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Setting up the Tarot T4-3D gimbal on the Pixhawk 2.4.8 with Specktrum dx6 Gen2 toggle switch

So i took the challenge of setting up the Tarot gimbal not just for inherent stable video footage but also the flexibility of controlling it from the radio control. However, I encountered quite a few challenges which made me aware that I'm not the one only in this battle.

It's quite clear that the setup of the Tarot gimbal using its own software is completely different from how it's been described in the Ardupilot/Arducopter webpage and in mission Planner. In Mission Planner and it's associated site makes one believe that it should be done through software, only to realize that in actual fact the setup is more complex than that. 

After two evenings of trying various combinations, I realized the getting the pixhawk Aux channels to communicate with the T4 gimbal requires the following steps:

- The Pixhawk Pin9 (Aux1) needed to be activated to pass through user-chosen channel from the transmitter. For the Dx6 Gen2 it was the channel 6, which can assigned the toggle switch G. For you to do that you needed to go through the parameter list web-page and get set the RC9_FUNCTION (on the page it's known as SERVO9_FUNCTION) to 56.
- On the Tarot side, I needed to connect Ch1/S-Bus cable to the pixhawk and set the RC mapping in the software to Channel 1 in tilt, while the receiver type is "Convention".

And with that I had a working gimbal from the transmitter which can work optionally via Mission Planner through the 3DR telemetry link (low bandwidth) in non-manual modes.




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