Cube Pilot

• 01. Cube Pilot

  Instruction Step:

  We recommend connecting the Gimbals’s COM2 port to one of the autopilot’s Serial/Telemetry ports like Telem2 as shown above.

  Connect with a ground station and set the following parameters:

  • MNT_TYPE to “4” for “SToRM32 MavLink”
  • SERIAL2_BAUD to “115” for 115200 bps. “SERIAL2” can be replaced with another serial port (i.e. SERIAL1) depending upon the physical connection
  • SERIAL2_PROTOCOL to 2 for “MAVLink2”
  • SR2_EXTRA1 to 10
  • SR2_POSITION to 10

  The gimbal’s maximum angles can be set using these parameters:

  • MNT_ANGMIN_ROL to -3000 to allow leaning left up to 30deg
  • MNT_ANGMAX_ROL to 3000 to allow leaning right up to 30deg
  • MNT_ANGMIN_TIL to -9000 to allow pointing 90deg down
  • MNT_ANGMAX_TIL to 3000 to allow pointing 30deg up
  • MNT_ANGMIN_PAN to -18000 to allow turning around to the left
  • MNT_ANGMAX_PAN to 18000 to allow turning around to the right

  To control the gimbal’s lean angles from a transmitter set:

  • MNT_RC_IN_TILT to 6 to control the gimbal’s tilt (aka pitch angle) with the transmitter’s Ch6 tuning knob
  • MNT_RC_IN_ROLL to some input channel number to control the gimbal’s roll angle
  • MNT_RC_IN_PAN to some input channel number to control the gimbals’ heading

  Gremsy’s instructions can be found below:

  • How to setup Gremsy gimbal with Pixhawk Cube
  • Control Gremsy Gimbal with Herelink & Cube

  Configuring the Gimbal

  The gimbal should work without any additional configuration but to improve performance you may need to adjust the gimbal’s gains to match the camera’s weight

  • Download, install and run the gTune setup application
  • Connect the gimbal to your Desktop PC using a USB cable
  • Push the “CONNECTION” button on the left side of the window, then select the COM port and press “Connect”
  • Select the “CONTROLS” tab and ensure “SYNC” is selected so the gimbal communicates with the autopilot using MAVLink
  • Select the “STIFFNESS” tab and adjust the Tilt, Roll and Pan gains so that the gimbal holds the camera in position without shaking

  Testing Controlling the Gimbal from RC

  • Disconnect the USB cable connecting your PC to the gimbal
  • Powerup the vehicle and gimbal
  • Move the transmitter’s channel 6 tuning knob to its minimum position, the camera should point straight down
  • Move the ch6 knob to maximum and the gimbal should point upwards

  Note

  The RC’s channel 6 input can be checked from Mission Planner’s Radio calibration page

  Testing ROI

  The ROI feature points the vehicle and/or camera to point at a target. This can be tested by doing the following:

  • Ensure the vehicle has GPS lock
  • If using the Mission Planner, go to the Flight Data screen and right-mouse-button-click on a point about 50m ahead of the vehicle (the orange and red lines show the vehicle’s current heading), select Point Camera Here and input an altitude of -50 (meters). The camera should point forward and then tilt down at about 45 degrees

   

  Video tutorial