Using STorM32 with ArduPilot
The information on this page refers to firmware v2.52, and higher.
The STorM32 gimbal controller can communicate with an ArduPilot flight controller via a serial UART data link. The serial communication allows for a much richer data transmission and accordingly richer set of features than possible with the traditional connections such as PWM, PPM, SBUS, and alike.
If you only need the range of functionality possible with the conventional tilt & pan control, then you may not need anything of the below. Some of the basic features can also be accomplished by workarounds in traditional ways. Decide yourself which approach fits your needs best. :)
If you want to make best use of your STorM32 gimbal and want 2020-ish capabilities, then you may want to chose BetaPilot (BetaCopter/BetaPlane), which is described in Using STorM32 with BetaPilot.
STorM32 - ArduPilot Support
ArduPilot offers two mount types, which can be used with the STorM32 controller:
- SToRM32 MAVLink: MNT_TYPE = 4
- SToRM32 Serial: MNT_TYPE = 5
For further details and instructions on how to use these mounts, please visit ArduPilot Docs > Copter > Optional Hardware > Camera&Gimbals > SToRM32 Gimbal Controller.
Comment: ArduPilot's gimbal support was partially flawed in versions 4.2 and lower. That is, many features would work fine, but some would not work well. ArduPilot improved much with version 4.3, but the status concerning STorM32 is unclear presently. Also the ArduPilot documentation can be out-of-date. Please note that STorM32 can't do anything about all this, it's ArduPilot, and please also note that the STorM32 firmware author is neither responsible for the implementation of ArduPilot's mount types nor for ArduPilot's documentation.
The BetaPilot fork of ArduPilot additionally offers the '83' mount type:
- STorM32 MAVLink2: MNT_TYPE = 83
This mount type is specifically designed for the STorM32 gimbal controller, and provides the best range of functions. For details see Using STorM32 with BetaPilot.
Virtual Channel Configuration
ArduPilot does not emit RC_CHANNELS MAVLink messages by default, which the STorM32's virtual channel feature relies on.
It can be activated by setting the SRx_RC_CHAN parameter to a non-zero value, there the 'x' refers to the serial which is used for the MAVLink communication with the STorM32 controller.
For more details on the feature see Virtual Channel Configuration.
Feature Matrix
(for ArduPilot 4.2)(the status for ArduPilot 4.3 is presently unclear)(all to the best of the authors knowledge)
| Feature | Traditional PWM, PPM, SBUS, ... |
SToRM32 MAVLink (MNT_TYPE = 4) |
SToRM32 Serial (MNT_TYPE = 5) |
BetaPilot STorM32 MAVLink2 (MNT_TYPE = 83) |
|---|---|---|---|---|
| Gimbal Angle Control | x | x (?) | x | x |
| MOUNT_STATUS message | - | x (1) | x (2) | x |
| ATTITUDE message | - | - | - | x |
| Camera Trigger | x | x | - | x |
| Gimbal Point in MP | - | x | x (2) | x |
| Solo Smart Shots | x (3) | - | - | x (3) |
| Camera Manager in QGC | - | x | - | x |
| MAVLink Parameters | - | x | - | x |
| Video Control in Missions | - | x | - | x |
| 360° Gimbal with Free Look | x | - | - | x |
| STorM32 Functions | x | - | - | x |
| STorM32 Scripts | x | - | - | x |
| STorM32-Link: Horizon Drift Comp. | - | - | - | x |
| STorM32-Link: Yaw Drift Comp. | - | - | - | x |
| MAVLink Passthrough Configuration | - | x | - | x |
| MAVLink Camera Microservice | - | x | - | x |
| MAVLink Advanced Features | - | - | - | x |
| MAVLink Statustext messages | - | - | - | x |
| STorM32 Gimbal Protocol | - | - | - | x |
| Prearm Checks | - | - | - | x |
(?) Many but not all features work in the latest ArduPilot releases. Please check with the ArduPilot community.
(1) The message reports the last set point, not the actual gimbal/camera orientation.
(2) Works only for deprecated v0.9x firmwares.
(3) Only up to ArduCopter 3.6. ArduCopter 4.0 has introduced two bugs which the STorM32 controller cannot work around.
Testing the Connection
The serial MAVLink connection can be tested in several ways. Suggestions (which may or may not work with ArduPilot) can be found in Using STorM32 with BetaPilot: Testing the Connection.