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TAG-E

17 articles

Basics

Last Updated: August 5, 2025

First power-up Warning!​ TAG-E accepts input voltage of 5V ONLY! Higher voltage can harm the device and also connected camera via USB! Use our uBEC if voltage is higher! All GNDs are interconnected! All input and output pins of 5V and Ground are interconnected. Input power is interconnected to IO A/B/C, PPS, USB. Make sure...

Pinouts

Last Updated: October 2, 2025

TAG-E pinout description All GNDs are interconnected! All input and output pins of 5V and Ground are interconnected. Input power is interconnected to IO A/B/C, PPS, USB. Make sure that external device can handle 5V input, or does not output higher voltage to TAG-E. If you are not sure, contact us at info@airpixel.cz or disconnect...

Mavlink connection – Ardupilot

Last Updated: October 12, 2026

MavLink basics By default TAG-E uses MAV_COMP_ID_CAMERA For highest geotagging accuracy TAG-E needs: Working TIMESYNC protocol Receive SYSTEM_TIME packets at 1Hz Receive GPS_RAW_INT (freq. depends on configuration) Receive GLOBAL_POSITION_INT (freq. depends on configuration) Receive ATTITUDE packets at 10Hz Messages are also automatically requested by command long SET_MESSAGE_INTERVAL If SET_MESSAGE_INTERVAL protocol is supported by your FC...

Mavlink connection – PX4

Last Updated: October 12, 2026

MavLink basics By default TAG-E uses MAV_COMP_ID_CAMERA For highest geotagging accuracy TAG-E needs: Working TIMESYNC protocol Receive SYSTEM_TIME packets at 1Hz Receive GPS_RAW_INT (freq. depends on configuration) Receive GLOBAL_POSITION_INT (freq. depends on configuration) Receive ATTITUDE packets at 10Hz Messages are also automatically requested by command long SET_MESSAGE_INTERVAL If SET_MESSAGE_INTERVAL protocol is supported by your FC...

GPS delay calculation

Last Updated: August 7, 2025

Impact of GPS delay to geotagging GPS or RTK system provides data via serial bus, which delays the position data for some very short time. When GPS or RTK is connected to flightcontroller, and than forwarded to TAG-E or ENTIRE, there is another delay of transmission. Both TAG-E and ENTIRE calculates automatically offset of this...

GPS to Camera offsets configuration

Last Updated: October 12, 2026

1. How it works The camera is not at the GPS antenna – it hangs below it and usually in front of it. TAG-E starts from the antenna position and adds the two sets of offsets, so every photo gets the position of the camera. The first set follows the aircraft, the second one follows...

Camera connection (direct)

Last Updated: October 12, 2026

Power connection How to connect power input to the TAG-E is described on separate page. Mavlink connection Connection to flight controller and all configuration is described on separate page. Direct connection of Sony ILX-LR1 This manual is about TAG-E connection and installation for direct connection (no gimbal) to Sony ILX-LR1 camera with cables included with...

Pixy-LR set connection for PX4

Last Updated: October 12, 2026

About this usage scenario This manual is about TAG-E connection and installation for connection to Gremsy Pixy LR gimbal and Sony ILX-LR1 camera. For this installation you need PixyLR connection set from our store.Our wiring set for Pixy-LR uses Mavlink forwarding of the gimbal. That means, the TAG-E shares the same TELEM port as the...

Pixy-LR set connection for Ardupilot

Last Updated: October 12, 2026

PX4 users This page is dedicated for Ardupilot. For PX4 firmware please follow this link. About this usage scenario This manual is about TAG-E connection and installation for connection to Gremsy Pixy LR gimbal and Sony ILX-LR1 camera. For this installation you need PixyLR connection set from our store.Our wiring set for Pixy-LR uses Mavlink...

Gremsy T3 | S1 | T7 installation for TAG-E

Last Updated: October 12, 2026

PX4 users This page is dedicated for Ardupilot. For PX4 firmware please follow this link. About this usage scenario This manual is about TAG-E connection and installation for connection to Gremsy T3v3 | S1v3 | T7 gimbal and Sony ILX-LR1 camera. For this installation you need Gremsy T3v3 | S1v3 | T7 connection set from...

Parameter description

Last Updated: October 12, 2026

How to access configuration QGC Open QGC and wait for vehicle connection Open Vehicle Setup page Expand “Component 100” in the list If you do not see “Component 100”, your Mavlink connection between TAG-E and the Cube is not configured properly. Follow this manual to proceed. SD card parameter configuration TAG-E (with latest wirmware) supports...

Firmware update

Last Updated: October 4, 2026

Download update pack FW:0.204 – (4.10.2026) New feature – geotagging of AGL altitude via XMP (xmp.Camera.AboveGroundAltitude) together with EXIF.GPSAltitude Correction – MF control via Mavlink commanding Tag E 0 204 ✎ FW:0.200 – (13.9.2026) New support for remote control of “zoom” button on the camera back via Mavlink command param1=127 New feature – geotagging of...

MissionPlanner camera control plugin

Last Updated: May 25, 2025

Installation 1.    Download our Mission Planner plugin here2.    Unzip and copy all files to Mission Planner plugins path:     – “C:Program Files (x86)Mission Plannerplugins”3.    Open Mission Planner application 5.    Right click to tabs and enable Camera control plugin 4.    In few seconds new tab will appear Updated release notes: Initial release v 1.01: Added support...

QGC camera control

Last Updated: June 19, 2025

Download & install QGC DOWNLOAD Select version you would like to install, click to “Assets”.For PC installation select QGroundControl-installer.exeFor Android (HereLink or SIYI) select QGroundControl.apk https://github.com/mavlink/qgroundcontrol/releases VERSION Select version – v4.4.3– v4.4.4– v4.4.5– v5.0 – Release Candidate 4– or later (do not use v5.0 RC 1/2/3) QGC camera control usage LAUNCH QGC Launch QGC in...

Action Button installation

Last Updated: November 22, 2025

Action Button purpose Action button is simple external push button device for ENTIRE R3 and TAG-E. It is used to manually (without accessing of WiFi or using QGC / drone) start and stop geotagging session. Button is used applied mainly in non-drone application of our geotaggers. Installation Connect UNI cable #1 Use included UNI cable...

Developer information

Last Updated: October 4, 2026

Notice​ This page is draft and needs to be imrpoved. Majority of users should not need informations at this page This page is aimed to implementators and developers who would like to implement own camera control software for their users MavLink basics By default TAG-E uses MAV_COMP_ID_CAMERA6 For highest geotagging accuracy TAG-E needs: Working TIMESYNC...

SD card parameter configuration

Last Updated: July 11, 2026

SD card external configuration TAG-E is designed for MavLink configuration via PARAM protocol. However in some cases is MavLink not accessible or not comfortable. For this situations TAG-E supports loading of configuration from external file saved on micro SD card.   Firmware update Configuration via SD card was introduced in 0_171, please update your TAG-E...

1. How it works

The camera is not at the GPS antenna – it hangs below it and usually in front of it. TAG-E starts from the antenna position and adds the two sets of offsets, so every photo gets the position of the camera. The first set follows the aircraft, the second one follows the gimbal when it turns.

An offset error gives the same error in the geotag (1 cm wrong offset = about 1 cm wrong position), so measure carefully.

SIDE VIEWX forward → · Z down ↓TOP VIEWX forward ↑ · Y right →OFF_ANT->MNT_XOFF_ANT->MNT_ZOFF_CAM->MNT_XOFF_CAM->MNT_ZABCABCA GNSS antenna phase centreB gimbal mount (yaw axis)C camera (no-parallax point)X forwardY rightZ down

Figure 1 – A = GPS antenna, B = gimbal mount (yaw axis), C = camera. Red = X, green = Y, blue = Z.

Where is point C on the camera? C is the camera’s no-parallax point (perspective centre). It lies on the lens axis, usually inside the lens, where the aperture appears to be. To find it, look into the front of the lens from a slight angle: the bright image of the aperture (the entrance pupil) shows where C is (Figure 2).

lens axisCC = no-parallax point (on the lens axis, inside the lens)

Figure 2 – Point C: the no-parallax point of the lens, on the lens axis.

2. Polarity – which sign to use

X points to the nose, Y to the right side, Z down. Note that Z is positive downwards: a camera hanging below the antenna has a positive Z.

POSITIVE value (+)NEGATIVE value (−)ABOFF_ANT->MNT_X > 0Mount (B) is IN FRONT of theantenna (A), towards the nose.Typical: +100 … +400 mm+X = direction of the arrowABOFF_ANT->MNT_X < 0Mount (B) is BEHIND theantenna (A).e.g. antenna on a front mast−X = direction of the arrowABOFF_ANT->MNT_Y > 0Mount (B) is to the RIGHT ofthe antenna (A), lookingforward from behind the aircraft.+Y = direction of the arrowABOFF_ANT->MNT_Y < 0Mount (B) is to the LEFT ofthe antenna (A).Symmetric build: 0−Y = direction of the arrowABOFF_ANT->MNT_Z > 0Mount (B) is BELOW the antenna(A). Z points DOWN, so this isthe normal case: +100 … +500 mm+Z = direction of the arrowABOFF_ANT->MNT_Z < 0Mount (B) is ABOVE the antenna(A). Rare: antenna sits lowerthan the gimbal mount.−Z = direction of the arrowThe same rule applies to OFF_CAM->MNT_X / Y / Z: positive = camera (C) is in front of / right of / below the mount (B).

Figure 3 – Positive and negative values. The arrow goes from the first point to the second one.

3. How to measure

STEP 1 – Prepare

  • Set the gimbal to look horizon with its yaw pointing forward.
  • Prepare measurement tools

STEP 2 – Find the points

  • A – centre of the GPS antenna.
  • B – the vertical rotation axis of the gimbal (where it attaches to the aircraft).
  • C – the camera’s no-parallax point (perspective centre) on the lens axis, usually inside the lens. Figure 2 shows where it is.

STEP 3 – Measure each axis separately

  • OFF_ANT->MNT = from A to B. OFF_CAM->MNT = from B to C.
  • X: forward is positive. Y: right is positive. Z: down is positive.

STEP 4 – Camera without a gimbal

  • If the camera is fixed to the aircraft, measure the whole distance from the antenna to the camera into OFF_ANT->MNT and leave OFF_CAM->MNT at 0.
SIDE VIEWX forward → · Z down ↓TOP VIEWX forward ↑ · Y right →measuring surface (aircraft level)X +300 mmX +45 mmZ +370 mmZ +110 mmABCABCX +300Y +60X +45 · Y +20A GNSS antenna phase centreB gimbal mount (yaw axis)C camera (no-parallax point)X forwardY rightZ down

Figure 4 – Example. OFF_ANT->MNT = X +300, Y +60, Z +370 mm. OFF_CAM->MNT = X +45, Y +20, Z +110 mm.

4. GPS antenna position already set in ArduPilot / PX4

If the autopilot knows where the GPS antenna is (ArduPilot GPS_POS…, PX4 EKF2_GPS_POS_…, in metres), it moves basic GPS position from the antenna to the centre of the aircraft (CG). TAG-E then has to measure from that point, otherwise the distance is counted twice.

SIDE VIEWABGPS antenna (not used)centre of the aircraft(flight controller)XZHOW TO MEASURE BX, Y and Z: all measured from thecentre of the aircraft (flightcontroller) to BX +180 mmY 0 mmZ +90 mmUse this when the autopilot has theGPS antenna position configured.

Figure 5 – With the autopilot antenna position set, measure X, Y and Z from the centre of the aircraft (flight controller).

Autopilot settingMeasure OFF_ANT->MNT_X / Y / Z from
GPS antenna position not set (0)the GPS antenna (A)
GPS antenna position setthe centre of the aircraft (flight controller) – all three axes
TAG-E uses raw GPS (MAV_GPS_RAW = 1) or its own GNSS receiveralways use the GPS antenna (A)