The gimbal and the device providing the control signal must share a common ground.
GM Series gimbals support both S.BUS and CRSF bus control. The S.BUS or CRSF signal wire from the receiver can be connected to both the flight controller and the gimbal.
When using either protocol, ensure that the gimbal and the signal source, typically the receiver, share a common ground to maintain reliable signal transmission.
PWM1–PWM4 are assigned to Gimbal Mode, Follow Sensitivity, Pitch Control, and Yaw Control, respectively.
The PWM control signal uses a fixed frequency of 50 Hz / 20 ms, a pulse width of 1000–2000 μs, and a signal voltage of 3.3 V.
Roll control is unavailable when using PWM control. Use another control protocol if Roll control is required.
Connect UART_Rx and UART_Tx on the power/communication connector to the Tx and Rx pins of an available UART on the flight controller, respectively. Five channels are required to control Gimbal Mode, Follow Sensitivity, Roll, Pitch, and Yaw.
Channel mapping can be configured using GimbalConfig.
MAVLink gimbal control currently supports only ArduPilot and PX4 firmware.
| SERIAL1 | |
| SERIAL1_BAUD | 115 |
| SERIAL1_OPTIONS | 1024 |
| SERIAL1_PROTOCOL | 2 |
| SR1 | |
| SR1_ADSB | 0 Hz |
| SR1_EXIT_STAT | 0 Hz |
| SR1_EXTRA1 | 0 Hz |
| SR1_EXTRA2 | 0 Hz |
| SR1_EXTRA3 | 0 Hz |
| SR1_PARAMS | 0 Hz |
| SR1_POSITION | 0 Hz |
| SR1_RAW_CTRL | 0 Hz |
| SR1_RAW_SENS | 0 Hz |
| SR1_RC_CHAN | 0 Hz |
The UART number can be changed according to your actual flight controller configuration.
| MAVLink | |
| MAV_1_CONFIG | TELEM2 |
| MAV_1_MODE | Custom / Gimbal |
| MAV_1_RATE | 115200 B/s |
| Serial | |
| SER_TEL2_BAUD | 115200 8N1 |
Setting
MAV_1_MODEtoCustomis recommended.
MSP control is provided by INAV flight controller firmware and allows the gimbal to be controlled by both RC input and head-tracking input.
The flight controller is connected inline between the gimbal and the Avatar HD air unit. It can switch the gimbal control source between RC commands and head-tracking commands.
Currently, INAV is the only known supports gimbal control using this protocol.
INAV firmware V8.0 or later is required.