Table of Contents
Installation basics #
For the GeoTagging mode must be the AIR Commander ENTIRE connected to the Camera via Sony Multiport Cable. Multiport cable was included in your geotagging cable set.
NTIRE
Important!
Do not skip steps or dismiss if result is not as described.
If system does not behave as described, check again wiring and configuration.
If system does not behave as described, check again wiring and configuration.
Firmware!
Majority of features used here are available only with latest firmware!
Make sure you updated your ENTIRE and also Gimbal to latest firmware!
Make sure you updated your ENTIRE and also Gimbal to latest firmware!
Compatibility
This new EVO set is compatible with all new features of aArdupilot for Gremsy. Connection between flightcontroller and Gremsy is not affected. Our cable set only adds connection of COM4 to the ENTIRE for geotagging and gimbal angles reading.
Installation for Gremsy T3v3 (S1 | T7) #
STEP 1
- Let’s start with mount of Power Adaptor to the Gremsy gimbal
- Connect included Gremsy power cable to the PWT OUT of the gimbal
- Connect power cable to the upper connector (at the photo)
- Use double self-adhesive tape, Zip Ties or self-adhesive zipper
STEP 2
- Mount the Entire unit at the other side of the bottom of gimbal.
- SD Card should be aimed outside of the gimbal for easy handling in the fields.
- Use double self-adhesive tape or self-adhesive zipper is suggested.
- Connect power outlet of the Power adaptor to PWR connector of the ENTIRE
STEP 3
- Connect AUX-ENTIRE cable to bottom AUX port of your gimbal
- Connect other end to the UNI-C port of the ENTIRE
- You are free to use any UNI port, however we will use UNI-C in this manual
STEP 4
- Mount the Camera and connect Multiport cable to the USBMULTI connector of the Entire
STEP 5
- Entire is able to control the camera instead of USB also via IR commands. IR commands are the only way to access and navigate in the MENU, also IR commands allows user to use shortcuts (user mappable in the camera MENU) at LEFT/RIGHT/DOWN arrows.
- Use IR Cable with IR LED and red sync wire and connect it to the EXT port of the Entire
- Mount IR LED to the IR sensor of your camera (remember to enable RemoteCtrl function in the Camera menu). Optionally you can use our IR LED mount (not included).
STEP 6
Warning!
Do not insert hot-shoe connector reversed!
Follow the "arrow" pictogram on the connector.
Follow the "arrow" pictogram on the connector.
- Insert HotShoe connector into HotShoe connector of the Camera
- Connect the red wire from EXT cable to the HotShoe connector
- Mount top bracket of the gimbal to the rest of HotShoe of the Camera function in the Camera menu). Optionally you can use our IR LED mount (not included).
STEP 7
- onnect T3-MavLink cable to the COM and AUX port at quick release of the gimbal
STEP 8
- Second end of T3-MavLink cable connect to your PixHawk flight controller telemetry port 1 or 2
STEP 9
You have two options how to use our system in cooperation with Gremsy:
- You will use ENTIRE & MavCam only control tilt / yaw of the gimbal via HereLink hw wheel / on-screen joystick.
- In this case is setting simple:
- SERIAL1_PROTOCOL: “Mavlink2”
- SERIAL1_BAUD: “921600“
- MNT1_TYPE: “0”
- MNT2_TYPE: “0
- In this case is setting simple:
- Use new Ardupilot gimbal control fatures (like point gimbal automatically)
- In this case, gimbal will be controlled by the Cube and ENTIRE & MavCam will command Cube directly to control attitude of the gimbal. For this case you have to set:
- SERIAL1_PROTOCOL: “Mavlink2”
- SERIAL1_BAUD: “921600“
- MNT1_DEFLT_MODE: “3”
- MNT1_TYPE: “6”
- RC6_OPTION: “214”
- RC7_OPTION: “212”
- RC8_OPTION: “213”
- MNT1_RC_RATE: “90”
- In this case, gimbal will be controlled by the Cube and ENTIRE & MavCam will command Cube directly to control attitude of the gimbal. For this case you have to set:
- For newest Ardupilot firmwares you need to also set:
- CAM1_TYPE: “5”
- (Use CAM1_TYPE for Telem1 port, CAM2_TYPE if Telem2 is used)
- CAM1_TYPE: “5”
- If you do not have this option in your Ardupilot firmware parameters, ENTIRE will work by default.
Baudrate!
Use SERIALx_BAUD 921600 in all cases, even if Gremsy manual suggest lower value, use 921600bps. It is because ENTIRE transfers lots of additional information via communication line so bandwidth is important.
Other configuration!
Configuration may change over time, please check Gremsy manuals for more information.
STEP 10
- Connect your gimbal to gTune app in your phone or PC
- Navigate to SETTINGS->CONTROLS->MAVLINK
- Configure COM2 baudrate to 921600bps (used for connection to Cube)
- Configure COM4 baudrate to 230400bps (used for ENTIRE connection)
STEP 10a
- Navigate to SETTINGS->CONTROLS->MAVLINK
- Configure COM4 baudrate to 230400bps (used for ENTIRE connection)
- Make sure you clicked REBOOT after each change
STEP 11
- Open ENTIRE’s MENU web page and set UNI-C port to
- MavLink mode
- 230400 bps
STEP 12
- If all configuration was done properly, you will get UNI-C “online” and see
- GPS information update speed
- ATTI information update speed
- Gimbal angle readings (P-pitch / Y-yaw)
- (YAW information is absolute heading)
STEP 13
- Turn the camera USB mode to MASS STORAGE
- Navigate to Camera MENU -> SETUP->USB Connection
- Set to Mass Storage
- confirm OK
- For newer cameras (like A7RIV) is this step bit more complicated:
- Check if MENU->NETWORK->Ctrl w/ Smartphone is OFF
- Check if MENU->NETWORK->PC Remote Function is OFF
- Navigate to Camera MENU -> SETUP->USB Connection
- Set to Mass Storage
- confirm OK
STEP 14
- Enable GeoTagging via MENU->Logging mode-> Direct EXIF (or SD card)
- Enable HotShoe capturing via MENU->Capture detection->Hotshoe sync
- Now you can also preview GPS data and gimbal angles in the Entire’s GUI
- MENU->(Geotagging)Settings->GPS Data Preview
- Data shown in the preview are updated online and should react to gimbal movements
STEP 15
- Open the MENU -> Miscellaneous
- Scroll down to GeoTagging features
- And insert X, Y, Z offsets.
- When GPS is used, offset is counted from body center (if correct offset is configured in the FC). If your flight controller does not have configured antennas offsets, configure offset from the camera to the antenna.
- When RTK is used, offset is counted from body center (if correct offset is configured in the FC). If your flight controller does not have configured antennas offsets, configure offset from the camera to the antenna A.
Offset is in millimeters!
STEP 16
- Your setup is ready to be used at this point
- Entire has Self-Test routines for GeoTagging to easily check if all wiring is working well
- Make sure that all equipment is turned ON and camera is set to MASS STORAGE MODE
- Click to MENU->Configuration test and let the Entire to do a self-test
- At the beginning of the test, one photo will be triggered
- Entire will check if HotShoe sensor has properly recognized trigger
- Entire will check all necessary input data connections
- In case of any problems, result will provide hints to solve the issue
- Test photo will not be geotagged in the test method!
STEP 17
- Check how geotagging works before first tests!
- Understanging of geotagging procedure will save you lots of confusion during testing phase
- How it works?
GPS link delay calculation
Once you passed all installation steps, we strongly suggest to do GPS link delay calculation for optimal result at your machine. GPS Link delay is specific for each machine and needs to be calculated per user.
GPS Link delay calculation manual
GPS Link delay calculation manual
Overall wiring scheme #
Options of Gremsy connection #
- Gimbal control (OBSOLETE)
This option is used to control of the gimbal Pitch and Yaw via AIR Commander Link.
- Force SBUS mode (OBSOLETE)
This option forces gimbal to use SBUS mode. At latest firmwares of the Gremsy (765 and later), gimbal locks in MavLink mode, once Entire is connected. Entire can force gimbal to use SBUS mode via MavLink (with this option enabled). You have to set gimbal to SBUS control mode also via gTune app. If you would like to use MavLink control of the gimbal, leave this option disabled and enable “MavLink forwarding“.
- MavLink forwarding (OBSOLETE)
With this option enabled will the Entire forward all input MavLink data (received from PixHawk) to the Gremsy gimbal and also all data received from the gimbal are forwarded to the PixHawk. This option is used when gimbal is controlled via MavLink ot you need to get direct communication with gimbal for example from ground station.
- Gimbal tuning (Herelink)
This option enables remote configuration of stabilization parameters. Remote settings of those values are available only from MavCam (HereLink app).
