VOXL2 Gremsy Integration

How to integrate the gremsy with the VOXL2 on our setup

Ardupilot Params to Set

• MNT1_TYPE to “6” for “Gremsy” and reboot the autopilot

• 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”

• SERIAL2_OPTIONS to 1024 for “Don’t forward mavlink to/from”

Source: https://ardupilot.org/copter/docs/common-gremsy-pixyu-gimbal.html

How to test

1. Connect to your drone on QGroundControl

2. Plug in a joystick (if you are using a controller that already serves as a joystick, plugging in a joystick is not necessary)

3. Go to vehicle settings -> joystick

4. Map joystick buttons to gimbal movements.

5. Try moving the gimbal by pressing the buttons