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 gimbal and gimbal provides TAG-E all necessary data automatically. In this scheme you will need just one TELEM port of your Cube for the gimbal and camera control. Simple scheme of connection is on the picture below:
Please note, that if you use direct connection to the Cube, instead of Gremsy forwarding, you should use 500 000bps instead. Please follow this link if you would like to use direct (separate) connection between TAG-E and the Cube.
Gremsy Pixy-LR wiring set installation #
STEP 1
Connect cable between IO-B on the TAG-E and COM4 port on Gremsy QR
STEP 2
Connect this harness in multiple places
CONNECTION
- 9pin JST SH connector to TAG-E USB port
- 7pin JST GH connector to Gremsy QR CTRL port
- 6pin JST GH connector to Pixhawk flight controller TELEM2 port
STEP 3
Attach Voltage regulator (uBEC) to TAG-E PWR port
STEP 4
Check your final connection (image)
Gremsy configuration #
STEP 1
Temporarily disconnect IO-B port from the TAG-E
Or you can disconnect COM4 port on Gremsy QR release
This step is necessary to establish MicroUSB connection of the gimbal to PC
STEP 2
Connect Gimbal via USB to your PC and launch gTune application
Navigate to:
CONTROLS -> MAVLINK -> BAUDRATE
Set COM2 baudrate to 921600 (important)
Set COM4 baudrate to 230400
Click REBOOT
STEP 3
Do all other settings you need to do in the gimbal and disconnect USB cable from QR.
Re-Connect COM4 to IO-B port cable to establish MavLink connection to TAG-E
PX4 configuration #
STEP 1
Use PX4 firmware v1.16 or later
https://github.com/PX4/PX4-Autopilot/releases
Use QGC version 5.0.6 or later:
https://github.com/mavlink/qgroundcontrol/releases/tag/v5.0.6
STEP 2
In this manual we expect the gimbal is connected in TELEM2 port
Set SER_TEL2_BAUD to 921600 bps
STEP 3
For this example we will map MAV_1 unit to handle TELEM2 port, follow this settings:
- MAV_1_MODE set to “Gimbal“
- MAV_1_RATE set to “0“
- MAV_1_FORWARD set to “Enabled“
STEP 4
Now follow gimbal settings per Gremsy suggestions here:
https://docs.gremsy.com/gimbals/pixy-lr/set-up-with-px4
Mainly:
- MNT_MODE_IN: “RC”
- MNT_MODE_OUT: “Mavlink gimbal protocol v2”
- MNT_RC_IN_MODE: “1”
- MNT_MAN_PITCH: “AUX3”
- MNT_MAN_ROLL: “AUX2”
- MNT_MAN_YAW: “AUX1”
- COM_RC_IN_MODE: “Unknown: 3”
Than map RC channels:
- RC_MAP_AUX1: “Channel 6”
- RC_MAP_AUX2: “Channel 7”
- RC_MAP_AUX3: “Channel 8”
STEP 5
- At this point you should be able to see TAG-E Mavlink messages and access all configuration and camera control
STEP 6
- For ground control connection, make sure you use high bandwidth connection to avoid packet drop issues. Mainly use this settings for GC connection telemtery port:
- MAV_x_MODE set to “Normal”
- MAV_x_RATE set to “0”
- MAV_x_FORWARD set to “Enabled”
- SER_TELx_BAUD set to 921600
Camera configuration #
TAG-E works with the camera in default configiration, however, if you used other remote control systems, you may need to check these options:
STEP 1
Enter camera MENU and navigate to:
SETUP -> USB -> USB Connection Mode -> PC REMOTE
STEP 2
If you previously used other system for remote control using WiFi, make sure the WiFi is disabled or remote controller is disconnected to avoid control interferrence.
NETWORK -> WiFi -> WiFi Connect
OFF
STEP 3
Configure save destination for your data.
NETWORK -> Cnct./PC Remote -> Remote Shoot Setting -> Still Img. Save Dest. -> Camera Only
