SIYI ZR30 Optical Pod 4K Resolution 30X Optical Zoom User Manual
- June 1, 2024
- SIYI
Table of Contents
- SIYI ZR30 Optical Pod 4K Resolution 30X Optical Zoom
- Product Information
- Product Usage Instructions
- Frequently Asked Questions
- INTRODUCTION
- GET READY TO USE ZR30
- GIMBAL CONTROL
- include <stdio.h> #include <stdlib.h> #include <string.h> #include <errno.h>
- include <sys/socket.h> #include <netinet/in.h> #include <arpa/inet.h>
- include <unistd.h>
- define RECV_BUUF_SIZE 64
- define SERVER_PORT
- define SERVER_IP
- VIDEO OUTPUT
- SIYI FPV APP
- SIYI Assistant
- After-sale Service
- References
- Read User Manual Online (PDF format)
- Download This Manual (PDF format)
SIYI ZR30 Optical Pod 4K Resolution 30X Optical Zoom
Product Information
Specifications:
- Model: ZR30
- Resolution: 4K
- Zoom: 30x Optical Zoom
Product Usage Instructions
1. Getting Started:
Before using the ZR30, ensure you have read the user manual thoroughly for a smooth experience.
2. Powering On/Off:
To power on the ZR30, press and hold the power button for a few seconds. To power off, repeat the same step.
3. Adjusting Settings:
Use the menu buttons to navigate and adjust settings such as resolution, zoom level, and exposure according to your needs.
4. Capturing Images/Video:
Press the capture button to take images and start/stop recording video. Make sure to frame your shot properly before capturing.
5. Connecting to Devices:
You can connect the ZR30 to other devices using the provided cables or wireless connectivity options for data transfer or live streaming.
6. Maintenance:
Regularly clean the lens and body of the ZR30 with a soft, dry cloth to ensure optimal performance. Avoid exposing it to extreme temperatures or moisture.
Frequently Asked Questions
- Q: How can I update the firmware of the ZR30?
- A: Firmware updates can be done by following the instructions provided on the SIYI official website or contacting their support center for assistance.
- Q: Can I use the ZR30 in extreme weather conditions?
- A: It is not recommended to use the ZR30 in extreme weather conditions to avoid damage. Please refer to the user manual for operating temperature ranges.
- Q: What accessories are compatible with the ZR30?
- A: Compatible accessories can be found on the SIYI official store or website. Make sure to use only approved accessories to maintain product warranty.
“`
ZR30
ZR30 User Manual v1.3
OPTICAL POD
4K RESOLUTION 30X OPTICAL ZOOM
USER MANUAL
V1.3 January 2024
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Thank you for purchasing SIYI’s product.
ZR30 User Manual v1.3
ZR30 is a zoom optical pod with quick release structure and up to 180X hybrid zoom / 30X optical zoom, carrying a 4K 1/2.7-inch Sony CMOS, 4K video recording and photography, abundant gimbal control interface compatible with both SIYI links and third-party links. High accuracy and high collaboration control algorithms ensure stable imaging and zooming ability during flight. HDR and starlight night vision extend the application scenarios to both day and night. In a word, ZR30 optical pod is a rare and good payload for multi- rotors, VTOLs, and robotics.
To ensure you a good experience of the product, please read this manual carefully. If you encounter any issue using the product, please consult the manual or check the online pages of this product on SIYI official store (https://shop.siyi.biz). You can also write an email to SIYI official A/S center ([email protected]).
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SIYI User Group – Facebook
SIYI Official Website (https://siyi.biz/en) SIYI Official Store
(https://shop.siyi.biz) SIYI Official AliExpress Store
(https://siyi.aliexpress.com) SIYI YouTube Channel
(https://www.youtube.com/c/SIYITech)
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ZR30 User Manual v1.3
User Manual Update Log
Version 1.3 1.2
1.1
Date 2024.1 2023.10
2023.8
Updates 1. Product features 2. Technical specifications 3. Main firmware
update log. 4. SIYI FPV app update log. 5. SIYI FPV SDK Guide. 6. SIYI Gimbal
SDK 7. Add diagrams in some chapters. 8. Instruction for AI follow function 1.
Main firmware update log. 2. SIYI FPV app update log. 1. Special interesting
functions and cautions. 2. Instruction for acquiring and download files from
SIYI camera’s
web server. 3. Necessary update for SIYI FPV app. 4. Necessary update for SDK
commands. 5. Instruction for gimbal Mavlink control. 6. Instruction for
integrating Mavlink flight attitude data. 7. Trouble shooting for abnormal
gimbal attitude. 8. User manual update log. 9. Main firmware update log. 10.
SIYI FPV app update log. 11. Necessary update for technical specification.
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READ TIPS
ZR30 User Manual v1.3
Icons
Please pay more attention to content indicated with the following marks:
DANGER Dangerous manipulation probably leads to human injuries. WARNING
Warnings on manipulation possibly leads to human injuries. CAUTION Cautions on
what manipulation may lead to property loss.
Prohibited
Mandatory
Mark
Safety
ZR30 optical pod is designed for professional application in specific scenes,
which has been done necessary configuration before delivery, it is forbidden
to disassemble the gimbal or to change its mechanical structure. And don’t add
more payload to the gimbal other than its own camera. Gimbal camera is
designed with very precise structure, users who approach to the equipment
should have the basic knowledge of how to operate it. Irregular or
irresponsible manipulations to the device may cause damage, property loss, or
human injuries, and SIYI Technology is not obliged to any of the damage, loss,
or injury. It is prohibited to use SIYI products for military purpose. Users
under 14 years’ old should follow an
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ZR30 User Manual v1.3
experienced trainer’s guide. Disassembling or modification to the system is
prohibited without permission from its manufacturer, SIYI Technology.
Storage / Carrying / Recycling
When your SIYI products are stand idle, or you are bringing it outdoors, or
the system reached service life, then please do read the precautions below.
CAUTION
Always place your SIYI products at places where babies or kids do not reach.
DANGER
SIYI products should be placed in places with below conditions: Not too hot
(above 60) or too cold (under -20). Not under direct sunshine or too dusty or
too wet. Not on an unstable holder which lacks solid supports or may cause
vibration. Not nearby steam or other heat sources.
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INTRODUCTION
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1.1 Product Features
Professional UAV Imaging System ZR30 carries an 1/2.7-inch Sony image sensor,
an 8 megapixels CMOS with remarkable photosensitivity ability, impressive 4K
video recording and photography. Up to 180x hybrid zoom (30x optical zoom).
The scenery is clear, the algorithm is fast and accurate, and the viewpoint is
automatically focused, making it easy to produce grand pictures. Silky
movement, smooth zoom, distant scenery, now within reach.
*The picture files captured by ZR30 can be written with GPS location information and time attrib utes.
Point To Focus Point anywhere to focus lens from zoom camera to get clear view
on selected part of screen. Focus Tracking Zoom camera stays focusing and
keeps filming smooth videos while users are scaling images. Starlight Night
Vision The ultra-sensitive starlight CMOS keep images bright in low light
environment. HDR HDR (High Dynamic Range) precisely captures good details of
highlights and shadows in dynamic scenes to get true colors and natural
brightness.
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AI Enhanced Smart Identify and Tracking
ZR30 works with the optional SIYI AI tracking module, which combines SIYI’s
selfdeveloped AI algorithm and collaborate with SIYI optical pods (gimbal
cameras) to achieve real-time tracking and capture of targets, and real-time
focusing and zooming to highlight the selected object in the picture. The
target will always be in the center of the picture and maintain a clearly
visible proportion of the picture.
It supports the anti-lost function. During the following process, if the
target is blocked or briefly leaves the monitoring screen, the AI tracking
module can automatically recognize and continue tracking when it re-enters the
monitoring screen.
540-Degree Yaw Axis Rotation Quick Release, Fast Payload Switch The yaw axis
of ZR30 rotates in a range of 540 degrees. Hanging below VTOL drones or
planes, ZR30 optical pod captures 360 degrees around. SIYI quick release
structure will support more interesting payloads in the future. Welcome to
follow for updates!
Incomparable Gimbal Control Interface SIYI optical pods’ (gimbal cameras’)
powerful compatibility contribute to smart rob otics ecology in all
dimensions. They can be controlled through traditional S.Bus si
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gnal by switches and dials, or through Ethernet by touchscreen or by UDP / TCP
c ommands based on SIYI gimbal SDK, or through UART by SIYI gimbal SDK or by
mainstream open-source protocols ArduPilot and PX4 (Mavlink).
Gimbal Motion Mode Nose Mode When the gimbal is installed at an angle of 90
degrees to the horizontal plane, it w ill automatically enter the nose mode,
which is convenient for installation on the no se position of the fixedwing
drone to achieve a friendlier installation angle and a wider field of view.
Upside Down Mode Gimbal automatically activates upside down mode when it is
placed upside down, very convenient to be mounted on multiple kinds of
vehicles like UGV, USV, robot dog, and more robotics. Follow Mode
Horizontally, gimbal follows when aircraft rotates. Lock Mode Horizontally,
gimbal does not follow when aircraft rotates. FPV Mode Gimbal rotates
simultaneously as aircraft rolls to get FPV view, and output enhanced stable
images.
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High Accuracy and High Collaboration Control Algorithms SIYI has done even
more in control algorithms and stabilization algorithms. IMU Calibration
Algorithms Compensate and correct errors of the inertial measurement unit,
reduce interference factors such as zero bias, scale factor, inter-axis error,
temperature drift, noise, etc., greatly improve the measurement accuracy of
IMU, and improve the stability of the gimbal in large temperature differences,
wide margin steering, and strong vibration environments. Attitude Fusion
Algorithms Comprehensively utilize the data of sensors such as accelerometers
and gyroscopes, obtain the pitch angle, roll angle, and yaw angle of the
gimbal through mathematical models and filtering algorithms, and fuse this
information to effectively improve system performance, stability, and
robustness. Industry-Level 3-Axis Stabilization Algorithms Deeply integrate
and utilize 3-axis gyroscopes, 3-axis accelerometers, PID controllers, motors,
and magnetic encoders to achieve gimbal attitude stabilization control and
continuously output stable high-definition video images during motion. High-
Precision FOC Motor Control Algorithms Control the current components of the
motor to control torque and magnetic field respectively, thereby achieving
decoupling control of the brushless motor and greatly reducing picture jitter.
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1.2 Ports, Interface & Definition
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1.3 Technical Specification
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Video Output Port
Control Signal Input Port
High Accuracy 3 Axis Stabilization
Working Voltage
Power Consumption
Waterproof Level
Working Temperature Dimension
(Quick Release Board Included) Weight
(Quick Release Board Included)
Overall
Ethernet Micro-HDMI
S.Bus UART Ethernet UDP / TCP Yaw Pitch Roll 11 ~ 25.2 V (3S to 6S) Average 5
W Summit 12 W IP4X
-10 ~ 50
132 x 100 x 180 mm
668 g
ZR30 Quick Release Anti-Vibration Board
Dimension
82 x 65 x 20 mm
Weight
38 g
Angular Vibration Range Controllable Pitch Angle Controllable Yaw Angle
Rotatable Roll Angle
Gimbal
±0.01° -90° ~ +25° -270° ~ +270° -45° ~ +45°
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Lens Focal Length Image Sensor
Aperture FOV
Video Recording Resolution
Still Photo Resolution Video Storage Bitrate Supported File System
Image Format Video File Format Supported MicroSD
Cards Still Photography Mode
Metering Mode White Balance
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Camera
30X Optical Zoom (180X Hybrid Zoom) 4.5 ~ 148.4 mm (±5%) 1/2.7 Inch Sony CMOS
8 MP Effective Resolution
F1.3 ~ 2.8 (±5%) Without Zoom: Diagonal 65.4°, Horizontal 58.1° 30X Optical
Zoom: Diagonal 2.5°, Horizontal 2.1°
4K (3840 x 2160) @ 25 fps 2K (2560 x 1440) @ 30 fps 1080p (1920 x 1080) @ 30
fps 720p (1280 x 720) @ 30 fps
4K (3840 x 2160)
12 Mbps (H.265 Codec) FAT32 ExFAT JPG
MP4
MicroSD Class10, max 128 GB
Single
Evaluative metering
Automatic
Mark To make sure that you get smoothly recorded video, please format the SD card, and make the minimum storage unit as 64 KB before recording. Please format the SD card to FAT32 before camera firmware upgrade.
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1.4 Packing List
1 x ZR30 Optical Pod 1 x ZR30 Quick Release Board
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1 x MK15 / HM30 Air Unit S.Bus Y Cable (Connect SIYI MK15 and HM30 air unit’s
S.Bus port to acquire control signal, then one connector of the cable goes to
SIYI gimbal, another goes to flight controller)
1 x 3 in 1 Control Cable (A universal cable for ZT30, ZR30, and A8 mini, it
connects SIYI gimbal’s control signal port with SIYI link and controller,
including UART control input, S.Bus input and output)
1 x SIYI Gimbal Power Cable (Power supply cable for SIYI gimbal)
1 x SIYI Gimbal Ethernet Cable (A backup cable for customer DIY purpose to
connect SIYI gimbal to third-party Ethernet devices)
1 x SIYI Gimbal to SIYI Link Cable (An all-in-one cable for only touch screen
control to SIYI gimbal through SIYI link, it can power SIYI gimbal and can
also transfer video stream and control signal)
1 x SIYI Gimbal Ethernet to RJ45 Cable (Connect SIYI gimbal with RJ45 device
directly)
1 x SIYI Gimbal to PX4 / ArduPilot Flight Controller UART Cable (A universal
cable for ZT30, ZR30, and A8 mini, it connects SIYI gimbal to the UART port on
PX4 / ArduPilot flight controller for data communication and gimbal control)
1 x ZT30 / ZR30 Screw Pack (Using with the fixing board to mount ZT30 quick release anti-vibration claw and ZR30 quick release anti-vibration board, including 6 x Hex Socket Large Flat Head Cap Screw TM3*8)
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1.5 Indicator Definition
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The status indicator on SIYI gimbal uses three different colors and different blinking frequencies to indicate the system’s working or abnormal status.
Solid Green: Normally working. Slow Green Blinks: S.Bus signal input is
normal.
Double Green Blinks: Integrating flight controller attitude data is normal.
Slow Red Blinks: One of or all the firmware does not match (camera firmware,
gimbal firmware, zoom firmware).
Triple Red Blinks: Failed to identify zoom module (for optical zoom gimbal
camera only).
Red-Red-Yellow Blinks Continuously: Failed to identify camera board. Yellow
Blinks: Power input voltage is low (lower than 10 V).
Double Red Blinks: IMU temperature rising is abnormal. Double Yellow Blinks:
IMU temperature is rising.
Triple Yellow Blinks: IMU temperature is abnormal.
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GET READY TO USE ZR30
ZR30 User Manual v1.3
2.1 Installation
Screw Holes’ Position and Distance
Mark The specs of the screws for fixing the four tube screws are M.3*8 mm.
Quantity: 4. Welcome to contact SIYI to get the SIYI Gimbal 3D Model for pre-
installation.
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2.2 Connection and Power
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SIYI optical pod and gimbal camera can be powered in many ways. If you plan to carry SIYI gimbal by your plane and the plane may roll in a wide margin, then please use connect SIYI gimbal’s power port directly by a 3S to 6S power battery, not through power distribution board or air unit.
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2.3 Interesting Functions and Cautions
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SIYI optical pod and gimbal camera support abundant interesting functions.
2.3.1 Capture with Time and Location Information SIYI optical pod and gimbal
camera can save time and location information into captured pictures in EXIF
format. The preconditions that the function will work are: Time Information:
The ground station must connect to internet and run the latest
SIYI FPV app. Location Information: Gimbal must be communicating with the
flight controller
through UART.
Mark Location information can only be acquired from Mavlink protocol at this
moment. The above functions are only available in SIYI optical pods and gimbal
cameras which support capturing pictures and TF card recording and can
communicate with the flight controller (ZT30, ZT6, ZR30, A8 mini, ZR10).
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2.3.2 Point to Focus & Focus Tracking
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Point to Focus
The zoom camera in ZT30 four-sensor optical pod support selecting focus and focusing to a point on any place in the image while SIYI FPV or SIYI QGroundControl app is running. Fast and accurate.
Focus Tracking
The zoom camera in ZT30 four-sensor optical pod automatically adjust focal length during optical zooming to keep filming smooth and clear images.
2.3.3 Output Four Video Streams from the Same RTSP Addresses
SIYI optical pod (gimbal camera) can output up to four video streams from the
same RTSP addresses.
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GIMBAL CONTROL
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SIYI optical pod (gimbal camera) support multiple methods to control.
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3.1 Enable AI Recognition, Tracking, and Follow through SIYI AI Tracking
Module Using SIYI Optical Pod (Gimbal Camera) and SIYI Link
SIYI optical pod (gimbal camera) can connect to SIYI link through SIYI AI
tracking module and enable AI recognition, tracking, and follow feature
through SIYI FPV app or SIYI QGC app while the air unit is communicating with
the ground unit.
It is necessary to prepare the tools, firmware, and software below before
controlling gimbal camera in this way. SIYI Links (MK32 Standard Combo / HM30
/ MK15 Enterprise Standard Combo
is suggested for excellent compatibility with SIYI gimbal cameras) SIYI
Optical Pod (Gimbal Camera) Flight Controller SIYI AI Tracking Module
Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers.
SIYI Gimbal to SIYI Link Cable
Mark
Above tools come with product package.
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SIYI FPV App (v2.5.15.695 or latest version) SIYI QGC App
ZR30 User Manual v1.3
Mark Above software can be downloaded from relevant product page on SIYI official website.
Steps 1. Confirm if gimbal camera’s firmware has been upgraded to be
compatible with
SIYI AI tracking module and the AI follow function.
2. Confirm if SIYI FPV app has been upgraded to be compatible with SIYI AI
tracking module and the AI follow function.
3. Please refer to the picture below to connect SIYI AI tracking module with
SIYI gimbal camera and SIYI link.
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4. Please refer to the picture below to connect SIYI gimbal camera with
flight controller and integrate attitude data.
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5. Run SIYI FPV app, go to “Settings – Addresses”, and select “SIYI AI
Camera”.
6. Return to main image, touch the AI tracking function button to enable the
function.
7. Confirm if the flight controller integration button shows up (which means
flight controller attitude data is integrated).
8. Switch flight mode to “Guided” and configure the max flight speed.
9. Touch the AI tracking / follow button again to disable the function.
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DANGER
Considering flight safety, it is recommended to use the AI follow function and
obstacle avoidance function together. When the AI follow function is
activated, the operator will not be able to manually control the flight, and
the ground station cannot use the guided mode to control the aircraft.
Switching flight mode can regain control. When the AI follow function is
activated, please ensure that the view on the follow route is clear and free
of obstacles, and always pay attention to flight safety. When encountering
obstacles, please immediately take over the flight manually and re-plan the
route. When the tracking target is lost, the aircraft will hover.
Mark Using SIYI AI tracking module with multiple-sensor optical pods, in SIYI
FPV app, the main stream of the optical pod should be configured as zoom
camera. When the tracked object is higher than the multi-rotor drone on the
horizontal plane, AI
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follow function does not work; when the tracked object and the multi-rotor
drone are on the same horizontal plane, AI follow function works best.
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3.2 Control SIYI Optical Pod (Gimbal Camera) in SIYI FPV App or SIYI QGC App
through SIYI link
SIYI optical pod (gimbal camera) can connect to SIYI link directly to control
gimbal rotation, gimbal functions, and video display in SIYI FPV app or SIYI
QGC app when the air unit is communicating with the ground unit.
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3.2.1 Preparation
ZR30 User Manual v1.3
It is necessary to prepare the tools, firmware, and software below before
controlling gimbal camera in this way. SIYI Links (MK32 Standard Combo / HM30
/ MK15 Enterprise Standard Combo
is suggested for excellent compatibility with SIYI gimbal cameras) SIYI
Optical Pod (Gimbal Camera)
Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers.
SIYI Gimbal to SIYI Link Cable
Mark Above tools come with product package.
SIYI FPV App (v2.5.15.691 or latest version) SIYI QGC App
Mark Above software can be downloaded from relevant product page on SIYI official website.
SIYI FPV App Steps
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1. Power the air unit and bind it with the ground unit.
ZR30 User Manual v1.3
2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port to the
gimbal camera’s Ethernet port.
3. Update SIYI FPV app to the latest.
4. Run SIYI FPV app, go to “Settings” and select the relevant SIYI camera type with
main / sub stream, video stream will display. Gimbal motion and camera
functions can be controlled by the application.
SIYI QGC App Steps 1. Power the air unit and bind it with the ground unit. 2.
Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port to
the
gimbal camera’s Ethernet port. 3. Run SIYI QGC app, go to “Comm Links Video
Settings”, and select “RTSP
Video Stream” for “Source”, then enter the default RTSP addresses of SIYI
gimbal camera, video stream will display. Gimbal motion and camera functions
can be controlled by the application.
3.2.2 Gimbal Pitch and Yaw Rotation
While SIYI FPV App or SIYI QGC app is running, Sliding on touchscreen can
control gimbal rotation. Sliding left and right are yaw rotation, up and down
are gimbal pitch rotation.
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Double tap touchscreen, gimbal will automatically center.
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Mark Slide on touchscreen and hold it, gimbal will continue rotating till it reaches physical limit. Farther that you hold it from the center of the screen, faster the gimbal rotates.
3.2.3 Zoom and Focus
While SIYI FPV App or SIYI QGC app is running, Touching “Zoom in” or “Zoom
out” icon on can control the zoom camera. Click the touchscreen once, optical
zoom gimbal camera will focus automatically.
3.2.4 Take pictures and Record Video While SIYI FPV App or SIYI QGC app is
running, Touch “Photo” icon once on to take a picture. Touch “Record” icon to
start video recording. Touch “Recording” icon to stop video recording.
Mark Before taking a picture or recording video, it is necessary to insert SD
card into the camera.
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3.3 Control SIYI Optical Pod (Gimbal Camera) in SIYI QGC (Windows) Software
through SIYI Link
SIYI optical pod (gimbal camera) can connect to SIYI link directly to control
gimbal rotation, gimbal functions, and video display in SIYI QGC Windows
software when the air unit is communicating with the ground unit.
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3.3.1 Preparation
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It is necessary to prepare tools, firmware, and software below before
controlling gimbal camera in this way. SIYI Links (MK32 Standard Combo / HM30
/ MK15 Enterprise Standard Combo
is suggested for excellent compatibility with SIYI gimbal cameras) SIYI
Optical Pod (Gimbal Camera)
Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers.
SIYI Gimbal to SIYI Link Cable
Mark Above tools come with product package.
SIYI QGC Windows Software
Mark Above software can be downloaded from relevant product page on SIYI official website.
Steps
1. Power the air unit and bind it with the ground unit.
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2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port
with the gimbal’s Ethernet port.
3. Then connect the ground unit of the SIYI link to the Windows computer. 4.
Modify the computer’s Ethernet settings to have the same gateway with SIYI
link
and avoid IP addresses conflict. For example, let’s assign “192.168.144.30”
for the computer IP addresses.
5. Run SIYI QGC Windows software, go to “Comm Links Video Settings”, and
select “RTSP Video Stream” for “Source”, then enter the default RTSP addresses
of SIYI gimbal camera, video stream will display. Gimbal motion and camera
functions can be controlled by mouse in QGroundControl.
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3.3.2 Gimbal Pitch and Yaw Rotation
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While SIYI QGC Windows software is running, Drag the mouse on screen can control gimbal rotation. Dragging the mouse left and right are yaw rotation, up and down are pitch rotation. Double click the mouse on screen, gimbal will automatically center.
Mark Drag the mouse on screen and hold it, gimbal will continue rotating unless there is a physical stop. Farther you hold it from the center of the screen, faster the gimbal rotates.
3.3.3 Zoom and Focus
While SIYI QGC Windows software is running, Clicking “Zoom in” or “Zoom out”
icon on can control the zoom camera. Click on screen, optical zoom camera will
focus automatically.
3.3.4 Take pictures and Record Video
While SIYI QGC Windows software is running, Click “Photo” icon once on to take
a picture. Click “Record” icon to start video recording. Click “Recording”
icon to stop video recording.
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Mark
ZR30 User Manual v1.3
Before taking a picture or recording video, it is necessary to insert SD card into gimbal
camera.
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3.4 Control SIYI Optical Pod (Gimbal Camera) by S.Bus Signal and Forward S.Bus
Signal to Flight Controller through SIYI Link
SIYI optical pod (gimbal camera) can be connected to the air unit of SIYI link
and the flight controller simultaneously for attitude control through
joysticks, dials, switches, and buttons on a remote controller or on an SIYI
handheld ground station.
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3.4.1 Preparation
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It is necessary to prepare tools, firmware, and software below before
controlling gimbal camera in this way. SIYI Links (MK32 Standard Combo / HM30
/ MK15 Enterprise Standard Combo
is suggested for excellent compatibility with SIYI gimbal cameras) SIYI
Optical Pod (Gimbal Camera)
Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers.
SIYI Gimbal to SIYI Link Cable 3 in 1 Control Cable (For ZT30, ZT6, ZR30, and A8 mini) MK15 / HM30 Air Unit S.Bus Y Cable
Mark Above tools come with product package.
Cable (USB-C to USB-A)
Mark Above tools should be prepared by customer.
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SIYI PC Assistant (v1.3.9 or latest version)
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Mark Above software can be downloaded from relevant product page on SIYI official website.
Steps 1. Power the air unit and bind it with the ground unit. 2. Use SIYI
Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with
gimbal’s Ethernet port. 3. Wire the 3 in 1 Control Cable with the MK15 / HM30
Air Unit S.Bus Y Cable. 4. Then use the combined cable to connect the air
unit’s RC port and the gimbal’s
control signal port. 5. Install and run SIYI PC Assistant on Windows computer.
6. Use the USB-C to USB-A cable to connect the gimbal to the computer, then
run
SIYI PC Assistant and go to “Gimbal Config” page.
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ZR30 User Manual v1.3
7. Under “Channel Config” page, assign the communication channel 1 to 16 to
target gimbal and camera functions according to your requirement.
8. For the assigned channels, operate their mapped joysticks, dials,
switches, and buttons on the handheld ground station to confirm if they are
working normally.
3.4.2 Gimbal Pitch and Yaw Rotation (Taking an example of Dial Control)
Below is suggested channel mapping settings for testing, customers are free to
assign channel mappings as required through SIYI TX app.
Channel 7 = Left Dial (Reversed)
Channel 8 = Right Dial
Channel 12 = Any Button
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ZR30 User Manual v1.3
In SIYI PC Assistant, map “Yaw” function to channel 7 and “Pitch” to channel
8, “Center” to channel 12. Then, if you operate the left dial, gimbal will
rotate on yaw axis. If you operate the right dial, gimbal will rotate on pitch
axis. Press the button, gimbal will center itself automatically.
Mark Hold the dial from its center position, gimbal will keep rotating unless
there was a physical limit. Farther you hold it away from center, faster
gimbal rotates.
3.4.3 Zoom and Focus (Taking an Example of Switch Control) Below are the
suggested channel mapping settings for testing, customers are free to assign
channel mappings as required through SIYI TX app. Channel 13 = A Switch
Channel 14 = B Switch
In SIYI PC Assistant, map “Zoom” function to channel 13, map “Auto Focus”
function to channel 14. Then, if you operate switch A, camera will zoom in or
zoom out. If you operate switch B, optical zoom camera will focus
automatically.
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3.4.4 Take Pictures and Record Video (Taking an Example of Button Control)
Below are the suggested channel mapping settings for testing, customers are
free to assign channel mappings as required through SIYI TX app. Channel 9 =
Button A Channel 10 = Button B In SIYI PC Assistant, map “Photo” function to
channel 9 and “Record” to channel 10. Then, if you press button A, camera will
take a picture. If you press button B, camera will start or stop video
recording.
Mark Before taking pictures or recording video, it is necessary to insert SD
card into the camera.
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3.5 UART / UDP Control (SIYI Gimbal SDK)
ZR30 User Manual v1.3
SIYI gimbal camera provides control protocol for all customers. Please refer to the below guide for secondary development based on SIYI gimbal camera.
3.5.1 SDK Protocol Format
Field STX
CTRL
Data_len SEQ CMD_ID DATA CRC16
Index 0
2
3 5 7 8
Bytes 2
1
2 2 1
Description
0x6655: starting mark. Low byte in the front 0: need_ack (if the current data
pack need “ack”) 1: ack_pack (if the current data pack is an “ack” package)
2-7: reserved Date field byte length Low byte in the front Frame sequence (0 ~
65535) Low byte in the front
Command ID
Data_len 2
Data
CRC16 check to the complete data package. Low byte in the front
3.5.2 SDK Communication Commands
TCP Heartbeat
No. Data Type
Mark:
CMD_ID:0x00——TCP Heartbeat
Send data format
Data Name
Description
ACK data format
No ack
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1. Heartbeat pack: 55 66 01 01 00 00 00 00 00 59 8B 2. Only available for TCP protocol.
ZR30 User Manual v1.3
Request Gimbal Camera Firmware Version
CMD_ID:0x01——Request Gimbal Camera Firmware Version
Send data format
No. Data Type
Data Name
Description
uint32_t uint32_t uint32_t
ACK data format code_board_ver gimbal_firmware_ver zoom_firmware_ver
Camera firmware version
Gimbal firmware version Zoom firmware version
Eg0x6E030203 = firmware version v3.2.3
Mark: 1. Ignore the 4th byte (higher byte) 2. Zoom firmware version is only
available for optical zoom cameras such as ZR10, ZR30, and ZT30 at this
moment.
Request Gimbal Camera Hardware ID
CMD_ID:0x02——Request Gimbal Camera Hardware ID
Send data format
No. Data Type
Data Name
Description
Uint8_t
ACK data format
hardware_id[12]
Hardware ID character string (10 digits)
Mark:
The first two digits of the hardware ID character string indicates product
model number in hexadecimal. 0x6B: ZR10 0x73: A8 mini 0x75: A2 mini 0x78: ZR30
0x82: ZT6 0x7A: ZT30
Request Gimbal Camera’s Present Working Mode
CMD_ID:0x19——Request Gimbal Camera’s Present Working Mode
No. Data Type
Send data format Data Name
Description
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1
uint8_t
ACK data format
00: Lock Mode
gimbal_mode
01: Follow Mode
02: FPV Mode
ZR30 User Manual v1.3
Auto Focus
No. Data Type uint8_t uin16_t
uin16_t
1
uint8_t
CMD_ID:0x04——Auto Focus
Send data format
Data Name
Description
auto_focus
1: Start auto focus for once
touch_x
x coordinates, the range is the length of the video stream resolution
touch_y
y coordinates, the range is the height of the video stream resolution
ACK data format
sta
1: Success 0: Failure
Mark: 1. Auto focus command is only available for optical zoom gimbal cameras
like ZT30, ZR30, and ZR10 at this
moment. 2. Under split image, the effective value of the x coordinates is a
half of the length of the video stream
resolution.
Manual Zoom and Auto Focus
CMD_ID:0x05——Manual Zoom and Auto Focus
Send data format
No. Data Type
Data Name
Data Description
1: Start zooming in
1
int8_t
zoom
0: Stop zooming in / out (send when released from control command)
-1: Start zooming out
ACK data format
Current (hybrid) zoom multiples
uint16_t
zoom_multiple
(zoom_multiple / 10, accuracy is one
decimal point)
Mark: 1. Manual zoom and auto focus command is only available for optical zoom
gimbal cameras like ZT30, ZR30,
and ZR10 at this moment. 2. Under this command, ZT6 and A8 mini can only do
manual zoom but cannot do auto focus.
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ZR30 User Manual v1.3
Absolute Zoom and Auto Focus
CMD_ID:0x0F——Absolute Zoom and Auto Focus
Send data format
No. Data Type
Data Name
Data Description
1
uint8_t
Absolute_movemen Input the integer part of the target
t_int
multiple (0X1 ~ 0X1E)
2
uint8_t
Absolute_movemen Input the fractional part of the target
t_float
multiple (0X0 ~ 0X9)
ACK data format
uint8_t
Absolute_movemen t_ask
Success and return to 1
Mark: 1. Absolute zoom command is only available for optical zoom gimbal
cameras like ZT30, ZR30, and ZR10 at
this moment. 2. Under this command, ZT6 and A8 mini can only do absolute zoom
but cannot do auto focus.
Request the Max Zoom Value in Present
CMD_ID:0x16——Request the Max Zoom Value in Present
Send data format
No. Data Type
Data Name
Description
uint8_t uint8_t
ACK data format
zoom_max_int
Integer of the max zoom value in present
zoom_max_float
Float of the max zoom value in present
Mark: This command is available for zoom gimbal cameras.
Request the Zoom Value in Present
CMD_ID:0x18——Acquire the Zoom Value in Present
Send data format
No. Data Type
Data Name
Description
uint8_t uint8_t
ACK data format
zoom_int
Integer of the zoom value in present
zoom_float
Float of the zoom value in present
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Mark: This command is available for zoom gimbal cameras.
ZR30 User Manual v1.3
Manual Focus
No. Data Type
1
int8_t
uint8_t
CMD_ID:0x06——Manual Focus
Send data format
Data Name
Description
1: Long shot
focus
0: Stop manual focus (send when released from control command)
-1: Close shot
ACK data format
sta
1: Success 0: Fail
Mark: Auto focus command is only available for optical zoom gimbal cameras like ZT30, ZR30, and ZR10 at this moment.
Gimbal Rotation
No. Date Type
1
int8_t
2
int8_t
uint8_t
CMD_ID:0x07——Gimbal Rotation
Send data format
Date Name
Description
-100~0~100: Negative and positive represent two directions, higher or
turn_yaw
lower the number is away from 0, faster the rotation speed is. Send 0
when released from control command and gimbal stops rotation.
turn_pitch
-100~0~100: Same as above
ACK data format
sta
1: Success 0: Fail
Center
No. 1
Data Type uint8_t
CMD_ID:0x08——Center
Send data format
Data Name
Description
center_pos
1: gimbal centers to position 0
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ACK data format
1
uint8_t
sta
1: Success 0: Fail
ZR30 User Manual v1.3
Request Gimbal Configuration Information
CMD_ID:0x0A——Request Gimbal Configuration Information
Send data format
No. Data Type
Data Name
Description
1
uint8_t
2
uint8_t
3
uint8_t
4
uint8_t
5
uint8_t
6
uint8_t
7
uint8_t
ACK data format
reserved
hdr_sta
0: HDR OFF 1: HDR ON
reserved
0: Recording OFF
1: Recording ON
record_sta
2: TF card slot is empty
3: (Recording) Data loss in TF card
recorded video, please check TF card
0: Lock Mode
gimbal_motion_mode 1: Follow Mode
2: FPV Mode
Gimbal Mounting Method
gimbal_mounting_dir
0: Reserved 1: Normal
2: Upside Down
(Only available on ZT6 and A8 mini)
Video output status of HDMI and
CVBS:
0:
video_hdmi_or_cvbs HDMI output ON
CVBS output OFF
1:
HDMI output OFF
CVBS output ON
Function Feedback Information
CMD_ID:0x0B——Function Feedback Information
Send data format
No. Data Type
Data Name
Description
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1
uint8_t
ZR30 User Manual v1.3
ACK data format
0: Success
1: Fail to take a photo (Please check
if TF card is inserted)
info_type
2: HDR ON
3: HDR OFF
4: Fail to record a video (Please check
if TF card is inserted)
Photo and Record
No. Data Type
uint8_t
CMD_ID:0x0C——Photo and Record
Send data format
Data Name
Description
0: Take a picture
1: Switch on / off HDR (not supported
yet)
2: Start / Stop Recording
3: Motion Lock Mode
4: Motion Follow Mode
5: Motion FPV Mode
6: Set video output as HDMI
func_type
(Only available on ZT6 and A8 mini,
restart gimbal to take effect)
7: Set video output as CVBS
(Only available on ZT6 and A8 mini,
restart gimbal to take effect)
8: Turn off both HDMI and CVBS
video output
(Only available on ZT6 and A8 mini,
restart gimbal to take effect)
ACK data format
No ack
Request Gimbal Attitude
CMD_ID:0x0D——Request Gimbal Attitude
Send data format
No. Data Type
Data Name
Description
int16_t int16_t int16_t int16_t
ACK data format yaw pitch roll yaw_velocity
46
Yaw axis degree Pitch axis degree Roll axis degree Yaw axis rotation speed
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int16_t int16_t
pitch_velocity roll_velocity
ZR30 User Manual v1.3
Pitch axis rotation speed Roll axis rotation speed
Mark: 1. The above data to be divided by 10 is the actual degree, accuracy in
one decimal place. 2. It is suggested to use the command “0x25” to configure
the sending frequency of gimbal attitude data in
certain frequency continuously and actively.
Send Control Angle to Gimbal
CMD_ID:0x0E——Send Control Angle to Gimbal
Send data format
No. Data Type
Data Name
Description
int16_t
yaw
Target yaw angle
int16_t
pitch
Target pitch angle
int16_t int16_t int16_t
yaw pitch roll
ACK data format
Current yaw angle Current pitch angle Current roll angle
Control Angle Range
Yaw: ZR10 / A8 mini: -135.0 ~ 135.0 degrees ZT6 / ZR30: -270.0 ~ 270.0 degrees
ZT30: Limitless
Pitch ZT30 / ZT6 / ZR30 / ZR10 / A8 mini / A2 mini: -90.0 ~ 25.0 degree
Mark: 1. The accuracy of the control angle is in one decimal place. Eg: Set
yaw as 60.5 degrees, the command
number should be set as 605. 2. The actual angle data returned to be divided
by 10 is the actual degree, accuracy in one decimal place.
Request Gimbal Camera Codec Specs
CMD_ID:0x20——Request Gimbal Camera Codec Specs
Send data format
No. Data Type
Data Name
Description
0: Recording stream
uint8_t
req_stream_type
1: Main stream 2: Sub stream (only available on ZT30
and ZT6)
ACK data format
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uint8_t
uint8_t uint16_t uint16_t uint16_t uint8_t
stream_type
VideoEncType
Resolution_L Resolution_H VideoBitrate VideoFrameRate
ZR30 User Manual v1.3
0: Recording stream
1: Main stream 2: Sub stream (only available on ZT30 and ZT6) Codec Format 1:
H264 2: H265 Resolution in length Resolution in height Video Bitrate in Kbps
Video frame rate
Send Codec Specs to Gimbal Camera
CMD_ID:0x21——Send Codec Specs to Gimbal Camera
Send data format
No. Data Type
Data Name
Description
0: Recording stream
uint8_t
stream_type
1: Main stream 2: Sub stream (only available on ZT30
and ZT6)
uint8_t
VideoEncType
Codec Format 1: H264
2: H265
uint16_t
Resolution_L
Resolution in length: 1920, 1280
uint16_t
Resolution_H
Resolution in height: 1080, 720
uint16_t
VideoBitrate
Video Bitrate in Kbps
uint8_t
reserve
Reserved
ACK data format
0: Recording stream
uint8_t uint8_t
stream_type sta
1: Main stream 2: Sub stream (only available on ZT30 and ZT6)
1: Success 0: Failure
Request Gimbal Camera Image Mode
CMD_ID:0x10——Request Gimbal Camera Image Type
Send data format
No. Data Type
Data Name
Description
ACK data format
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1 uint8_t
vdisp_mode
ZR30 User Manual v1.3
Image Mode: 0: Split Screen (Main: Zoom & Thermal. Sub: Wide Angle) 1: Split
Screen (Main: Wide Angle & Thermal. Sub: Zoom) 2: Split Screen (Main: Zoom &
Wide Angle. Sub: Thermal) 3: Single Image (Main: Zoom. Sub: Thermal) 4: Single
Image (Main: Zoom. Sub: Wide Angle) 5: Single Image (Main: Wide Angle. Sub:
Thermal) 6: Single Image (Main: Wide Angle. Sub: Zoom) 7: Single Image (Main:
Thermal. Sub: Zoom) 8: Single Image (Main: Thermal. Sub: Wide Angle)
Mark: This command is only available for ZT30 and ZT6 at this moment.
Send Image Mode to Gimbal Camera
CMD_ID:0x11——Send Image Type to Gimbal Camera
Send data format
No. Data Type
Data Name
Description Image Mode: 0: Split Screen (Main: Zoom &
Thermal. Sub: Wide Angle) 1: Split Screen (Main: Wide Angle & Thermal. Sub: Zoom) 2: Split Screen (Main: Zoom & Wide
1 uint8_t
vdisp_mode
Angle. Sub: Thermal) 3: Single Image (Main: Zoom. Sub: Thermal) 4: Single Image (Main: Zoom. Sub: Wide Angle) 5: Single Image (Main: Wide Angle. Sub: Thermal) 6: Single Image (Main: Wide Angle.
Sub: Zoom) 7: Single Image (Main: Thermal. Sub: Zoom)
8: Single Image (Main: Thermal. Sub:
Wide Angle)
ACK data format
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1 uint8_t
vdisp_mode
ZR30 User Manual v1.3
Image Mode: 0: Split Screen (Main: Zoom & Thermal. Sub: Wide Angle) 1: Split
Screen (Main: Wide Angle & Thermal. Sub: Zoom) 2: Split Screen (Main: Zoom &
Wide Angle. Sub: Thermal) 3: Single Image (Main: Zoom. Sub: Thermal) 4: Single
Image (Main: Zoom. Sub: Wide Angle) 5: Single Image (Main: Wide Angle. Sub:
Thermal) 6: Single Image (Main: Wide Angle. Sub: Zoom) 7: Single Image (Main:
Thermal. Sub: Zoom) 8: Single Image (Main: Thermal. Sub: Wide Angle)
Mark: This command is only available for ZT30 and ZT6 at this moment.
Request the Temperature of a Point
CMD_ID:0x12——Request the Temperature of a Point
Send data format
No. Data Type
Data Name
Description
1 uint16_t
x
x coordinate of the point
2 uint16_t
y
y coordinate of the point
3 uint8_t
1 uint16_t 2 uint16_t 3 uint16_t
0: Turn off temperature measuring
get_temp_flag
1: Measure the temperature once 2: Continuous temperature measuring
at 5 Hz
temp
ACK data format Temperature of the point / 100 (two decimal places)
x
X coordinate of the point
y
Y coordinate of the point
Mark: This command is only available for ZT30 and ZT6 at this moment.
Request the Max / Min Temperature in a Selected Box
CMD_ID:0x13——Request the Max / Min Temperature in a Selected Box
Send data format
No. Data Type
Data Name
Description
1 uint16_t
startx
X coordinate of the starting point of the box
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2 uint16_t 3 uint16_t 4 uint16_t
5 uint8_t
1 uint16_t 2 uint16_t 3 uint16_t 4 uint16_t 5 uint16_t 6 uint16_t 7 uint16_t 8
uint16_t 9 uint16_t 10 uint16_t
ZR30 User Manual v1.3
starty
Y coordinate of the starting point of the box
endx
X coordinate of the ending point of the box
endy
Y coordinate of the ending point of the box
0: Turn off temperature measuring
get_temp_flag
1: Measure the temperature once 2: Continuous temperature measuring
at 5 Hz
ACK data format
startx
X coordinate of the starting point of the box
starty
Y coordinate of the starting point of the box
endx
X coordinate of the ending point of the box
endy
Y coordinate of the ending point of the box
temp_max
The maximum temperature in the box / 100 (two decimal places)
temp_min
The minimum temperature in the box / 100 (two decimal places)
temp_max_x
X coordinate of the max temperature in the box
temp_max_y
Y coordinate of the max temperature in the box
temp_min_x
X coordinate of the min temperature in the box
temp_min_x
Y coordinate of the min temperature in the box
Mark: 1. Thermal camera supports digital zoom, the temperature measuring box
will zoom in and out according to
the digital zoom multiples. Under digital zoom, the temperature measuring
range should refer to the box responded by the camera. 2. This command is only
available for ZT30 and ZT6 at this moment.
Request the Max / Min Temperature in the Full Image
CMD_ID:0x14——Request the Max / Min Temperature in the Full Image
Send data format
No. Data Type
Data Name
Description
0: Turn off temperature measuring
1 uint8_t
get_temp_flag
1: Measure the temperature once 2: Continuous temperature measuring
at 5 Hz
ACK data format
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1 uint16_t 2 uint16_t 3 uint16_t 4 uint16_t 5 uint16_t 6 uint16_t
temp_max temp_min temp_max_x temp_max_y temp_min_x temp_min_x
ZR30 User Manual v1.3
The maximum temperature in the full image / 100 (two decimal places) The
minimum temperature in the full image / 100 (two decimal places) X coordinate
of the max temperature in the full image
Y coordinate of the max temperature in the full image X coordinate of the min
temperature in the full image Y coordinate of the min temperature in the full
image
Mark: This command is only available for ZT30 and ZT6 at this moment.
Request the Thermal Color Palette
CMD_ID:0x1A——Request the Thermal Color Palette
Send data format
No. Data Type
Data Name
Description
uint8_t
ACK data format 11 thermal colors are available in total:
0: White_Hot
1: Reserved
2: Sepia
3: Ironbow
pseudo_color
4: Rainbow 5: Night
6: Aurora
7: Red_Hot
8: Jungle
9: Medical
10: Black_Hot 11: Glory_Hot
Mark: This command is only available for ZT30 and ZT6 at this moment.
Send a Thermal Color to Gimbal Camera
CMD_ID:0x1B——Send a Thermal Color to Gimbal Camera
Send data format
No. Data Type
Data Name
Description
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uint8_t uint8_t
ZR30 User Manual v1.3
11 thermal colors are available in total:
0: White_Hot
1: Reserved
2: Sepia
3: Ironbow
pseudo_color
4: Rainbow 5: Night
6: Aurora
7: Red_Hot
8: Jungle
9: Medical
10: Black_Hot
11: Glory_Hot
ACK data format 11 thermal colors are available in total:
0: White_Hot
1: Reserved
2: Sepia
3: Ironbow
pseudo_color
4: Rainbow 5: Night
6: Aurora
7: Red_Hot
8: Jungle
9: Medical
10: Black_Hot 11: Glory_Hot
Mark: This command is only available for ZT30 and ZT6 at this moment.
Send Thermal RAW Data Command to Gimbal
CMD_ID:0x34—— Send Thermal RAW Data Command to Gimbal
Send data format
No. Data Type Data Name
Description
1
uint8_t
mode
0: 30 fps 1: 25 fps and output temperature frame
ACK data format
1
uint8_t
mode
0: 30 fps 1: 25 fps and output temperature frame
Mark: This command is only available for ZT30 and ZT6 at this moment.
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ZR30 User Manual v1.3
Request Temperature from the Thermal Imaging Camera Once
CMD_ID:0x35—— Request Temperature from the Thermal Imaging Camera Once
Send data format
No. Data Type Data Name
Description
ACK data format
1
uint8_t
ack
1: Success
Mark: This command is only available for ZT30 and ZT6 at this moment.
Request Thermal Gain
CMD_ID:0x37—— Request Thermal Gain
Send data format
No. Data Type Data Name
Description
1
uint8_t
Ir_gain
ACK data format 0: Low gain 1: High gain
Mark: This command is only available for ZT30 and ZT6 at this moment.
Send Thermal Gain to Gimbal
CMD_ID:0x38—— Send Thermal Gain to Gimbal
Send data format
No. Data Type Data Name
Description
1
uint8_t
Ir_gain
0: Low gain 1: High gain
ACK data format
1
uint8_t
Ir_gain
0: Low gain 1: High gain
Mark: This command is only available for ZT30 and ZT6 at this moment.
Request Thermal Calibration
CMD_ID:0x39—— Request Thermal Calibration
Send data format
No. Data Type Data Name
Description
1
uint8_t
ACK data format
EnvCorrect
0: ON 1: OFF
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Mark: This command is only available for ZT30 and ZT6 at this moment.
ZR30 User Manual v1.3
Send Thermal Calibration to Gimbal
CMD_ID:0x3A—— Send Thermal Calibration to Gimbal
Send data format
No. Data Type Data Name
Description
1
uint8_t
EnvCorrect
0: ON 1: OFF
ACK data format
1
uint8_t
EnvCorrect
0: ON 1: OFF
Mark: This command is only available for ZT30 and ZT6 at this moment.
Request Thermal Calibration Parameters
CMD_ID:0x3B—— Request Thermal Calibration Parameters
Send data format
No. Data Type Data Name
Description
1
uint16_t
2
uint16_t
3
uint16_t
4
uint16_t
5
uint16_t
Dist Ems Hum Ta Tu
ACK data format Distance (m) Target emission rate (%) Humidity (%) Atmospheric Temperature (°C) Reflection Temperature (°C)
Mark: 1. All parameters of this protocol are divided by 100 and retained to two decimal places. 2. This command is only available for ZT30 and ZT6 at this moment.
Send Thermal Calibration Parameters to Gimbal
CMD_ID:0x3C—— Send Thermal Calibration Parameters to Gimbal
Send data format
No. Data Type Data Name
Description
1
uint16_t
Dist
Distance (m)
2
uint16_t
Ems
Target emission rate (%)
3
uint16_t
Hum
Humidity (%)
4
uint16_t
Ta
Atmospheric Temperature (°C)
5
uint16_t
Tu
Reflection Temperature (°C)
ACK data format
1
uint8_t
ack
1: Success
Mark:
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ZR30 User Manual v1.3
1. All parameters of this protocol are divided by 100 and retained to two
decimal places. 2. This command is only available for ZT30 and ZT6 at this
moment.
Request Range Value from the Laser Rangefinder
CMD_ID:0x15——Request Range Value from the Laser Rangefinder
Send data format
No. Data Type
Data Name
Description
1 uint16_t
info_type
ACK data format Range from Laser Rangefinder low byte in the front, high byte in the back Minimum value is 50 Data unit is dm
Mark: This command is only available for ZT30 and at this moment.
Request the Latitude and Longitude of the Laser Rangefinder’s Target
CMD_ID:0x17—— Request the Latitude and Longitude of the Laser Rangefinder’s
Target
Send data format
No. Data Type
Data Name
Description
1 int32_t 2 int32_t
ACK data format
lon_degE7
[degE7] Longitude (WGS84, EGM96 spheroid)
lat_degE7
[degE7] Latitude (WGS84, EGM96 spheroid)
Mark: This command is only available for ZT30 at this moment.
Request Laser Rangefinder Status
CMD_ID:0x31—— Request Laser Rangefinder Status
Send data format
No. Data Type
Data Name
Description
1 uint8_t
ACK data format
laser_state
1: ON 0: OFF
Mark: This command is only available for ZT30 at this moment.
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ZR30 User Manual v1.3
Send Lase Rangefinder Status to Gimbal
CMD_ID:0x32—— Send Lase Rangefinder Status to Gimbal
Send data format
No. Data Type
Data Name
Description
1 uint8_t
laser_state
1: ON 0: OFF
ACK data format
1 uint8_t
sta
1: Success 0: Fail
Mark: This command is only available for ZT30 at this moment.
Send Flight Controller Attitude Data to Gimbal UART Port
CMD_ID:0x22—— Send Flight Controller Attitude Data to Gimbal UART Port
Send data format
No. Data Type
Data Name
Description
1 float
roll
[rad] Roll angle (-pi..+pi)
2 float
pitch
[rad] Pitch angle (-pi/2..+pi/2)
3 float
yaw
[rad] Yaw angle (-pi..+pi)
4 float
rollspeed
[rad/s] Roll angular speed
5 float
pitchspeed
[rad/s] Pitch angular speed
6 float
yawspeed
[rad/s] Yaw angular speed
ACK data format
Request the Flight Controller to Send Data Stream to Gimbal
CMD_ID:0x24—— Request the Flight Controller to Send Data Stream to Gimbal
Send data format
No. Data Type
Data Name
Description
1 uint8_t
data_type
1Attitude data 2RC channel data (not ready yet)
2 uint8_t
data_freq
Outputting Frequency 0OFF 12 Hz 24 Hz 35 Hz 410 Hz 520 Hz 650 Hz 7100 Hz
ACK data format
1 uint8_t
data_type
1Attitude data 2RC channel data
Send Flight Controller GPS Data to Gimbal
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CMD_ID:0x3E—— Send Flight Controller GPS Data to Gimbal
Send data format
No. Data Type
Data Name
Description
1 uint32_t
time_boot_ms
[ms] time since boot
2 int32_t
lat
[degE7] Latitude
3 int32_t
lon
[degE7] Longitude
4 int32_t
alt
[cm] Altitude (MSL)
5 int32_t
alt_ellipsoid
[cm] Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
6 float
vn
[m/s] X Speed
7 float
ve
[m/s] Y Speed
8 float
vd
[m/s] Z Speed
ACK data format
Request the Gimbal to Send Data Stream
CMD_ID:0x25—— Request the Gimbal to Send Data Stream
Send data format
No. Data Type
Data Name
1 uint8_t
data_type
Description 1Attitude data 2Laser rangefinder data (available in
ZT30 only)
2 uint8_t
data_freq
Outputting Frequency 0OFF 12 Hz 24 Hz 35 Hz 410 Hz 520 Hz 650 Hz 7100 Hz
1 uint8_t
ACK data format
data_type
1Attitude data 2Laser rangefinder data
Mark:
The frequency of sending laser rangefinder data cannot be configured at this
moment. If the frequency is not 0, it sends data.
Set UTC Time
No. Data Type 1 uint64_t 1 int8_t
CMD_ID:0x30—— Set UTC Time
Send data format
Data Name
Description
Timestamp
UNIX epoch time(us)
ACK data format
ack
1: Success 0: Time format error
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Format SD Card
No. Data Type
CMD_ID:0x48—— Format SD Card
Send data format
Data Name
Description
1 uint8_t
ACK data format
format_sta
0: Fail 1: Success
3.5.3 SIYI Gimbal Camera SDK Communication Interface
TTL Serial Port Baud rate: 115200 Data position: 8 digits. Stop position: 1
digit. No check.
UDP IP: 192.168.144.25 Port Number: 37260
TCP IP: 192.168.144.25 Port Number: 37260 Heartbeat Package Data: 55 66 01 01
00 00 00 00 00 59 8B
3.5.4 SIYI Gimbal Camera SDK Communication Code Examples
Request the Gimbal Camera’s Working Mode in Present 55 66 01 00 00 00 00 19 5D
57
zoom 1 55 66 01 01 00 00 00 05 01 8d 64
zoom -1 55 66 01 01 00 00 00 05 FF 5c 6a
Absolute Zoom (4.5X) 59
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55 66 01 02 00 10 00 0f 04 05 6b 15
Request the Zoom Camera’s Max Zoom Value in Present 55 66 01 00 00 00 00 16 B2
A6
Request the Zoom Camera’s Zoom Value in Present 55 66 01 00 00 00 00 18 7C 47
Manual Zoom 1 55 66 01 01 00 00 00 06 01 de 31
Manual Zoom -1 55 66 01 01 00 00 00 06 ff 0f 3f
Take a Picture 55 66 01 01 00 00 00 0c 00 34 ce
Record Video 55 66 01 01 00 00 00 0c 02 76 ee
Gimbal Rotation 100 100 55 66 01 02 00 00 00 07 64 64 3d cf
Center 55 66 01 01 00 00 00 08 01 d1 12
Request Gimbal Camera’s Status Information 55 66 01 00 00 00 00 0a 0f 75
Auto Focus 55 66 01 01 00 00 00 04 01 bc 57
Request the Gimbal Camera’s Hardware ID 55 66 01 00 00 00 00 02 07 f4
Request the Gimbal Camera’s Firmware Version 55 66 01 00 00 00 00 01 64 c4
Lock Mode 55 66 01 01 00 00 00 0c 03 57 fe
Follow Mode 55 66 01 01 00 00 00 0c 04 b0 8e
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FPV Mode 55 66 01 01 00 00 00 0c 05 91 9e
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Request the Gimbal Camera’s Attitude Data 55 66 01 00 00 00 00 0d e8 05
Send Control Angle (-90, 0) (Upwards) to Gimbal Camera 55 66 01 04 00 00 00 0e 00 00 ff a6 3b 11
Send “Enable HDMI Output” Command to Gimbal Camera (Available for ZT6, ZR30, and A8 mini, restart after configuration) 55 66 01 01 00 00 00 0c 06 f2 ae
Send “Enable CVBS Output” Command to Gimbal Camera (Available for ZT6 and A8 mini, restart after configuration) 55 66 01 01 00 00 00 0c 07 d3 be
Send “Disable CVBS / HDMI Output” Command to Gimbal Camera (Available for ZT6, ZR30, and A8 mini, restart after configuration) 55 66 01 01 00 00 00 0c 08 3c 4f
Request Gimbal Camera Codec Specs 55 66 01 01 00 00 00 20 00 BF 8D
Configure Camera Codec Specs Main Stream to HD Resolution 55 66 01 09 00 00 00 21 01 02 00 05 d0 02 dc 05 00 58 45
Configure Camera Codec Specs Main Stream to Ultra HD Resolution 55 66 01 09 00 00 00 21 01 02 80 07 38 04 d0 07 00 5a 68
Configure Recording Video Stream Resolution as 2K and H265 Bitrate as 15 Mbps 55 66 01 09 00 00 00 21 00 02 00 0a a0 05 98 3a 00 15 f3
Configure Recording Video Stream Resolution as 4K and H265 Bitrate as 15 Mbps 55 66 01 09 00 00 00 21 00 02 00 0f 70 08 98 3a 00 70 be
Request Gimbal Camera’s Image Mode in Present 55 66 01 00 00 00 00 10 74 c6
Send “Image Mode” Command to Gimbal Camera 55 66 01 01 00 00 00 11 01 3a ab
Request the Temperature of a Point in Thermal Image 55 66 01 05 00 00 00 12 00
00 00 00 01 a8 2f
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Request the Thermal Color Palette 55 66 01 00 00 00 00 1A 3e 67
Send the “Thermal Color Palette” Command to the Thermal Camera 55 66 01 01 00
00 00 1B 03 b3 64
Request Range Value from the Rangefinder (Low byte in front, high byte in
back, available for ZT30) 55 66 01 00 00 00 00 15 D1 96
3.5.5 SDK CRC16 Code
const uint16_t crc16_tab[256];
/ CRC16 Coding &
Decoding G(X) = X^16+X^12+X^5+1
/ uint16_t
CRC16_cal(uint8_t ptr, uint32_t len, uint16_t crc_init) {
uint16_t crc, oldcrc16; uint8_t temp; crc = crc_init; while (len–!=0) {
temp=(crc>>8)&0xff; oldcrc16=crc16_tab[ptr^temp]; crc=(crc<<8)^oldcrc16;
ptr++;
}
//crc=~crc;
//??
return(crc);
}
uint8_t crc_check_16bites(uint8_t pbuf, uint32_t len,uint32_t p_result) {
uint16_t crc_result = 0; crc_result= CRC16_cal(pbuf,len, 0); *p_result =
crc_result;
return 2; }
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const uint16_t crc16_tab[256]=
{0x0,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
0x1231,0x210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
0x2462,0x3443,0x420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
0x3653,0x2672,0x1611,0x630,0x76d7,0x66f6,0x5695,0x46b4,
0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
0x48c4,0x58e5,0x6886,0x78a7,0x840,0x1861,0x2802,0x3823,
0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0xa50,0x3a33,0x2a12,
0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0xc60,0x1c41,
0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0xe70,
0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
0x1080,0xa1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
0x2b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
0x34e2,0x24c3,0x14a0,0x481,0x7466,0x6447,0x5424,0x4405,
0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
0x26d3,0x36f2,0x691,0x16b0,0x6657,0x7676,0x4615,0x5634,
0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
0x5844,0x4865,0x7806,0x6827,0x18c0,0x8e1,0x3882,0x28a3,
0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
0x4a75,0x5a54,0x6a37,0x7a16,0xaf1,0x1ad0,0x2ab3,0x3a92,
0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0xcc1,
0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0xed1,0x1ef0
};
3.5.6 Advanced Guide for SIYI Gimbal SDK Integration
This special guide is to help developers (especially whose development is
based
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on Linux platform) use SIYI gimbal SDK.
ZR30 User Manual v1.3
Mark Before using the guide, please do read the chapter 3.3.1 to 3.3.5 of the
user manual.
This guide is using UDP protocol: 1. Go to chapter 3.3.4 of this manual for
SIYI Gimbal Camera SDK Communication Code
Examples and fill your required examples to “send_buff” following the below
format in hexadecimal.
2. Chang the gimbal camera’s server port and IP addresses to what you need.
The double quotation marks of the IP addresses should be kept.
3. Create a socket keyword.
4. Send data to the gimbal camera and do not revise.
5. Receive data responded by the gimbal camera and do not revise.
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6. Print the received data in hexadecimal and do not revise.
7. Following the above steps, compile and run the SDK and you will see the
printed data below, which means data can be sent and received normally. At
this moment, please observe if the gimbal camera executes the relevant
actions.
Mark Before using the SDK to communicate with the gimbal camera in UDP protocol, please do make sure that the device and the gimbal camera are in the same gateway, which means that ubuntu can ping the gimbal camera’s IP addresses successfully. If they still didn’t communicate, the possible reason is that the Windows firewall is interrupting the sending and receiving of data, then try to disable Windows firewall temporarily.
Relevant Code Examples
include <stdio.h> #include <stdlib.h> #include <string.h> #include <errno.h>
include <sys/socket.h> #include <netinet/in.h> #include <arpa/inet.h>
include <unistd.h>
define RECV_BUUF_SIZE 64
define SERVER_PORT
37260
// Gimbal Camera (Server) Port
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define SERVER_IP
“192.168.144.25”
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// Gimbal Camera (Server) IP Addresses
int main(int argc, char *argv[]) {
int sockfd; int ret, i, recv_len; struct sockaddr_in send_addr, recv_addr;
unsigned char send_buf[] =
{0x55,0x66,0x01,0x01,0x00,0x00,0x00,0x08,0x01,0xd1,0x12}; // Frame protocol of
the relevant functions in hexadecimal unsigned char recv_buf[RECV_BUUF_SIZE] =
{0};
/* Create UDP Socket
AF_INET: ipv4 addresses
SOCK_DGRAM: UDP protocol
0:
automatically choose the default protocol of the relevant type
*/
if ((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
perror(“socket”);
exit(1);
}
/* Set IP addresses and port number of gimbal camera
sin_family:
ipv4 addresses
sin_addr.s_addr: IP addresses of gimbal camera
sin_port
port of gimbal camera
*/
memset(&send_addr, 0, sizeof(send_addr));
send_addr.sin_family = AF_INET;
send_addr.sin_addr.s_addr = inet_addr(SERVER_IP);
send_addr.sin_port = htons(SERVER_PORT);
/* Send frame data
sockfd:
descriptor of socket
send_buf
head address in RAM of the sending data
sizeof(send_buf)
length of sending data
0
sending mark, usually it is 0
(struct sockaddr *)&send_addr:
structure pointer of the receiving data addresses
(including IP addresses and port)
addr_len:
structure size of the receiving data addresses
*/
printf(“Send HEX datan”);
socklen_t addr_len = sizeof(struct sockaddr_in);
if(sendto(sockfd, send_buf, sizeof(send_buf), 0, (struct sockaddr *)&send_addr, addr_len) < 0)
{
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perror(“sendto”); exit(1); }
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/* Receive the responding data from gimbal camera
sockfd:
descriptor of “sockfd” socket
recv_buf:
head address in RAM of the responding data
RECV_BUUF_SIZE:
size of the buffer, which is the length of the max data to
receive
0:
receiving mark, usually it is 0
(struct sockaddr *)&recv_addr:
the target structure will be filled with addresses (including
IP addresses and port) from the data sender
&addr_len:
the target storage position, the structure size of
“src_addr” and “addrlen” should be filled before calling, the actual size of the sender will be filled after calling
/ recv_len = recvfrom(sockfd, recv_buf, RECV_BUUF_SIZE, 0, (struct sockaddr )&recv_addr, &addr_len); if (recv_len < 0) {
perror(“recvfrom”); exit(1); }
// print the received data in hexadecimal printf(“Received HEX data: “); for
(int i = 0; i < recv_len; i++) {
printf(“%02x “, recv_buf[i]); } printf(“n”);
// close socket close(sockfd);
return 0; }
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3.5.7 Interface Documentation for SIYI Gimbal Camera’s Web Server
Videos and images stored in SIYI gimbal camera can be acquired directly from
the web server interface.
Interface baseUrl: http://192.168.144.25:82//cgi-bin/media.cgi
A Request File Directory
The below interface is to request the directory of the file format for an easy overview. URL: /api/v1/getdirectories Method: GET
Request Data
Data Name
media_type
Type int
Description
0: Images 1: Videos
Response Data
The format of the response data is below:
{ “code”: 200, // Status code. “data”: {}, // Content of the data. “success”:
true, // If the request is successful. “message”: “” // Error message if the
request is failed.
}
The definition of data is below: Data Name media_type
directories
Type
int
[ { “name”: “aa”,
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Description 0: Images 1: Videos
File directory
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“path”: “/yyy/aa” }, { “name”: “bb”, “path”: “/yyy/bb” }, ] Request Example
Request the number of all the images:
{ “media_type”: 0
}
Successful Response
Condition: Request data is legal. Status Code: 200 OK Response Example: File
directory after response:
{ “code”: 200, “data”: { “media_type”: 0, “directories”: [ { “name”: “aa”,
“path”: “photo/aa” }, { “name”: “bb”, “path”: “photo/bb” } ] } “success”: true
}
Error Response
Condition: Request data is illegal. Eg: File type is illegal. Status Code: 400
BAD REQUEST Response Example:
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{ “code”: 400, “message”: “Invalid media type”, “success”: false
}
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B Request the File Numbers under the File Directory
The below interface is for authorized users to request the file numbers under the target directory. URL: /api/v1/getmediacount Method: GET
Request Data
Data Name media_type
path
Type int
String
Description
0: Images 1: Videos If the string is empty, return to request the total file
number in present. If the string is not empty, return to the number of the
target directory.
Response Data
The format of the response data is below:
{ “code”: 200, // Status code. “data”: {}, // Content of the data. “success”:
true, // If the request is successful. “message”: “” // Error message if the
request is failed.
}
The definition of data is below: Data Name media_type count path
Type int int int
Desciption 0: Images 1: Videos File number
Path of file directory
Request Example
Request the number of all the images:
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{ “media_type”: 0, “path”: “”
}
Request the image numbers under the target path:
{ “media_type”: 0, “path”: “/photo/aa”
}
Successful Response
Condition: Request data is legal and user identity verification passed. Status
Code: 200 OK Response Example: File numbers which return to ‘photo/aa’ after
response:
{ “code”: 200, “data”: { “media_type”: 0, “count”: 20, “path”: “/photo/aa” },
“success”: true
}
Error Response
Condition: Request data is illegal. Eg: File type is illegal. File path does
not exist. Status Code: 400 BAD REQUEST Response Example:
{ “code”: 400, “message”: “Invalid media type”, “success”: false
}
C Request File List
The below interface is for authorized users to request the file list. URL:
/api/v1/getmedialist
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Method: GET Request Data
Data Name media_type
path
start
count
Type int
String int int
Response Data
The format of the response data is below:
{ “code”: 200, // Status code. “data”: {}, // Content of data. “success”:
true, // If the request is successful. “message”: “” // Error message if the
request is failed.
}
The definition of data is below: Data Name
Type
media_type
int
path
String
[
{ “name”: “aa.jpg”,
“url”: “http://xxx/yyy/aa.jpg”
list
}, {
“name”: “bb.jpg”, “url”: “http://xxx/yyy/bb.jpg”
}, ]
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Description 0: Images 1: Videos Empty String: File list is for all the files
of the present type. Non-empty String: File list is for the files under the
target path. Start index of the file list Number of the file list. If “start”
plus “count” is more than the number of the file list, return to the end of
the file list from “start”.
Description 0: Images 1: Videos The requested path.
File list.
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Request Example
Request the image list from “photo/20230630” directory:
{ “media_type”: 0, “path”: “photo/20230630”, “start”: 0, “count”: 10
}
Successful Response
Condition: Request data is legal and user identity verification passed. Status
Code: 200 OK Response Example: Return to the image list under
“‘photo/20230630” directory after response:
{ “code”: 200, “data”:{ “media_type”: 0, “path”: “photo/20230630”, “list”: [ {
“name”: “aa.jpg”, “url”: “http://xxx/yy/aa.jpg” }, { “name”: “bb.jpg”, “url”:
“http://xxx/yy/bb.jpg” }, … ], }, “success”: true
}
Error Response
Condition: Request data is illegal. Eg: File type is illegal. File path does
not exist. Start index exceed the max value. Etc. Status Code: 400 BAD REQUEST
Response Example:
{
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“code”: 400, “message”: “path not exist”, “success”: false }
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3.6 Control SIYI Gimbal Camera by the ArduPilot Driver through UART and
Integrate Flight Controller Attitude Data
Gimbal camera’s UART port connects to ArduPilot flight controller’s UART port
directly to communicate with the flight controller and to control gimbal
rotation, gimbal functions, and camera functions.
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Preparation It is necessary to prepare the tools, firmware, and software below
before controlling gimbal camera in this way. ArduPilot Flight Controller
(v4.4.4 and above firmware) SIYI Optical Pod (Gimbal Camera)
Mark Above products can be purchased from SIYI directly or from SIYI
authorized dealers.
SIYI Gimbal to PX4 / Ardupilot Flight Controller UART Cable
Mark Above tools come with product package.
Mission Planner (Windows) Software
Steps 1. Power SIYI gimbal camera and ArduPilot flight controller. 2. Connect
gimbal camera’s UART port to ArduPilot flight controller’s UART port
and make sure they are communicating with each other. 3. Run ground station
and set the following parameters.
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Gimbal Control
ZR30 User Manual v1.3
The params below assume the autopilot’s telem2 port is used and the Camera1
control instance.
SERIAL2_PROTOCOL to 8 (“SToRM32 Gimbal Serial”)
SERIAL2_BAUD to “115” for 115200 bps
MNT1_TYPE to “8” (“SIYI”) and reboot the ardupilot
MNT1_PITCH_MIN to -90
MNT1_PITCH_MAX to 25
MNT1_YAW_MIN to -80
MNT1_YAW_MAX to 80
MNT1_RC_RATE to 90 (deg/s) to control speed of gimbal when using RC
targetting
CAM1_TYPE to 4 (Mount / SIYI) to allow control of the camera.
RC6_OPTION = 213 (“Mount Pitch”) to control the gimbal’s pitch angle with
RC channel 6
RC7_OPTION = 214 (“Mount Yaw”) to control the gimbal’s yaw angle with
RC channel 7
RC8_OPTION = 163 (“Mount Lock”) to switch between “lock” and “follow”
mode with RC channel 8
Optionally these auxiliary functions are also available.
RC9_OPTION = 166 (“Camera Record Video”) to start/stop recording of
video
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RC9_OPTION = 167 (“Camera Zoom”) to zoom in and out RC9_OPTION = 168 (“Camera
Manual Focus”) to adjust focus in and out RC9_OPTION = 169 (“Camera Auto
Focus”) to trigger auto focus Integrate Flight Controller Attitude Data The
params below assume the autopilot’s telem2 port is used and the Camera1
control instance. SERIAL2_BAUD to “115” for 115200 bps
SR2_EXTRA1 to “50” to set flight controller attitude angle data sending
frequency.
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After configuration, it is necessary to “Write Parameters” and reboot the
flight controller to take effect.
Mark Integrate flight controller attitude data can effectively promote gimbal
performance while drone attitude is changing fast. Welcome to visit ArduPilot
official documentation for SIYI gimbal as well.
https://ardupilot.org/copter/docs/common-siyi-zr10-gimbal.html
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3.7 Control SIYI Gimbal Camera by Mavlink Gimbal Protocol through UART and
Integrate Flight Controller Attitude Data
Gimbal camera’s UART port connects to PX4 flight controller’s UART port
directly to communicate with the flight controller and to control gimbal
rotation, gimbal functions, and camera functions.
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Preparation It is necessary to prepare the tools, firmware, and software below
before controlling gimbal camera in this way. PX4 Flight Controller SIYI
Optical Pod (Gimbal Camera)
Mark Above products can be purchased from SIYI directly or from SIYI
authorized dealers. SIYI Gimbal to PX4 / Ardupilot Flight Controller UART
Cable
Mark Above tools come with product package. QGroundControl Windows GCS
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3.8 Necessary Trouble Shooting Steps When Gimbal Attitude Control Is Abnormal
Let’s take an example of the problem that gimbal roll axis tilts abnormally.
Gimbal Roll Axis Tilts
Firmware Updated PROBLEM SOLVED
Check Firmware Version
Firmware Updated PROBLEM STILL
Calibrated PROBLEM SOLVED
Calibrate Gimbal 1. IMU
2. Temperature 3. Accelerator
Calibrated PROBLEM STILL
Optimize Installation 1. Gimbal Mounting 2. Gimbal connection cables to power,
Ethernet, and control should be soft. 3. Are dampers original? 4. Check drone
vibration and propeller
dynamic balance.
PROBLEM SOLVED
PROBLEM STILL
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Check Flight Attitude
ZR30 User Manual v1.3
NO / SLOW ATTITUDE CHANGE
FAST ATTITUDE CHANGE
Integrate Flight Controller
Altitude Data
PROBLEM SOLVED
PROBLEM STILL
Final Trouble Shooting Before Contacting SIYI
1. If the gimbal was modified or disassembled?
2. If the gimbal was damaged by external force?
Contact SIYI Support
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VIDEO OUTPUT
ZR30 User Manual v1.3
ZR30 optical pod outputs video through Ethernet and Micro-HDMI port.
Mark ZR30’s Ethernet port and Micro-HDMI port can output video stream simultaneously.
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ZR30 User Manual v1.3
4.1 Output Video to Windows Device Directly through Ethernet
Gimbal camera connects to Windows device directly, then video will be
displayed in SIYI QGC Windows software.
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SIYI Gimbal RJ45 Cable (New)
ZR30 User Manual v1.3
Preparation
SIYI Gimbal RJ45 Cable (Old)
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ZR30 User Manual v1.3
It is necessary to prepare the tools, firmware, and software below before
outputting video stream in this way. SIYI Optical Pod (Gimbal Camera)
Mark Above products can be purchased from SIYI directly or from SIYI
authorized dealers.
SIYI Gimbal Ethernet to RJ45 Cable
Mark Above tools come with product package.
SIYI QGC Windows Software
Mark Above software can be downloaded from relevant product page on SIYI
official website. Steps 1. Power gimbal camera. 2. Use SIYI Gimbal Ethernet to
RJ45 Cable to connect the gimbal quick release
board’s Ethernet port to Windows device’s RJ45 port. If your computer does not
come with RJ45 port, it is suggested to use an RJ45 to USB converter. 3.
Modify the computer’s Ethernet settings to have the same gateway with SIYI
link
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and avoid IP addresses conflict.
ZR30 User Manual v1.3
For example, let’s assign “192.168.144.30” for the computer IP addresses.
4. Run SIYI QGC Windows software, go to “Comm Links Video Settings”, and
select “RTSP Video Stream” for “Source”, then enter the default RTSP addresses
of SIYI gimbal camera, video stream will display. Gimbal motion and camera
functions can be controlled by mouse in QGroundControl.
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ZR30 User Manual v1.3
4.2 Output Video to Third-Party Link through Ethernet
SIYI gimbal camera can output video to any third-party link which provides
Ethernet port and is compatible with RTSP video stream.
In this way, it is necessary to prepare a customized video cable for connection between SIYI gimbal camera and the third-party link.
CAUTION
SIYI gimbal camera Ethernet port’s “RX-” pinout should connect to the third-
party link Ethernet port’s “RX-” pinout, and “RX+” pinout to “RX+” pinout. Do
not cross the pinouts, otherwise it will cause damage to the device.
Steps 1. Power the air unit of the third-party link and bind it with the
ground unit. 2. Use the video cable to connect SIYI gimbal camera’s Ethernet
port and the third-
party link’s Ethernet port. 3. Open RTSP video player and input SIYI gimbal
camera’s default RTSP
addresses, if connection is successful, video will display normally.
Mark
SIYI QGC Android app and Windows software support video display from third- party links
as well.
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4.3 Output Video through Micro-HDMI
ZR30 User Manual v1.3
ZR30 optical pod can output video directly though the Micro-HDMI port.
Steps 1. Power ZR30 and connect it to PC. Run SIYI Assistant, switch video
output mode
to “HDMI” under the “Gimbal Config” page. 2. Connect ZR30 to the HDMI monitor.
3. If video shows up, the connection is successful.
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4.4 Solutions to No Image through Ethernet
ZR30 User Manual v1.3
If gimbal camera failed to output video or the video cannot be displayed
properly, please follow the steps below for trouble shooting. 1. Confirm if
the link’s ground unit is communicating with the air unit and if the
camera is connected to the air unit. 2. Check Camera IP addresses and RTSP
addresses. 3. If you are using SIYI FPV app, check the connection status, app
version, video
stream settings. 4. If you are using SIYI handheld ground stations, check the
Ethernet switch in
Android system. 5. Please double check if the gimbal camera’s IP addresses was
modified
accidentally.
If video still does not show up, please follow the steps below and make a deep investigation according to the video output mode, the video display device, and the application / software you are using.
4.4.1 Video Output to Android Device
1. Input SIYI gimbal’s default IP addresses “192.168.144.25” in the “Ping
Tools” app and check if the network communication is successful. If the tool
responds, then check if the RTSP address in the application / software is
correct.
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ZR30 User Manual v1.3
Successful Network Communication
Network Communication Failed 2. If the network communication is failed, then
check the communication between
the link’s ground unit and the air unit. If the communication is good, then
check if the video cable between the camera and the link’s air unit is good,
and if the voltage input is in normal range.
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4.4.2 Video Output to Windows Device
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1. Use the “Win + R” key combo to wake up the “Run” program and input the command “cmd”.
Successful Network Communication
Network Communication Failed 2. Input SIYI gimbal camera’s default IP
addresses “192.168.144.25” and press the
“Enter” key to check if the communication is successful. If it is, please
check the RTSP addresses in the software or try to switch to another software.
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3. If the network didn’t connect, then check the communication between the
link’s ground unit and the air unit. If the communication is successful, then
check if the video cable between the camera and the link’s air unit is good,
and if the voltage input is in normal range. Mark
If you have done all trouble shooting by following the steps above and still
didn’t solve the problem, then please contact your dealer, or contact SIYI
Support directly.
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4.5 Common IP Addresses
ZR30 User Manual v1.3
SIYI Optical Pod / Gimbal Camera’s Default IP Addresses: 192.168.144.25 (NEW) SIYI Optical Pod / Gimbal Camera’s Default RTSP Addresses: Main Stream: rtsp://192.168.144.25:8554/video1 Sub Stream: rtsp://192.168.144.25:8554/video2 (NEW) SIYI FPV App’s Private Video Stream Protocol’s Addresses: SIYI Camera 1 Main Stream: 192.168.144.25: 37256 SIYI Camera 1 Sub Stream: 192.168.144.25: 37255 SIYI Camera 2 Main Stream: 192.168.144.26: 37256 SIYI Camera 2 Sub Stream: 192.168.144.26: 37255
Mark SIYI cameras released after ZT30 (including ZT30 and ZT6) start to use the new addresses. SIYI cameras released before ZT30 (including ZR30, A2 mini, A8 mini, ZR10, and R1M) are stilling using the old addresses.
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SIYI FPV APP
ZR30 User Manual v1.3
SIYI FPV is an Android application developed by SIYI to configure many SIYI products for video display, camera stream settings, and communication link status monitoring.
Mark
This chapter is edited based on SIYI FPV App v2.5.15.691.
SIYI FPV App can be downloaded from SIYI official website:
https://siyi.biz/en/index.php?id=downloads&asd=25
SIYI FPV App compatible SIYI devices ZT6 Mini Dual-Sensor Optical Pod SIYI AI
Tracking Module ZT30 Four-Sensor Optical Pod ZR30 4K AI 180X Hybrid Zoom
Optical Pod A2 mini Ultra-Wide-Angle FPV Gimbal MK32 / MK32E Enterprise
Handheld Ground Station A8 mini AI Zoom Gimbal Camera ZR10 2K 30X Hybrid Zoom
Optical Pod R1M HD Recording FPV Camera Air Unit HDMI Input Converter HM30
Full HD Image Transmission System MK15 / MK15E Mini Handheld Ground Station
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SIYI FPV App OSD Information Definition
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SIYI FPV Camera Function Icon Definition
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5.1 Settings
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In “Settings” page, you can select camera type with stream type, select or input video stream IP addresses, custom app interface, and switch map type.
About Settings Camera IP: Select among SIYI AI Camera, SIYI Camera 1 and SIYI
Camera 2, between main stream and sub stream, select or input video stream
RTSP addresses, disable image, or rotate the relevant image in 180 degrees.
Cross Sight: Enable / disable a cross sight in the center of the image. OSD
Color: Custom the color of all OSD information. Map: Enable / disable the map
box over the left-bottom corner of the image. Map Type: Switch map type
(currently between Baidu and Google).
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5.2 Link Status
Display the link status directly over the FPV image.
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About Link Status OSD: Enable / disable standard OSD information. Mavlink OSD:
Enable / disable Mavlink OSD information. Speed Unit: Switch speed unit
between meter per seconds and kilometer per hour. Longitude and Latitude:
Enable / disable information.
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5.3 Gimbal Camera
ZR30 User Manual v1.3
Configure the basic functions for SIYI gimbal cameras and cameras.
About Gimbal Camera Boot Record: Enable / disable automatic video recording by
SD card as soon as the camera is powered. File Manager: Preview stored images
in TF card. Format the TF card. Main / Sub Stream: Configure the main stream
and the sub stream separately for their camera source and parameters. Image
Mode: Select the video stream’s image type and camera source. Single image or
split image. Zoom camera, wide angle camera, or thermal imaging camera. Stream
Resolution: Decide to switch the output resolution of the current video stream
or not according to camera source. Max output resolution is Ultra HD (1080p).
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Record Resolution: Decide to switch the recording resolution or not according
to camera source. Max record resolution is 4K. Video Output Port: Switch the
video outputting ports. HDMI: Through the gimbal camera’s Micro-HDMI port.
CVBS: Through the CVBS pin in the gimbal camera’s Ethernet port to output
videos in
analog signal (Only available for ZT6 and A8 mini). OFF: Through the gimbal
camera’s Ethernet only. Gimbal Working Mode: Switch gimbal working mode among
Lock Mode, Follow Mode, and FPV Mode. Lock Mode: Horizontally, gimbal does not
follow when aircraft rotates. Follow Mode: Horizontally, gimbal follows when
aircraft rotates. FPV Mode: Gimbal rotates simultaneously as aircraft rolls to
get FPV view, and output
images with enhanced stability. AI Tracking: When the gimbal is connected to
the AI tracking module and the AI
tracking function is activated. It will be AI tracking mode only. Camera
Firmware Version: Display current camera firmware version. Gimbal Firmware
Version: Display current gimbal firmware version. Zoom Firmware Version:
Display current gimbal firmware version. (Only available for optical zoom
cameras)
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5.4 About SIYI FPV
ZR30 User Manual v1.3
Displays the software version of SIYI FPV and common contact information of SIYI Technology.
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5.5 SIYI FPV App Update Log
ZR30 User Manual v1.3
Date Version Updates
Date Version
Updates
Date Version
Updates
Date Version Updates
Date Version Updates
2024-01-26 2.5.15.695 1. New: Support AI follow function.
2023-12-18 2.5.15.691 2. Fix: Temperature data still shows on image after
switching to optical cameras from thermal camera. 3. New (A8 mini): Enable OSD
watermark on recording images. 4. New: Both video streams can turn on / off
recording. 5. New (SIYI AI Tracking Module): A switch for flight tracking. 6.
New (Thermal): A switch for thermal gain. 7. New (Thermal): A switch for
thermal calibration. 8. New (Thermal): A switch for thermal RAW. 9. Fix:
Camera control interface bug when two different cameras are plugged.
2023-10-20 2.5.15.679 10. New: AI recognition and tracking function control
interface. 11. New (ZT30): Zoom & thermal camera simultaneous recording
function control interface. 12. New: Add the AI tracking module to IP
addresses settings. 13. Improve: Occasionally video stream does not recover
when the link is disconnected under SIYI camera protocol.
2023-08-24 2.5.15.660 1. New (ZT30): Laser calibration. Display laser ranging
target’s coordinates. 2. New: Support TF format. 3. New (ZT30): Thermal color
palette. 4. New: File manager to preview stored pictures in TF card. 5.
Improve: New icon indication for missing TF card.
2023-07-31 2.5.14.644 1. New: Status indication for successfully integrated
flight controller attitude data. 2. New: Google map is supported. 3. Fix:
Flight controller location was no accurate. New icons for flight
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controller location and device location. 4. New: Status indication for missing TF card.
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7.6 SIYI FPV SDK Guide
ZR30 User Manual v1.3
SIYI provides the SIYI FPV SDK to help professional Android application developers to integrate the unique features in SIYI FPV app to their own GCS.
7.6.1 Access Method
a) Add “fpvlib” into Your Project Copy the “fpvlib.aar” file to the “libs”
folder in your “module” like below:
Revise the “build.gradle” file:
b) Configure “AndroidManifest” File Add USB reading authorization to the
“AndroidManifest” file in your “module” and configure the “intent-filter”
file.
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c) Add FPV Display Function into Code Add JNI Library Like the example below,
add JNI library file into the “main” directory, then the “so” library file can
be copied from “demo” to your project directory.
Add FPV Video Display to Code Please pay attention to the below points for
your code: Firstly, use the static method “getInstances()” of
“ConnectionManager” to get the
“ConnectionManager” object. Then call the
“ConnectionManager.checkConnectWithIntent()” method in the lifecycle method
“onCreate()” and “onNewIntent()”. Video stream should be displayed through
“SurfaceView”. So, we create an “SurfaceView” object and need to call
“ConntionManager.notifySurfaceCreate()” and “notifySurfaceDestroy” method from
“surfaceCreated()” and “surfaceDestroy()”.
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mSurfaceView.getHolder().addCallback(new SurfaceHolder.Callback() { @Override public void surfaceCreated(SurfaceHolder holder) { Logcat.d(TAG, “onSurfaceCreated…”); mConnectionManager.notifySurfaceCreate(holder.getSurface()); } @Override public void surfaceChanged(SurfaceHolder holder, int format, int width , int height) { } @Override public void surfaceDestroyed(SurfaceHolder holder) { mConnectionManager.notifySurfaceDestroy(holder.getSurface()); } });
ZR30 User Manual v1.3
Dual-Channel FPV Display: Dual-channel FPV display supports Ethernet connection only. It does not support AOA or USB connection. For dual-channel FPV display, we should configure the IP addresses first, then create two “SurfaceView” for image display. Whether the second video stream is required or not can be judged by the connection type through connection status. You can refer to “demo” for detail.
When you quit the application, please do not forget to call the “UsbConnectionManager.release()” method.
For more detail, please refer to the codes in “demo”.
7.6.2 Interface Instructions
ConnectionManager
Name getInstance(Context context) setWirelessUrl(String url1, String url2)
checkConnectWithIntent(Intent intent)
notifySurfaceCreate(Surface surface)
notifySurfaceDestroy(Surface surface)
Description Single case method for “ConnectionManager” Set the addresses for video stream. Initial the connection. Notify that the first “Surface” is created, the “Surface” is for video display. Notify that the first “Surface” is destroyed.
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notifySecondSurfaceCreate(Surface surface)
notifySecondSurfaceDestroy(Surface surface)
setConnectionListener(ConnectionListen er listener)
setFrameListeners(FrameListener frameListener, FrameListener
secondFrameListener) getSDKVersion() release()
ZR30 User Manual v1.3 Notify that the second “Surface” is created, the
“Surface” is for video display. Notify that the second “Surface” is destroyed.
Set callback for the connection status.
Set callback for video stream.
Request SDK version. Release SDK.
SettingsConfig
Name SettingsConfig.getInstance().initConfig( context)
setLogEnable(boolean)
setDecodeType(Context context,
@IDecodeListener.DecodeType
int
decodeType)
setSupportWirelessConnection(Context
context,
boolean supportWireless)
setRectify(Context context, boolean rectify)
Description Initialize the settigns. This method must be called. Set if print
the log in the sdk. It is suggested to disable print in the “release” version.
Set decoding type. In default it is hardware decoding.
Set if to support Ethernet connection method.
Set if to activate the video stream distortion correction function. The
function is disabled in default and is only for A2 mini FPV gimbal at this
moment. It works only when the video stream addresses is
“RtspConstants.DEFAULT_TCP_VI DEO_URL” “SUB_TCP_VIDEO_URL”.
Attention If distortion correction is activated, when you switch from SIYI
camera addresses “RtspConstants.DEFAULT_TCP_VI DEO_URL” “SUB_TCP_VIDEO_URL” to
RTSP
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getCameraManager()
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addresses, new surface objects
should be imported. One way to do
this is to remove “SurfaceView” and
add a new “SurfaceView” through
“addView”, then import the “Surface”
object
again
in
“SurfaceHolder.Callback”.
Request camera control objects.
SYSDKCameraManager
SYSDKCameraManager
Name /* Set Camera Resolution @param streamType
[CameraInfo.STREAM_MAIN], [CameraInfo.STREAM_SUB]. @param resolution
[CAMERA_RESOLUTION_SD] 480p, [CAMERA_RESOLUTION_HD] 720p,
[CAMERA_RESOLUTION_FHD] 1080p. [CAMERA_RESOLUTION_2K] 2K,
[CAMERA_RESOLUTION_4K] 4K, */ fun setResolution(cameraIndex: Int,
@CameraInfo.StreamType streamType: Int,
@CameraResolution resolution: Int)
Description Set camera resolution.
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7.7 SIYI FPV SDK Update Log
ZR30 User Manual v1.3
Version Updates Version Updates Version Updates
2.5.15 1. Fix the issue that RTSP stream may blurr. 2. Add camera control
interface. 3. Fix some other known issues.
Mark: It is necessary to update the “so” and “aar” file, which can be updated
frm the “aar_so” folder.
2.5.14 1. Fix some issues which causes anormal in JNI library
(need to update “so” library). 2. Fix some other known issues.
Mark: It is necessary to update the “so” and “aar” file, which can be updated
frm the “aar_so” folder.
2.5.13 1. Fix the issue that the video stream of some IP65 cameras
may blurr. 2. Add to support ZT30 camera video stream.
Mark: It is necessary to update the “so” and “aar” file, which can be updated
frm the “aar_so” folder.
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SIYI Assistant
ZR30 User Manual v1.3
SIYI PC Assistant is a Windows software developed by SIYI to configure many SIYI products for configuration, firmware update, and calibration.
Mark The manual is edited based on SIYI PC Assistant v1.3.9. SIYI PC Assistant and the relevant firmware pack can be downloaded from SIYI official website: https://siyi.biz/en/index.php?id=downloads&asd=25
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6.1 Gimbal / Zoom Firmware Update
ZR30 User Manual v1.3
SIYI gimbal camera connects to SIYI PC Assistant for gimbal firmware and zoom firmware update.
Mark Zoom firmware update is only available for optical zoom gimbal cameras.
Before upgrading, it is necessary to prepare the tools, software, and firmware
below. SIYI PC Assistant (v1.3.9 or latest version) Gimbal Firmware Zoom
Firmware
Mark Above software and firmware can be downloaded from relevant product page
on SIYI official website.
Cable (USB-C to USB-A)
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Mark Customers should prepare the above tools.
ZR30 User Manual v1.3
Firmware Upgrade Steps 1. Install “SIYI PC Assistant” on your Windows device.
2. Use the USB-C to USB-A cable to connect Windows device’s USB-A port to
gimbal camera’s USB-C port. 3. Run “SIYI PC Assistant” and switch to “Upload”
page to check gimbal camera’s
current firmware version.
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4. If the firmware is not latest, then click the “Select File” button in the
“Gimbal” to import the latest firmware. And click “Upgrade” and wait till it
is “100%” finished. Mark
Before updating any firmware, gimbal camera should be powered. It is the same
process for both gimbal firmware and zoom firmware.
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6.2 Camera Firmware Update
ZR30 User Manual v1.3
The camera firmware of SIYI gimbal camera should be upgraded by SD card.
Before upgrading, it is necessary to prepare the tools, software, and firmware below.
Micro-SD Card
Mark Customers should prepare the above tools. Please make sure that the TF card has been formatted to FAT32 before camera firmware upgrade.
Camera Firmware
Mark Above software and firmware can be downloaded from relevant product page
on SIYI official website.
Firmware Upgrade Steps
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1. Save camera firmware’s “.bin” file to the SD card’s root directory and do
not change the file name.
2. Restart gimbal camera and wait for 3 to 5 minutes. Camera firmware will be
flashed automatically.
3. Run SIYI FPV app or SIYI PC Assistant software to check if camera firmware
is updated successfully.
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6.3 Gimbal Camera Configuration
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SIYI gimbal camera can be connected to SIYI PC Assistant for channel settings and camera settings.
6.3.1 Channel Configuration
The “Channel Config” menu under “Gimbal Config” menu can assign the below
gimbal camera functions to up to 16 channels and an idle channel (disabled).
Gimbal Functions and Description Auto Focus: Control zoom camera for automatic
focus.
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Zoom: Control camera for optical zoom and digital zoom.
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Manual Focus: Adjust zoom camera focal length for manual focus.
Yaw: Control gimbal rotation on yaw axis.
Pitch: Control gimbal rotation on pitch axis.
Auto Center: Control gimbal to reset to initial position. Coordinates (0, 0).
Photo: Control camera to take a picture.
Record: Enable / disable video recording.
Motion Mode: Switch gimbal working mode (follow mode, lock mode, FPV mode).
Auto Down: Control gimbal pitch axis to point downward vertically. Coordinates (0, -90).
Image Mode: Select the video stream’s image type and camera source. Single image or split image. Zoom camera, wide angle camera, or thermal imaging camera. Max three switches to be assigned for different image mode.
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6.3.2 Camera Configuration
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The “Gimbal Config” menu also supports abundant and core features of SIYI gimbal camera, such as, checking camera firmware version, modifying camera IP addresses, selecting camera source for main / sub stream and video recording, switching camera resolution or zoom mode, enabling / disabling thermal camera’s synchronized zoom, enabling / disabling boot recording.
About Camera Configuration IP Config: Modify camera IP addresses. Gateway
Config: Modify camera gateway. Gimbal Working Mode: Switch gimbal working mode
(Follow Mode / Lock Mode / FPV Mode) Main Stream: Select camera source and
switch output resolution for the main stream. Sub Stream: Select camera source
and switch output resolution for the sub stream. Record Resolution: Select
camera source and switch video resolution for recording. Zoom Mode: Switch
zoom camera’s zoom mode (Normal / Absolute Zoom). Boot Record: Enable /
disable automatic video recording by TF card as soon as gimbal camera is
powered.
Mark The camera image source of the record stream is the same with the main stream.
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6.4 Gimbal Calibration
ZR30 User Manual v1.3
The “Gimbal Calibration” can help users do IMU calibration, IMU Constant temperature calibration, and accelerator hexahedral calibration.
6.4.1 IMU Calibration IMU calibration can keep the inertial measuring unit’s accuracy and reliability.
Steps
1. Click “Check”, gimbal camera will power off automatically. Meanwhile,
please follow the message box and place the gimbal camera on a flat surface
and make sure that the IMU is static. Do not touch or vibrate the gimbal
camera. Then go for “Start Checking”.
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2. The PC assistant start to check IMU status automatically to determine if
the gimbal should be calibrated.
3. If IMU is working normally, there will be a message box to indicate “not
necessary to calibrate”.
4. If IMU is not working normally, there will be a message box to indicate
“calibration is necessary”.
5. Click “Start Gimbal” and “Calibrate”. 6. The message box will say again
“please follow the message box and place the
gimbal camera on a flat surface and make sure that the IMU is static. Do not
touch or vibrate the gimbal camera”.
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7. IMU calibration menu will display “calibrating”.
8. After a few seconds, IMU calibration will be finished. 6.4.2 IMU Constant
Temperature Calibration Specially designed for using gimbals in scenarios with
big difference in temperature to avoid the situation that gimbal behaves
abnormally because IMU cannot reach constant temperature normally and fast
when the environment temperature is far from IMU constant temperature.
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Before calibration, please input the environment temperature of your operating
field, the software will start to calculate the target IMU constant
temperature so that IMU can reach the temperature fast after powering on
gimbal camera. The software is showing IMU temperature in real-time.
6.4.3 Accelerator Hexahedral Calibration Accelerator hexahedral calibration
can calibrate the accelerator’s sensitivity, zero bias, and inter axis error,
etc. During calibration, the gimbal should be placed in all hexahedrons to
record accelerator’s output value on each orientation and build the error
model. Hexahedral calibration can keep the accelerator’s accuracy and
reliability.
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6.5 Main Firmware Update Log
ZR30 User Manual v1.3
Date Camera Firmware Gimbal Firmware SIYI FPV Windows SIYI FPV Android SIYI PC
Assistant
Updates
2024-01-26 0.1.6
0.2.2
Original Version
2.5.15.695
1.4.0 1. New: Support SIYI FPV (Windows) version 2. New: Support DCIM standard
file system and EXIF information format 3. New: SIYI gimbal SDK supports
obtaining attitude data from external devices
for flight controller integration 4. New: SIYI gimbal SDK supports obtaining
GPS information and adding it to
photo EXIF format 5. New: AI following function (only for SIYI AI tracking
module and multi-rotor
drones) 6. New: Adapt to Mavlink protocol control and support the integration
of PX4
flight controller attitude data
Date Camera Firmware Gimbal Firmware SIYI FPV SIYI PC Assistant
Updates
2023-10-20 0.1.5 svn1144
0.2.0 svn7078 2.5.15.679 1.3.8
1. New: Support SIYI AI tracking module. 2. New: SIYI gimbal SDK supports
configuring camera specs (bit rate, codec
format, etc.).
Date Camera Firmware Gimbal
2023-08-29
0.1.4 svn1063
0.1.9 svn6966 124
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Firmware Zoom
Firmware SIYI FPV SIYI PC Assistant
Updates
ZR30 User Manual v1.3
0.1.6 svn6792
2.5.15.660
1.3.7
1. New: Streaming resolution switch. 2. New: SIYI gimbal SDK supports TCP
protocol. 3. New: SIYI gimbal SDK supports point to focus. 4. New: Enable OSD
in Micro-HDMI video output. 5. New: Preview and download pictures through SIYI
FPV app and format SD
card. 6. New: Firmware upgrade through SIYI FPV app. 7. New: Support flight
controller attitude data integration. 8. New: SIYI gimbal SDK supports
acquiring max zoom and current zoom
multiples. 9. New: Up to four video streams through RTSP protocol
simultaneously. 10. Improve: Gimbal saves working mode before power off. 11.
Improve: Initial speed. 12. Improve: Focus takes too long on start. 13.
Improve: Zoom firmware upgrade fails. Upgrading takes too long. 14. Improve:
Focus was in the image center when controlled by S.Bus.
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6.6 SIYI PC Assistant Update Log
ZR30 User Manual v1.3
Date Version
Updates
2024-01-06 1.4.0
1. New: Support AI follow function and adjusting follow speed.
Date Version
Updates
2023-12-18 1.3.9
1. New (ZT30, ZT6): An activation process for thermal imaging function.
Date Version
Updates
Date Version Updates
2023-11-02 1.3.8 svn6958 1. New: Compatibility to ZT6 Mini Dual-Sensor Optical
Pod. 2. New: A switch to enable zoom camera and thermal camera recording
simultaneously (only in non-split-image mode and main / sub stream should be
zoom / thermal camera). 3. Fix: ZT30 does not record video after setting
recording resolution. 4. Fix: ZT30 does not set main stream resolution.
2023-08-24 v1.3.7 svn6958 1. New: Compatibility to a new model. 2. New:
Support ZT30 to switch between H265 and H264 codec. 3. Improve: Gimbal
calibration function has its own page now. 4. New: Gimbal configuration
(thermal synchronize zoom, thermal color palette)
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After-sale Service
ZR30 User Manual v1.3
If there were any questions or problems using SIYI Technology’s product, you can always try to send an email to SIYI Official A/S Center ([email protected]) or consult your sales representative or dealer for answers or solutions.
7.1 Repair Service
If your purchased SIYI products cannot work properly, please contact SIYI
Official A/S Center for consulting.
Usually there are two situations for acquiring repair service. Product Defect
Product Damage
SIYI products under the two situations can be sent back to SIYI for repairing.
Defect products with valid warranty can be repaired for free. Defect products
without valid warranty or damaged products should be charged of repair fees
after repairing. Please refer to SIYI’s Official A/S Quotation for detail.
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7.2 Warranty
ZR30 User Manual v1.3
SIYI Technology guarantees that, subject to the following conditions, Return & Refund Service, Replacement Service, and Warranty Repair Service can be requested. Please contact SIYI directly ([email protected] or your sales manager) or authorized SIYI dealer for more detail.
7.2.1 7-Day Return & Refund You can request Return & Refund Service: Within
seven (7) days of receiving a product if the product has no manufacturing
defect, has not been activated and is still in new or like-new condition.
Within seven (7) days of receiving a product if the product has a
manufacturing defect. Return & Refund Service will not be provided where: It
is requested beyond seven (7) calendar days of receiving a product. A product
sent to SIYI for Return & Refund Service does not include all original
accessories, attachments or packaging, or any item is not in new or like-new
condition, i.e., with cracks, dents, or scratches.
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ZR30 User Manual v1.3
A legal proof of purchase, receipt or invoice is not provided or is reasonably
believed to have been forged or tampered with. Any fault or damage of the
product is caused by unauthorized use or modification of the product,
including exposure to moisture, entry of foreign bodies (water, oil, sand,
etc.) or improper installation or operation. Product labels, serial numbers,
waterproof marks, etc. show signs of tampering or alteration. Damage is caused
to the product by uncontrollable external factors, including fire, floods,
high winds, or lightning strikes. A product is not delivered to SIYI within
seven (7) calendar days after Return & Refund Service confirmation is sent
from SIYI. Other circumstances stated in this policy.
7.2.2 15-Day Replacement You can request Replacement Service: Within fifteen
(15) calendar days of receiving the product if the product has sustained a
substantial damage in transit, provided always that the damage proof issued by
the carrier can be provided to SIYI.
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ZR30 User Manual v1.3
Within fifteen (15) calendar days of receiving the product if the product does
not match the original description of the product in one or more significant
respects.
Within fifteen (15) calendar days of receiving the product if the product suffers performance failure.
Replacement Service will not be provided where:
Service is requested more than fifteen (15) calendars days after receiving a product.
Legal proof-of-purchase, receipts, or invoices are not provided, or are reasonably believed to have been forged or tampered with.
A product sent to SIYI for replacement does not include all original accessories, attachments, and packaging, or contains items damaged by user error.
A product is found to have no defects after all appropriate tests are conducted by SIYI.
Any fault or damage of the product is caused by unauthorized use or modification of the product, including exposure to moisture, entry of foreign bodies (water, oil, sand, etc.) or improper installation or operation.
Damage is caused by uncontrollable external factors, including fires, floods, high winds, or lightning strikes.
Received product has not been sent back to SIYI seven (7) calendar days after
replacement confirmation from SIYI.
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2024 SIYI Technology Copyright
ZR30 User Manual v1.3
Proof of damage during transit issued by the carrier cannot be provided. Other
circumstances stated in this policy.
7.2.3 1-Year Warranty Repair You can request warranty repair service: If a
product does not function as warranted during the warranty period, you may
obtain after-sales service by contacting SIYI’s service center. You will need
to provide a valid proof-of-purchase, receipt, or order number for the
warranty service. Charges may apply for services not covered by this Limited
Warranty. Please contact SIYI for information specific to your location.
Please note that the warranty service is only available in the respective SIYI
service regions where you purchased your SIYI product. Warranty Repair service
will not be provided where: Crashes or fire damage caused by non-manufacturing
factors, including but not limited to pilot errors. Damage caused by
unauthorized modification, disassembly, or shell opening not in accordance
with official instructions or manuals.
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ZR30 User Manual v1.3
Damage caused by improper installation, in correct use, or operation not in
accordance with official instructions or manuals.
Damage caused by non-authorized service provider.
Damage caused by unauthorized modification of circuits and mismatch or misuse
of the battery and charger.
Damage caused by operation in bad weather (i.e., strong winds, rain, sand/dust
storms, etc.)
Damage caused by operating the product in an environment with electromagnetic
interference (i.e., in mining areas or close to radio transmission towers,
high-voltage wires, substations, etc.)
Damage caused by operating the product in an environment suffering from
interference from other wireless devices (i.e., transmitter, video-downlink,
Wi-Fi signals, etc.)
Damage caused by reliability or compatibility issues when using unauthorized
thirdparty parts.
Damage caused by operating the unit with a low-charged or defective battery.
Products or parts with an altered identification label or from which the
identification label has been removed.
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ZR30 User Manual v1.3
SIYI Technology Business Inquiry: [email protected]
Phone: +86 400 838 2918 A/S Center:
[email protected]
133 2024 SIYI Technology Copyright
References
- SIYI ZR10, ZR30 and A8 Gimbals — Copter documentation
- SIYI Official Store - UAV Gimbal Camera, Drone Remote Controller, HD Image Transmission System and Datalink, RC Hobby Radio
- siyi.aliexpress.com
- SIYI Technology | Empowering and Building an Intelligent Robot Ecology - Gimbal Camera | Optical Pod | HD Image Transmission System | Handheld Ground Station | Autopilot Flight Controller