1 INTRODUCTION
1.1 Product Features
Ultra-Wide Angle FOV, Distortion Correction
A2 mini comes with a horizontal 160-degree ultra-wide-angle lens, providing an extensive view of the operation field that operator has clear sight during flight without adjusting drone attitude too much. Quick decisions can be made to ensure security to drone operation.
Powerful distortion correction algorithm makes A2 mini’s image smooth and natural.
*SIYI FPV app is suggested for checking FPV image and SDK is available for developers and manufacturers.
1080P Full HD Starlight FPV
A2 mini FPV gimbal’s ultra-sensitive starlight CMOS can keep image bright even in low light environment.
Upside Down Mode
A2 mini FPV 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 robotics.
Gimbal Stabilizing Control Algorithms
A2 mini FPV gimbal is applied with industry-level stabilizing technology and high-precision FOC control algorithms. Operator can control the tilt angle.
1.1 Product Features
1.2 Parts
1.2.1 At a Glance
1.2.2 Connector and Pinouts
1.3 Technical Specification
Overall
| Video Output Port | Ethernet |
| Control Signal Input Port | S.Bus, PWM, Ethernet UDP |
| Working Voltage | 12 V |
| Power Consumption | Average 2 W Summit 12 W |
| Working Temperature | (-10 ~ 50 ℃) |
| Dimension | 65*43*50 mm |
| Weight | 85 g |
Gimbal
| Controllable Pitch Angle | (-90° ~ 25°) |
Camera
| FOV | Horizontal 160° |
| Image Sensor | 1/2.7-inch, 2 MP effective resolution |
1.4 Packing List
1 x A2 mini FPV Gimbal
1 x A8 mini Screw Pack
(Using with the fixing board to mount the gimbal, including 6 x Hex Socket Cap Screw M2.5*5, 10 x Cross Recessed Flat Head Screw M2.5*10, 8 x M2.5 Nut Black)
1 x A8 mini Mounting Board & Damper Pack
(For mounting and fixing gimbal and stabilization)
2 GET READY TO USE A2 MINI
2.1 Installation
Screw Holes’ Position and Distance
Mark
The specs of the screws for fixing the four tube screws are M.25*8 mm. Quantity: 4. Welcome to contact SIYI to get the SIYI Gimbal 3D Model for pre-installation.
3 GIMBAL CONTROL
A2 mini gimbal can be controlled in multiple ways.
3.1 Control through SIYI FPV App or SIYI QGC App on SIYI Handheld Ground Station
Gimbal connects to air unit 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 station.
3.1.1 Preparation
It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way.
- SIYI Handheld Ground Station (MK32 Standard Combo / MK15 Enterprise Standard Combo is suggested for excellent compatibility with SIYI gimbal cameras)
- A2 mini FPV Gimbal
Mark
Above products can be purchased from SIYI directly or from SIYI authorized dealers.
- SIYI FPV App (v2.5.12.572 or latest version)
- SIYI QGC App
Mark
Above software can be downloaded from relevant product page on SIYI official website.
SIYI FPV App Steps
- Power air unit and bind it with ground station.
- Connect the air unit’s Ethernet port to the gimbal.
- Update SIYI FPV app to the latest.
- 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 ground station touchscreen.
SIYI QGC App Steps
- Power air unit and bind it with ground station.
- Connect the air unit’s Ethernet port to the gimbal.
- 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 ground station touchscreen.
3.1.2 Gimbal Pitch Rotation
While SIYI FPV App or SIYI QGC app is running,
Sliding on touchscreen can control gimbal rotation. Sliding up and down is gimbal pitch rotation.
Double tap touchscreen, gimbal will automatically center.
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 Control through PWM / S.Bus Signal (Taking an Example of MK15)
PWM signal is already connected when A2 mini gimbal is connected to air unit Ethernet port. S.Bus signal is an optional connection to air unit S.Bus port. Both ways are for gimbal control through joysticks / dials / switches / buttons on MK15 remote controller when it is communicating to the air unit.
3.2.1 Preparation
It is necessary to prepare the below tools, firmware, and software before controlling gimbal camera in this way.
- MK15 Mini HD Smart Controller (MK15 Agriculture x A2 Mini FPV Combo or MK15 Enterprise Standard Combo is suggested for excellent compatibility with SIYI gimbals)
- A2 mini FPV Gimbal
Mark
Above products can be purchased from SIYI directly or from SIYI authorized dealers.
- SIYI TX App (v1.1.235 or latest version)
Mark
Above app can be downloaded from relevant product page on SIYI official website.
Steps for PWM Control
1. Power the air unit and bind it with the remote controller.
2. Connect A2 mini gimbal to the air unit’s Ethernet port.
3. Run SIYI TX app on the remote controller.
4. Go to “System Settings – Channel 15” and switch the control of channel 15 to the gimbal for pitch control of A2 mini gimbal.
5. Go to “Channel Settings” and assign a joystick, a dial, a switch, or a button to channel 15.
6. For the assigned channel, operate the relevant joystick, dial, switch, or button to confirm if it is working normally.
Steps for SBUS Control
1. Power the air unit and bind it with the remote controller.
2. Connect A2 mini gimbal to the air unit’s Ethernet port.
3. Run SIYI TX app on the remote controller.
4. Go to “Channel Settings” and assign a joystick, a dial, a switch, or a button to channel 15.
5. For the assigned channel, operate the relevant joystick, dial, switch, or button to confirm if it is working normally.
3.3 Ethernet SDK Protocol Control
SIYI gimbal camera provides control protocol for all customers. Please refer to the below guide for secondary development based on SIYI gimbal camera.
3.3.1 SDK Protocol Format
| Field | Index | Bytes | Description |
| STX | 0 | 2 | 0x6655: starting mark Low byte in the front |
| CTRL | 2 | 1 | 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 |
| Data_len | 3 | 2 | Date field byte length Low byte in the front |
| SEQ | 5 | 2 | Frame sequence (0 ~ 65535) Low byte in the front |
| CMD_ID | 7 | 1 | Command ID |
| DATA | 8 | Data_len | Data |
| CRC16 | 2 | CRC16 check to the complete data package. Low byte in the front |
3.3.2 SDK Communication Commands
Acquire Firmware Version
| CMD_ID:0x01——Acquire Firmware Version | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| uint32_t | code_board_ver | Camera firmware version | |
| uint32_t | gimbal_firmware_ver | Gimbal firmware version | |
| uint32_t | zoom_firmware_ver | Zoom firmware version | |
Eg：0x6E030203 –> firmware version v3.2.3
Mark:
- Ignore the 4th byte (higher byte)
- Zoom firmware version is only available for ZR10 and ZR30 at this moment.
Acquire Hardware ID
| CMD_ID:0x02—— Hardware ID | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| Uint8_t | hardware_id[12] | Hardware ID character string (10 digits) | |
Auto Focus
| CMD_ID:0x04——Auto Focus | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | uint8_t | auto_focus | 1: Start auto focus for once |
| ACK data format | |||
| 1 | uint8_t | 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.
Manual Zoom and Auto Focus
| CMD_ID:0x05——Manual Zoom and Auto Focus | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | uint8_t | zoom | 1: Start zooming in 0: Stop zooming in / out (send when released from control command) -1: Start zooming out |
| ACK data format | |||
| uint16_t | zoom_multiple | Current (hybrid) zoom multiples, (zoom_multiple / 10, accurate to one decimal point) | |
Mark:
- Auto focus command is only available for optical zoom gimbal cameras like ZT30, ZR30, and ZR10 at this moment.
- Under this command, A8 mini can only do manual zoom and cannot do auto focus.
Absolute Zoom and Auto Focus
| CMD_ID:0x0F——Absolute Zoom and Auto Focus | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | uint8_t | Absolute_movement_ int | Input the integer part of the target multiple (0X1 ~ 0X1E) |
| 2 | uint8_t | Absolute_movement_ float | Input the fractional part of the target multiple (0X0 ~ 0X9) |
| ACK data format | |||
| uint8_t | Absolute_movement_ 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, A8 mini can only do absolute zoom and cannot do auto focus.
Acquire the Max Zoom Value
| CMD_ID:0x16——Acquire the Max Zoom Value | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| uint8_t | zoom_max_int | Integer of the max zoom value | |
| uint8_t | zoom_max_float | Float of the max zoom value | |
Mark:
This command is available only for models which can zoom.
Manual Focus
| CMD_ID:0x16——Acquire the Max Zoom Value | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | int8_t | focus | 1: Long shot 0: Stop manual focus (send when released from control command) -1: Close shot |
| ACK data format | |||
| uint8_t | 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
| CMD_ID:0x07——Gimbal Rotation | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | int8_t | turn_yaw | (-100~0~100): Negative and positive represent two directions, higher or lower the number is away from 0, faster the rotation speed is. Send 0 when released from control command and gimbal stops rotation. |
| 2 | int8_t | turn_pitch | (-100~0~100): Same as above |
| ACK data format | |||
| uint8_t | sta | 1: Success 0: Fail | |
Mark:
Under this command A2 mini can only control pitch rotation.
Center
| CMD_ID:0x08——Center | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | uint8_t | center_pos | 1: gimbal centers to position 0 |
| ACK data format | |||
| 1 | uint8_t | sta | 1: Success 0: Fail |
Acquire Gimbal Configuration Information
| CMD_ID:0x0A——Acquire Gimbal Configuration Information | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| 1 | uint8_t | reserved | |
| 2 | uint8_t | hdr_sta | 0: HDR OFF 1: HDR ON |
| 3 | uint8_t | reserved | |
| 4 | uint8_t | record_sta | 0: Recording OFF 1: Recording ON 2: TF card slot is empty 3: (Recording) Data loss in TF card recorded video, please check TF card |
| 5 | uint8_t | gimbal_motion_mode | 0: Lock Mode 1: Follow Mode 2: FPV Mode |
| 6 | uint8_t | gimbal_mounting_dir | Gimbal Mounting Method 0: Reserved 1: Normal 2: Upside Down |
| 7 | uint8_t | video_hdmi_or_cvbs | (Only available on A8 mini) Video output status of HDMI and CVBS: 0: HDMI output ON CVBS output OFF 1: HDMI output OFF CVBS output ON |
Mark:
Under this command A2 mini can only acquire “Gimbal Mounting Method”.
Function Feedback Information
| CMD_ID:0x0B——Function Feedback Information | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| 1 | uint8_t | info_type | 0: Success 1: Fail to take a photo (Please check if TF card is inserted) 2: HDR ON 3: HDR OFF 4: Fail to record a video (Please check if TF card is inserted) |
Mark:
This command is not available for A2 mini.
Photo and Video
| CMD_ID:0x0C——Photo | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| uint8_t | func_type | 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 (Only available on A8 mini, restart gimbal to take effect) 7: Set video output as CVBS (Only available on A8 mini, restart gimbal to take effect) 8: Turn off both HDMI and CVBS video output (Only available on A8 mini, restart gimbal to take effect) | |
| ACK data format | |||
| No ack | |||
Mark:
This command is not available for A2 mini.
Acquire Gimbal Attitude
| CMD_ID:0x0D——Acquire Gimbal Attitude | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| int16_t | yaw | Yaw axis degree | |
| int16_t | pitch | Pitch axis degree | |
| int16_t | roll | Roll axis degree | |
| int16_t | yaw velocity | Yaw axis rotation speed | |
| int16_t | pitch velocity | Pitch axis rotation speed | |
| int16_t | roll velocit | Roll axis rotation speed | |
Mark
1. The above data to be divided by 10 is the actual degree, accuracy in one decimal place.
2. Under this command A2 mini can only acquire pitch attitude.
Set Gimbal Control Angle
| CMD_ID:0x0E——Set Gimbal Control Angle | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| int16_t | yaw | Target yaw angle | |
| int16_t | pitch | Target pitch angle | |
| ACK data format | |||
| int16_t | yaw | Current yaw angle | |
| int16_t | pitch | Current pitch angle | |
| int16_t | roll | Current roll angle | |
Angle Control Range
Yaw:
- A8 mini: -135.0 ~ 135.0 degree
- A2 mini: Not available
- ZR10 / ZR30: Same with A8 mini
- ZT30: Limitless
Pitch
- A8 mini: -90.0 ~ 25.0 degree
- A2 mini / ZR10 / ZR30 / ZT30: Same with A8 mini
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.
Acquire Camera Image Type
| CMD_ID:0x10——Acquire Camera Image Type | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| 1 | uint8_t | vdisp_mode | Camera 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:
Acquire camera image type command is only available for ZT30 at this moment.
Set Camera Image Type
| CMD_ID:0x11——Set Camera Image Type | |||
| Send data format | |||
| 1 | uint8_t | vdisp_mode | Camera 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) |
| ACK data format | |||
| 1 | uint8_t | vdisp_mode | Camera 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:
Set camera image type command is only available for ZT30 at this moment.
Read Temperature of a Point
| CMD_ID:0x12——Read 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 | uint16_t | get_temp_flag | 0: Turn off temperature measuring 1: Measure the temperature once 2: Continuous temperature measuring at 5 Hz |
| ACK data format | |||
| 1 | uint16_t | temp | Temperature of the point / 100 (two decimal places) |
| 2 | uint16_t | x | X coordinate of the point |
| 3 | uint16_t | y | Y coordinate of the point |
Mark:
Read temperature of a point command is only available for ZT30 at this moment.
Read Temperature of a Box on Screen
| CMD_ID:0x13——Read Temperature of a Box on Screen | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | uint16_t | startx | X coordinate of the starting point of the box |
| 2 | uint16_t | starty | Y coordinate of the starting point of the box |
| 3 | uint16_t | endx | X coordinate of the ending point of the box |
| 4 | uint16_t | endy | Y coordinate of the ending point of the box |
| 5 | uint8_t | get_temp_flag | 0: Turn off temperature measuring 1: Measure the temperature once 2: Continuous temperature measuring at 5 Hz |
| ACK data format | |||
| 1 | uint16_t | startx | X coordinate of the starting point of the box |
| 2 | uint16_t | starty | Y coordinate of the starting point of the box |
| 3 | uint16_t | endx | X coordinate of the ending point of the box |
| 4 | uint16_t | endy | Y coordinate of the ending point of the box |
| 5 | uint16_t | temp_max | Max temperature in the box / 100 (two decimal places) |
| 6 | uint16_t | temp_min | Min temperature in the box / 100 (two decimal places) |
| 7 | uint16_t | temp_max_x | X coordinate of the max temperature in the box |
| 8 | uint16_t | temp_max_y | Y coordinate of the max temperature in the box |
| 9 | uint16_t | temp_min_x | X coordinate of the min temperature in the box |
| 10 | uint16_t | 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. Under digital zoom, the temperature measuring range should refer to the box responded by the camera.
2. Read temperature of a box command is only available for ZT30 at this moment.
Read Temperature of the Full Screen
| CMD_ID:0x14——Read Temperature of the Full Screen | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| 1 | uint8_t | get_temp_flag | 0: Turn off temperature measuring 1: Measure the temperature once 2: Continuous temperature measuring at 5 Hz |
| ACK data format | |||
| 1 | uint16_t | temp_max | Max temperature in the box / 100 (two decimal places) |
| 2 | uint16_t | temp_min | Min temperature in the box / 100 (two decimal places) |
| 3 | uint16_t | temp_max_x | X coordinate of the max temperature in the full screen |
| 4 | uint16_t | temp_max_y | Y coordinate of the max temperature in the full screen |
| 5 | uint16_t | temp_min_x | X coordinate of the min temperature in the full screen |
| 6 | uint16_t | temp_min_x | Y coordinate of the min temperature in the full screen |
Mark:
Read temperature of the full screen is only available for ZT30 at this moment.
Read Range from Laser Rangefinder
| CMD_ID:0x15——Read Range from Laser Rangefinder | |||
| Send data format | |||
| No. | Data Type | Data Name | Description |
| ACK data format | |||
| 1 | uint16_t | info_type | Range from Laser Rangefinder low byte in the front, high byte in the back Minimum value is 50 Data unit is dm |
Mark:
Read range from laser rangefinder is only available for ZT30 at this moment.
3.3.3 SDK Communication Interface
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
3.3.4 SIYI Gimbal Camera SDK Communication Code Examples
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)
55 66 01 02 00 01 00 0F 04 05 60 BB
Acquire the Max Zoom Value
55 66 01 00 00 00 00 16 B2 A6
Manual Focus 1
55 66 01 01 00 00 00 06 01 de 31
Manual Focus -1
55 66 01 01 00 00 00 06 ff 0f 3f
Take Pictures
55 66 01 01 00 00 00 0c 00 34 ce
Record Video
55 66 01 01 00 00 00 0c 02 76 ee
Rotate 100 100
55 66 01 02 00 00 00 07 64 64 3d cf
Auto Centering
55 66 01 01 00 00 00 08 01 d1 12
Gimbal 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
Acquire Hardware ID
55 66 01 00 00 00 00 02 07 f4
Acquire 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
FPV Mode
55 66 01 01 00 00 00 0c 05 91 9e
Acquire Attitude Data
55 66 01 00 00 00 00 0d e8 05
Set Video Output as HDMI (Only available on A8 mini, restart to take effect)
55 66 01 01 00 00 00 0c 06 f2 ae
Set Video Output as CVBS (Only available on A8 mini, restart to take effect)
55 66 01 01 00 00 00 0c 07 d3 be
Turn Off both CVBS and HDMI Output (Only available on A8 mini, restart to take effect)
55 66 01 01 00 00 00 0c 08 3c 4f
Read Range from Laser Rangefinder (Low byte in the front, high byte in the back, available on ZT30)
55 66 01 00 00 00 00 15 D1 96
3.3.5 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
3.3.6 Advanced Guide for SIYI Gimbal SDK Integration
This special guide is to help developers (especially whose development is based on Linux platform) use SIYI gimbal SDK.
Mark
Before using the guide, please do read the chapter 3.3.1 to 3.3.5 of the user manual.
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.
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>
#include <netinet>
#include <arpa>
#include <unistd.h>
#define RECV_BUUF_SIZE 64
#define SERVER_PORT 37260 // Gimbal Camera (Server) Port
#define SERVER_IP "192.168.144.25" // 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))
</unistd.h></arpa></netinet></sys></errno.h></string.h></stdlib.h></stdio.h>
3.4 Control in SIYI QGC Windows Software through HM30 Image Transmission System
Gimbal connects to air unit 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.
3.4.1 Preparation
It is necessary to prepare tools, firmware, and software below before controlling gimbal camera in this way.
- SIYI HM30 Full HD Image Transmission System
- A2 mini FPV Gimbal
Mark
Above products can be purchased from SIYI directly or from SIYI authorized dealers.
- HM30 Ground Unit LAN 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 for SIYI QGC Windows
1. Power air unit and bind it with ground unit.
2. Connect the air unit’s Ethernet port to the gimbal.
3. Then use HM30 Ground Unit LAN to RJ45 cable to connect the ground unit’s LAN port with the computer’s RJ45 port.
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.
3.4.2 Gimbal Pitch Rotation
While SIYI QGC Windows software is running, Drag the mouse on screen can control gimbal rotation. Dragging the mouse up and down
are pitch rotation.
Double click the mouse on screen, gimbal will automatically center.
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Drag the mouse on screen and hold it, gimbal will continue rotating unless there is a physical limit. Farther you hold it from the center of the screen, faster the gimbal rotates.
4 VIDEO OUTPUT
A2 mini gimbal can only output video through Ethernet port.
4.1 Output and Display Video Stream on SIYI Ground Station
Gimbal camera can connect to the air unit directly, then video will be displayed in SIYI FPV app or SIYI QGC app or other app that are compatible with SIYI link and SIYI
gimbal camera when the air unit is communicating with the ground station.
Please refer to chapter 3.1 of this manual for more detail.
4.2 Output Video Stream to Android Device through HM30 Full HD Image Transmission System
Gimbal connects to HM30 air unit directly, then video will be displayed in SIYI FPV app or SIYI QGC app or other app that are compatible with SIYI link and SIYI gimbal camera when the air unit is communicating with the ground unit.
Preparation
It is necessary to prepare the tools, firmware, and software below before outputting video stream in this way.
- HM30 Full HD Image Transmission System
- A2 mini FPV Gimbal
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Above products can be purchased from SIYI directly or from SIYI authorized dealers.
- SIYI FPV App (v2.5.12.572 or latest version)
- SIYI QGC App
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Above software can be downloaded from relevant product page on SIYI official website.
SIYI FPV App Steps
- Power air unit and bind it with ground unit.
- Connect the air unit’s Ethernet port with the gimbal.
- Update SIYI FPV app to the latest.
- 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 app touchscreen.
SIYI QGC App Steps
Power air unit and bind it with ground unit.
Connect the air unit’s Ethernet port with the gimbal.
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 ground station touchscreen.
4.3 Output Video Stream to Windows Device through HM30 Full HD Image Transmission System
Gimbal connects to HM30 air unit directly, then video will be displayed in SIYI QGC Windows software when the air unit is communicating with the ground unit.
Please refer to chapter 3.4 of this manual for details.
4.4 Output to Third-Party Links
A2 mini gimbal can output video stream to third-party image transmission systems which provide Ethernet port and are compatible with RTSP video stream.
In this way, it is necessary to prepare a customized link cable for connection between SIYI gimbal camera and the third-party image transmission system.
CAUTION
The “RX-” pinout on SIYI gimbal’s video port should connect to the image transmission system video port’s “RX-” pinout, and “RX+” pinout to “RX+” pinout. Do not cross the pinouts, otherwise it will cause damage to the device.
Steps
- Power the air unit of the image transmission system and bind it with the ground unit.
- Connect gimbal’s Ethernet port to the third-party link’s Ethernet port.
- Open RTSP video player and input SIYI gimbal’s default RTSP addresses (rtsp://192.168.144.25:8554/main.264), if video displays normally, connection is successful.
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The default RTSP addresses of A2 mini gimbal is (rtsp://192.168.144.25:8554/main.264) and it cannot be modified.
4.5 Solutions to No Image
If gimbal camera failed to output video or the video cannot be displayed properly, please follow the steps below for trouble shooting.
- Confirm if the link’s ground unit is communicating with the air unit and if the camera is connected to the air unit.
- Check Camera IP addresses and RTSP addresses.
- If you are using SIYI FPV app, check the connection status, app version, video stream settings.
- If you are using SIYI handheld ground stations, check the Ethernet switch in Android system.
- 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.
3.4.2 Gimbal Pitch Rotation
4.5.1 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.
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.
4.5.2 Video Output to Windows Device
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.
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.
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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.
4.6 Common IP Addresses
SIYI Optical Pod / Gimbal Camera’s Default IP Addresses: 192.168.144.25
(OLD) SIYI Optical Pod / Gimbal Camera’s Default RTSP Addresses: rtsp://192.168.144.25:8554/main.264
(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
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SIYI cameras released after ZT30 (including ZT30) start to use the new addresses.
SIYI cameras released before ZT30 still use the old addresses, including ZR30, A2 mini, A8 mini, ZR10, R1M Recording FPV Camera, etc.
5 SIYI FPV APP
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.
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This chapter is edited based on SIYI FPV App v2.5.12.572.
SIYI FPV App can be download from the relevant product pages on SIYI official website.
SIYI FPV App compatible SIYI devices.
- 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
SIYI FPV App OSD Information Definition
SIYI FPV Camera Function Icon Definition
5.1 Settings
In “Settings” page, you can select camera type with stream type, select or input video stream IP addresses, custom app interface, and switch video decoding type.
About Settings
Camera IP: Select between 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.
Map: Enable / disable the map box over the left-bottom corner of the image.
OSD Color: Custom the color of all OSD information.
Decoding Type: Switch between “Hardware Decoding” and “Software Decoding”. Please refer to your camera and your device to display video for the best decoding type.
5.2 Link Status
Display the link status directly over the FPV image.
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.
5.3 Gimbal Camera
Configure the basic functions for SIYI gimbal cameras and cameras.
About Gimbal Camera
Video Resolution: Switch camera real-time streaming resolution between HD (720p) and Full HD (1080p).
Distortion Correction: Turn on/off A2 mini gimbal’s distortion correction function.
Camera Firmware Version: Display the current camera firmware version.
Gimbal Firmware Version: Display the current gimbal firmware version.
Firmware Upgrade
A2 mini gimbal supports firmware upgrade through “SIYI FPV” app.
Before upgrade, it is necessary to prepare the tools, software, and firmware below.
- MK15 Mini Handheld Smart Controller
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You can also use MK32 Enterprise Ground Station, HM30 Full HD Image Transmission System, or compatible third-party links for A2 mini gimbal’s firmware upgrade.
- SIYI FPV App (v2.5.12.572 or latest version)
- Camera Firmware
- Gimbal Firmware
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About tools and firmware can be downloaded from the relevant product pages on SIYI official website.
Firmware Upgrade Steps
1. Install the latest SIYI FPV app on your MK15 remote controller and save the firmware files into MK15 Android system storage in advance.
2. Make sure that MK15 remote controller is communicating with the air unit and A2 mini gimbal is already connected to the air unit.
3. Run SIYI FPV app, go to “Camera A2 mini” page.
4. Tap the “Upgrade” button after the firmware upgrade option and find the relevant firmware.
5. Select the firmware and tap “OK”, and wait for “Upgrade Successful”. Then restart SIYI FPV app to confirm if the firmware is already the latest.
5.4 About SIYI FPV
Displays the software version of SIYI FPV and common contact information of SIYI Technology.
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