Common: CADDXFPV gimbal setup

common/source/docs/common-caddx-gimbal.rst

@@ -0,0 +1,71 @@
+.. _common-caddx-gimbal:
+
+[copywiki destination="plane,copter,rover"]
+
+=============
+CADDX Gimbals
+=============
+
+`CADDX <https://caddxfpv.com/products/caddxfpv-gm1-gm2-gm3.html>`__ GM1, GM2, GM3 gimbals are small 1, 2 and 3-axis gimbals weighing between 16g and 46g and can be paired with 19mm x 19mm FPV cameras
+
+.. image:: ../../../images/caddxfpv-gimbal.png
+    :target: https://caddxfpv.com/products/caddxfpv-gm1-gm2-gm3.html
+
+.. warning::
+
+    Support for these gimbals is available in ArduPilot 4.7 (and higher) and requires the gimbal's firmware be 3.4 (or higher)
+
+The `user manual can be found here <https://cdn.shopify.com/s/files/1/0036/3921/4169/files/GM_Series_Manual_V1.0_1.pdf>`__
+
+Where and What to Buy
+---------------------
+
+- The GM1, GM2 and GM3 gimbals can be purchased directly from `CADDXFPV <https://caddxfpv.com/products/caddxfpv-gm1-gm2-gm3.html>`__
+- The `GL and GM Upgrade Cable <https://caddxfpv.com/products/gl-and-gm-upgrade-cable>`__ is likely also required to upgrade the gimbal's firmware to 3.4 (or higher)
+
+Connecting to the Autopilot
+---------------------------
+
+.. image:: ../../../images/caddxfpv-gm3-autopilot.png
+    :target: ../_images/caddxfpv-gm3-autopilot.png
+    :width: 450px
+
+Connect the gimbal's RX, TX and GND pins to one of the autopilot's serial ports as shown above
+
+Connect with a ground station and set the following parameters.  The params below assume the autopilot's telem2 port is used
+
+- :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` to 8 ("Gimbal")
+- :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` to "115" for 115200 bps
+- :ref:`MNT1_TYPE <MNT1_TYPE>` to "13" ("CADDX") and reboot the autopilot
+- :ref:`MNT1_PITCH_MIN <MNT1_PITCH_MIN>` to -90
+- :ref:`MNT1_PITCH_MAX <MNT1_PITCH_MAX>` to 90
+- :ref:`MNT1_YAW_MIN <MNT1_YAW_MIN>` to -170
+- :ref:`MNT1_YAW_MAX <MNT1_YAW_MAX>` to 170
+- :ref:`MNT1_RC_RATE <MNT1_RC_RATE>` to 60 (deg/s) to control speed of gimbal when using RC targetting
+- :ref:`RC6_OPTION <RC6_OPTION>` = 213 ("Mount Pitch") to control the gimbal's pitch angle with RC channel 6
+- :ref:`RC7_OPTION <RC7_OPTION>` = 214 ("Mount Yaw") to control the gimbal's yaw angle with RC channel 7
+- :ref:`RC8_OPTION <RC8_OPTION>` = 163 ("Mount Lock") to switch between "lock" and "follow" mode with RC channel 8
+
+Configuring the Gimbal
+----------------------
+
+Firmware upgrade instructions are in the "Upgrade" section of the `user manual <https://cdn.shopify.com/s/files/1/0036/3921/4169/files/GM_Series_Manual_V1.0_1.pdf>`__ but in short:
+
+- Download the GimbalConfig windows application and latest gimbal firmware from the `CADDXFPV Download Center <https://caddxfpv.com/pages/download-center>`__ (look for the "Firmware / GM Gimbal Firmware" link near the bottom of the page)
+- Extract the contents of the downloaded zip file and run the GimbalConfig application
+- Connect the `Upgrade Cable <https://caddxfpv.com/products/gl-and-gm-upgrade-cable>`__ to the upgrade port shown below, connect the other end to your PC
+
+.. image:: ../../../images/caddx-firmware-update.png
+    :target: ../_images/caddx-firmware-update.png
+    :width: 450px
+
+- Open the GimbalConfig application, select the COM port, then "Open" and find the "CwGimbalZGV2Main_V3.4.cahf" file and push "Upgrade"
+
+.. image:: ../../../images/caddx-firmware-update-PC.png
+    :target: ../_images/caddx-firmware-update-PC.png
+    :width: 450px
+
+Control and Testing
+-------------------
+
+See :ref:`Gimbal / Mount Controls <common-mount-targeting>` for details on how to control the camera and gimbal using RC, GCS or Auto mode mission commands

common/source/docs/common-master-features.rst

@@ -6,31 +6,27 @@ Items in Master Branch Only
 
 This lists features or changes merged in master and build in the "latest" firmware, but not in a stable or beta release yet. They have passed all test suites and usually have already been flight tested. These items are considered in the broad flight testing stage and test users are encouraged. Eventually, they will released in a beta, then stable release.
 
-.. note:: Currently firmware is in the 4.6 beta or stable stage. Items listed are in "latest" but not 4.6 beta and stable releases.
+.. note:: Currently firmware is in the 4.6 beta or stable stage. Items listed are in "latest" (4.7dev) but not 4.6 beta or stable releases.
 
 
 [site wiki="plane,copter,rover"]
 
-
 .. toctree::
     :maxdepth: 1
 
-
-    Other wiki changes <common-future-wiki-changes>
+    CADDXFPV GM1, GM2, GM3 gimbals <common-caddx-gimbal>
 [/site]
 [site wiki="rover"]
 
 .. toctree::
     :maxdepth: 1
 
-
-
 [/site]
 
 [site wiki="blimp"]
 .. toctree::
     :maxdepth: 1
 
-    Other wiki changes <common-future-wiki-changes>
 [/site]
+    Other wiki changes <common-future-wiki-changes>
 [copywiki destination="plane,copter,rover,blimp"]