Common: CADDXFPV gimbal setup

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

@@ -0,0 +1,58 @@
+.. _common-caddxfpv-gimbal:
+
+[copywiki destination="plane,copter,rover"]
+
+================
+CADDXFPV Gimbals
+================
+
+`CADDXFPV <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)
+
+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 to Buy
+------------
+
+These gimbals can be purchased directly from `CADDXFPV <https://caddxfpv.com/products/caddxfpv-gm1-gm2-gm3.html>`__
+
+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>`__
+
+The GimbalConfig windows application and latest gimbal firmware can be downloaded from the Firmware / GM Gimbal Firmware link near the bottom of the `CADDXFPV Download Center <https://caddxfpv.com/pages/download-center>`__ page
+
+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-cameras-and-gimbals.rst

@@ -21,6 +21,7 @@ gimbals in which ArduPilot controls the stabilisation. Some gimbals also integra
 
 -  :ref:`Servo Gimbals <common-camera-gimbal>` — older-style servo-driven gimbal where ArduPilot provides stabilisation
 -  :ref:`Brushless PWM <common-brushless-pwm-gimbal>` - brushless gimbals that accept PWM or SBUS input for angle control
+-  :ref:`CADDXFPV GM1, GM2, GM3 gimbals <common-caddxfpv-gimbal>`
 -  :ref:`DJI RS2 and RS3-Pro gimbals <common-djirs2-gimbal>`
 -  :ref:`Gremsy Mio, Pixy, S1, T3, T7 and ZIO <common-gremsy-pixyu-gimbal>` - high quality 3-axis gimbals
 -  :ref:`SimpleBGC (aka AlexMos) Gimbal Controller <common-simplebgc-gimbal>` - a popular 2-axis or 3-axis brushess gimbal controller which uses a custom serial interface
@@ -97,6 +98,7 @@ more scenic photos. ArduPilot will stabilize the gimbal to whatever position you
     :hidden:
 
     Brushless PWM <common-brushless-pwm-gimbal>
+    CADDXFPV GM1, GM2, GM3 gimbals <common-caddxfpv-gimbal>
     DJI RS2 and RS3-Pro gimbals <common-djirs2-gimbal>
     Gremsy Pixy U Gimbal <common-gremsy-pixyu-gimbal>
     Servo Gimbal <common-camera-gimbal>