XF ROBOT Z-2Mini - Page 17

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.
11
Z-2 User Manual
The MAV_1_MODE is recommended as Custom.
The AUX1 and AUX2 are just examples, which can be de󽗉ned according
to actual situation. It should be con󽗉gured in RC Map for further
application.
The trigger mode is just an example, which can be modi󽗉ed according
to actual situation.
The RC1~RC3 are just examples, which can be de󽗉ned according to
actual situation.
The MNT1_TYPE is recommended as 6. The MNT1_ROLL_MAX, MNT1_
ROLL_MIN, MNT1_PITCH_MAX, MNT1_PITCH_MIN, MNT1_YAW_MAX
and MNT1_YAW_MIN will be con󽗉gured automatically depend on data
from the GCU. The angle limit should be set manual while the MNT1_
TYPE is 4.
PX4
MAVLink
MAV_1_CONFIG TELEM2
MAV_1_MODE Custom / Gimbal
MAV_1_RATE 115200 B/s
Serial
SER_TEL2_BAUD 115200 8N1
Mount
MNT_MAIN_PITCH AUX1
MNT_MAIN_YAW AUX2
MNT_MODE_IN Auto (RC and Mavlink Gimbal)
MNT_MODE_OUT MAVLink gimbal protocol v2
Camera Setup
Trigger mode Distance based, on command (Survey mode)
Trigger interface
MAVLink (forward via MAV_CMD_IMAGE_START_
CAPTURE)