.16

56.3

33.5

24

600

1.17

55.9

33.2

25

640

1.18

55.5

33.0

26

680

1.19

55.1

32.7

27

6C0

1.20

54.7

32.4

28

700

1.21

54.3

32.2

29

740

1.21

54.3

32.2

30

780

1.22

53.9

31.9

31

7C0

1.23

53.6

31.7

32

800

1.24

53.2

31.4

33

840

1.25

52.8

31.2

34

880

1.26

52.5

31.0

35

8C0

1.27

52.1

30.7

36

900

1.28

51.7

30.5

37

940

1.29

51.4

30.3

38

980

1.30

51.1

30.1

39

9C0

1.31

50.7

29.8

40

A00

1.32

50.4

29.6

41

A40

1.33

50.0

29.4

42

A80

1.34

49.7

29.2

43

AC0

1.35

49.4

29.0

44

B00

1.36

49.1

28.8

45

B40

1.37

48.8

28.6

46

B80

1.38

48.4

28.4

47

BC0

1.39

48.1

28.2

48

C00

1.40

47.8

28.0

49

C40

1.41

47.5

27.8

50

C80

1.42

47.2

27.6

51

CC0

1.43

46.9

27.4

52

D00

1.44

46.6

27.3

53

D40

1.45

46.4

27.1

54

D80

1.46

46.1

26.9

55

DC0

1.48

45.5

26.5

56

E00

1.49

45.2

26.4

57

E40

1.50

45.0

26.2

58

E80

1.51

44.7

26.0

59

EC0

1.52

44.4

25.9

60

F00

1.54

43.9

25.5

61

F40

1.55

43.7

25.4

62

F80

1.56

43.4

25.2

63

FC0

1.57

43.1

25.1

64

1000

1.59

42.7

24.8

65

1040

1.60

42.4

24.6

66

1080

1.61

42.2

24.5

67

10C0

1.63

41.7

24.2

68

1100

1.64

41.5

24.0

69

1140

1.65

41.2

23.9

70

1180

1.67

40.8

23.6

71

11C0

1.68

40.6

23.5

72

1200

1.70

40.1

23.2

73

1240

1.71

39.9

23.1

74

1280

1.72

39.7

22.9

75

12C0

1.74

39.3

22.7

76

1300

1.75

39.1

22.6

77

1340

1.77

38.7

22.3

78

1380

1.79

38.3

22.1

79

13C0

1.80

38.1

21.9

80

1400

1.82

37.7

21.7

81

1440

1.83

37.5

21.6

82

1480

1.85

37.1

21.4

83

14C0

1.87

36.7

21.1

84

1500

1.88

36.5

21.0

85

1540

1.90

36.2

20.8

86

1580

1.92

35.8

20.6

87

15C0

1.94

35.5

20.4

88

1600

1.95

35.3

20.3

89

1640

1.97

35.0

20.1

90

1680

1.99

34.6

19.9

91

16C0

2.01

34.3

19.7

92

1700

2.03

34.0

19.5

93

1740

2.05

33.7

19.3

94

1780

2.07

33.4

19.1

95

17C0

2.09

33.1

19.0

96

1800

2.11

32.8

18.8

97

1840

2.13

32.5

18.6

98

1880

2.15

32.2

18.4

99

18C0

2.17

31.9

18.3

100

1900

2.19

31.6

18.1

101

1940

2.21

31.4

17.9

102

1980

2.23

31.1

17.8

103

19C0

2.26

30.7

17.5

104

1A00

2.28

30.5

17.4

105

1A40

2.30

30.2

17.2

106

1A80

2.32

29.9

17.1

107

1AC0

2.35

29.6

16.9

108

1B00

2.37

29.3

16.7

109

1B40

2.40

29.0

16.5

110

1B80

2.42

28.8

16.4

111

1BC0

2.45

28.4

16.2

112

1C00

2.47

28.2

16.1

113

1C40

2.50

27.9

15.9

114

1C80

2.53

27.6

15.7

115

1CC0

2.55

27.3

15.6

116

1D00

2.58

27.0

15.4

117

1D40

2.61

26.7

15.2

118

1D80

2.64

26.4

15.0

119

1DC0

2.66

26.3

14.9

120

1E00

2.69

26.0

14.8

121

1E40

2.72

25.7

14.6

122

1E80

2.75

25.4

14.4

123

1EC0

2.78

25.2

14.3

124

1F00

2.82

24.8

14.1

125

1F40

2.85

24.6

13.9

126

1F80

2.88

24.3

13.8

127

1FC0

2.91

24.1

13.7

128

2000

2.95

23.7

13.5

129

2040

2.98

23.5

13.3

130

2080

3.02

23.2

13.2

131

20C0

3.05

23.0

13.0

132

2100

3.09

22.7

12.9

133

2140

3.12

22.5

12.7

134

2180

3.16

22.2

12.6

135

21C0

3.20

21.9

12.4

136

2200

3.24

21.7

12.3

137

2240

3.28

21.4

12.1

138

2280

3.32

21.2

12.0

139

22C0

3.36

20.9

11.8

140

2300

3.40

20.7

11.7

141

2340

3.44

20.4

11.6

142

2380

3.49

20.1

11.4

143

23C0

3.53

19.9

11.3

144

2400

3.57

19.7

11.1

145

2440

3.62

19.4

11.0

146

2480

3.67

19.2

10.8

147

24C0

3.71

19.0

10.7

148

2500

3.76

18.7

10.6

149

2540

3.81

18.5

10.4

150

2580

3.86

18.2

10.3

151

25C0

3.91

18.0

10.2

152

2600

3.97

17.7

10.0

153

2640

4.02

17.5

9.9

154

2680

4.07

17.3

9.8

155

26C0

4.13

17.1

9.6

156

2700

4.19

16.8

9.5

157

2740

4.24

16.6

9.4

158

2780

4.30

16.4

9.3

159

27C0

4.36

16.2

9.1

160

2800

4.43

15.9

9.0

161

2840

4.49

15.7

8.9

162

2880

4.55

15.5

8.7

163

28C0

4.62

15.3

8.6

164

2900

4.68

15.1

8.5

165

2940

4.75

14.9

8.4

166

2980

4.82

14.6

8.3

167

29C0

4.89

14.4

8.1

168

2A00

4.97

14.2

8.0

169

2A40

5.04

14.0

7.9

170

2A80

5.12

13.8

7.8

171

2AC0

5.19

13.6

7.7

172

2B00

5.27

13.4

7.5

173

2B40

5.35

13.2

7.4

174

2B80

5.44

13.0

7.3

175

2BC0

5.52

12.8

7.2

176

2C00

5.61

12.6

7.1

177

2C40

5.69

12.4

7.0

178

2C80

5.78

12.2

6.9

179

2CC0

5.88

12.0

6.8

180

2D00

5.97

11.8

6.7

181

2D40

6.07

11.6

6.5

182

2D80

6.17

11.4

6.4

183

2DC0

6.27

11.3

6.3

184

2E00

6.37

11.1

6.2

185

2E40

6.47

10.9

6.1

186

2E80

6.58

10.7

6.0

187

2EC0

6.69

10.6

5.9

188

2F00

6.80

10.4

5.8

189

2F40

6.92

10.2

5.7

190

2F80

7.03

10.0

5.7

191

2FC0

7.15

9.9

5.6

192

3000

7.28

9.7

5.5

193

3040

7.40

9.5

5.4

194

3080

7.53

9.4

5.3

195

30C0

7.66

9.2

5.2

196

3100

7.79

9.1

5.1

197

3140

7.93

8.9

5.0

198

3180

8.07

8.7

4.9

199

31C0

8.21

8.6

4.8

200

3200

8.35

8.4

4.8

201

3240

8.50

8.3

4.7

202

3280

8.65

8.2

4.6

203

32C0

8.81

8.0

4.5

204

3300

8.97

7.9

4.4

205

3340

9.13

7.7

4.3

206

3380

9.29

7.6

4.3

207

33C0

9.46

7.5

4.2

208

3400

9.63

7.3

4.1

209

3440

9.80

7.2

4.0

210

3480

9.98

7.1

4.0

211

34C0

10.16

6.9

3.9

212

3500

10.35

6.8

3.8

213

3540

10.54

6.7

3.8

214

3580

10.73

6.6

3.7

215

35C0

10.93

6.4

3.6

216

3600

11.13

6.3

3.6

217

3640

11.33

6.2

3.5

218

3680

11.54

6.1

3.4

219

36C0

11.75

6.0

3.4

220

3700

11.97

5.9

3.3

221

3740

12.19

5.8

3.2

222

3780

12.41

5.7

3.2

223

37C0

12.64

5.6

3.1

224

3800

12.88

5.5

3.1

225

3840

13.12

5.4

3.0

226

3880

13.36

5.3

3.0

227

38C0

13.61

5.2

2.9

228

3900

13.87

5.1

2.8

229

3940

14.13

5.0

2.8

230

3980

14.40

4.9

2.7

231

39C0

14.67

4.8

2.7

232

3A00

14.95

4.7

2.6

233

3A40

15.24

4.6

2.6

234

3A80

15.54

4.5

2.5

235

3AC0

15.85

4.4

2.5

236

3B00

16.17

4.3

2.4

237

3B40

16.50

4.2

2.4

238

3B80

16.84

4.2

2.3

239

3BC0

17.20

4.1

2.3

240

3C00

17.57

4.0

2.2

241

3C40

17.96

3.9

2.2

242

3C80

18.36

3.8

2.1

243

3CC0

18.79

3.7

2.1

244

3D00

19.25

3.6

2.0

245

3D40

19.73

3.5

2.0

246

3D80

20.25

3.4

1.9

247

3DC0

20.81

3.3

1.9

248

3E00

21.41

3.3

1.8

249

3E40

22.07

3.2

1.8

250

3E80

22.80

3.1

1.7

251

3EC0

23.60

2.9

1.7

252

3F00

24.51

2.8

1.6

253

3F40

25.55

2.7

1.5

254

3F80

26.76

2.6

1.5

255

3FC0

28.21

2.5

1.4

256

4000

30.00

2.3

1.3