9.2.3 Setup and Operation
The gimbal communicates serially to the retract electronics for commanding deploy and retract
movements. In order for the gimbal to detect the retract, the retract serial port must be hooked up
to either FP1 or FP2 on the gimbal since these are the two RS-232 level serial ports. In OrionUI, the
protocol for the selected serial port must be set to Orion UI with a baud rate of 115200 under the
Crown Serial Config tab. Thereafter, the gimbal will automatically detect the presence of a retract
and SkyLink display a Deploy/Retract button.
Upon power up, the retract will automatically move to a retracted position and will remain there
until a deploy is commanded. Furthermore, the gimbal will not initialize until deployed to avoid
interference with internal components in the aircraft fuselage.
The retract does not have limit switches to verify position; the operator should therefore verify the
retracted position by observing the change in video prior to landing.
10 Gimbal Integration Guide
10.1 Mechanical Integration
10.1.1 Orientation
Trillium gimbals can operate in any orientation, but there are two primary orientations for airborne
applications: pan over tilt where the gimbal ball is down and roll over tilt where the gimbal ball is
forward. The preferred orientation is driven by gimbal nadir which is the axis parallel to the pan
motor; in pan over tilt the gimbal nadir points down, in roll over tilt the gimbal nadir points
forward. Line of sight stability is best when the tilt angle is zero and degrades as the tilt angle
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