Using STorM32 with ArduPilot
The information on this page refers to firmware v2.57e and BetaPilot (BetaCopter/BetaPlane) 4.0 v0.48, 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. :)
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 detailed instructions on how to use these mounts, please visit ArduPilot Docs > Copter > Optional Hardware > Camera&Gimbals > SToRM32 Gimbal Controller.
Comment: Unfortunately, ArduPilot's gimbal support is partially flawed. That is, many features you will find to work great, but some you will find to not work well. STorM32 can't do anything about it, it's ArduPilot. Please also note that the STorM32 firmware author is not responsible for the implementation of ArduPilot's mount types.
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 by far the best range of functions. It is described in detail in the article Using STorM32 with BetaPilot.
A comparison of the different techniques to connect the STorM32 controller with the flight controller is given in the following feature matrix:
Feature Matrix
(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 (4) | - | x |
| MAVLink Parameters | - | x | - | x |
| Video Control in Missions | - | x | - | x |
| 360° Gimbal with Free Look | - | - | - | x |
| STorM32 Functions | - | - | - | x |
| STorM32 Scripts | - | - | - | x |
| STorM32-Link: Horizon Drift Comp. | - | - | - | x |
| STorM32-Link: Yaw Drift Comp. | - | - | - | x |
| MAVLink Passthrough Configuration | - | - | - | x |
| MAVLink Camera Micro Service | - | - | - | x |
| MAVLink Advanced Features | - | - | - | x |
| MAVLink Statustext messages | - | - | - | x |
| STorM32 Gimbal Protocol v2 | - | - | - | 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.
(4) Only basic features.
Comment: Note that some of the listed features only need BetaPilot but do not require that also the STorM32 MAVLink2 mount (MNT_TYPE 83) is enabled; this is so since they are standard MAVLink.
Testing the Connection
The serial MAVLink connection can be tested in several ways. The following tests do not require that the vehicle is completely built and/or set up, and do not require that the vehicle is armed.
- MAVLINK field in the STorM32 GUI: The [GUI:Dashboard] has a field named MAVLINK. It should display PRESENT.
- STorM32-LINK field in the STorM32 GUI: The [GUI:Dashboard] and [GUI:Data Display] each have a field which is related to the STorM32-Link. They should display PRESENT, AVAILABLE or OK.
- MissonPlanner or QGroundControl: An additional MAVLink component named GIMBAL should be present.
- Message box in MissonPlanner: With the GIMBAL component selected, in the message box several text messages related to the STorM32 gimbal should appear. In particular, a message like "STorM32 v2.40 nt v1.30 F103RC" informing about the STorM32 firmware version should be visible.
- Gimbal RC Targeting: With ArduPilot in RC Targeting mode (which should be the default mode), the gimbal can be moved with the transmitter sticks.
Gimbal Point
MissionPlanner supports what it calls a 'gimbal point'. It is a blue point icon on the map, which indicates the estimated position at which the gimbal is looking at (see also e.g. https://github.com/ArduPilot/MissionPlanner/issues/1323). In order to activate it, the following ArduPilot parameters must be set:
Settings in ArduPilot:
- MNT_STAB_ROLL = 0
- MNT_STAB_TILT = 1