Storm32 and px4 flight stack

PX4 Autopilot Configuration & Flight Modes ⚙️
21

@dagar I am interested to use Storm32 with PX4. Is it compatible or not yet?

@others,

Any luck with the Storm32 setup with PX4?

22

Yes, I have managed to make it work with px4. My setup is Storm32 v1.3 with I2c IMU and using px4.

I have found this setup of px4 parameters:

  • “MNT_MAV_COMPID” change it to the specified Mavlink ComponentID from Expert tools inside Storm32 GUI (e.g. in my case 67)
  • “MNT_MAV_SYSID” change it to the specified Mavlink SystemID from Expert tools inside Storm32 GUI (e.g. in my case 71)
  • “MNT_MODE_IN” change it to “AUTO” or “MAVLINK_DO_MOUNT (protoco v1)” both of them works
  • “MNT_MODE_OUT” change it to “MAVLink gimbal protocol v1”
  • “MAV_1_CONFIG” change it to “TELEM2” or it depends on the port the connection of the gimbal is attached to
  • “MAV_1_MODE” change it to “NORMAL”
  • “MAV_1_FORWARD” change it to “1”
  • “MAV_1_RATE” change it to “11520B/s”

“SER_TEL2_BAUD” or according to the port you specified in “MAV_1_CONFIG” (e.g. if you specified in “MAV_1_CONFIG”: “TELEM/SERIAL 4” then you need to change parameter “SER_TEL4_BAUD” instead) change it to “115200” or the exact baudrate from the gimbal device from Expert tools

For full document for setup connection, updating firmware and connecting with px4 and testing, you can check here: Open Access for Storm32 Gimbal Documentation - Google Docs

23

@hany606 thanks for your feedback. I will test and provide feedback.

24

Some comments that I have recently found. For some reasons (I am not sure 100%), if you used v0.96 with flight controller via Mavlink and try to use mavros, you will not be able to get any messages from orientation topic, which means no feedback from there. I am not sure about the reason, but the current thoughts/findings (I might be wrong) that the firmware was not supporting to give orientation readings via mavlink that’s what I see from mavlink_strom32.xml file from the firmware and because of the firmware is closed(Designing a standard, open source gimbal controller - #2 by hamishwillee), you will not be able to edit the firmware and change the xml file unfortunately. Also, I am not sure if it is the case for the newer firmware versions or not.

However, if you want to get orientation within ROS, you can use this: GitHub - mcgill-robotics/ros-storm32-gimbal: 📸 STorM32 gimbal controller ROS driver I have tested that package, it worked good for control and returning the orientation relatively to the initialization pose!

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