SIYI-ZR10 User Manual

INTRODUCTION

Product Features

Excellent UAV Imaging System

ZR10 carries an 8 megapixels CMOS starlight night vision image sensor with excellent 2K video recording and photography. Up to 30x hybrid zoom (10x 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 images recorded by ZR10 will have GPS location information and time attributes.

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.

320-Degree Yaw Axis Rotation

The yaw axis of ZR10 rotates in a range of 320 degrees. Hanging below drones during flight, ZR10 optical pod captures in broad view.

Incomparable Gimbal Control Interface

SIYI optical pods provide powerful compatibility to contribute to smart robotics ecology in all dimensions. They can be controlled through traditional S.Bus signal by switches and dials, or through Ethernet by touchscreen or by UDP based on SIYI SDK, or through UART by SIYI SDK or popular open-source protocols like Ardupilot driver and Mavlink.
*Developing on SIYI SDK through Ethernet UDP or UART can control SIYI optical pods by protocol and acquire relevant data.

*The Mavlink protocol control for SIYI optical pods is in development and will be supported by upgrade later.

Gimbal Motion Mode

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.

3-Axis Gimbal Stabilizer

High-Precision FOC Control

SIYI ZR10 gimbal camera is applied with industry-level 3-axis stabilizing technology and high-precision FOC control algorithms, which reduces most image shaking and ensure that the image is always stable even if the aircraft or the vehicle is in vigorous movement, and the camera will continuously output stable and clear images in long focus.

High Accuracy and High Collaboration Control Algorithms

SIYI has made multiple breakthroughs 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.

Parts

At a Glance

Portas on ZR10

Mark

The manufacturing lots of ZR10 after June of 2023 start to support 6S input, please refer to the product sticker and carefully use.

Technical Specification

Overall

Video Output Port	Ethernet
Control Signal Input Port	S.Bus, UART, Ethernet UDP
High Accuracy 3 Axis Stabilization	Yaw, Pitch, Roll
Working Voltage	11 ~ 25.2 V (Early manufacturing lots before June of 2023 may not support 25.2V, please be careful with checking product sticker)
Power Consumption	Average 4 W Summit 12 W
Working Temperature	-10 ~ 50 ℃
Waterproof Level	IP4X
Dimension	121 x 101 x 78 mm
Weight	381 g

Gimbal

Angular Vibration Range	±0.01°
Controllable Pitch Angle	-135° ~ +45°
Controllable Yaw Angle	-160° ~ +160°
Controllable Roll Angle	-30° ~ +30°

Camera

Lens	10X Optical Zoom (30X Hybrid Zoom)
Focal Length	5.15±5% ~ 47.38±5% mm
Image Sensor	1/2.7-inch, 4 MP effective resolution

Aperture	F1.8 ~ 2.5
FOV	No Zoom: Diagonal: 79.5°, Horizontal: 71.5° 10X Optical Zoom: Diagonal: 7.7°, Horizontal: 6.7°
TF Card Recording Resolution	2K (2560 x 1440) @ 30 fps 1080p (1920 x 1080) @ 30 fps 720p (1280 x 720) @ 30 fps
Video Storage Bitrate	12 Mbps
Supported File System	FAT32
Photography File Format	JPG
Video File Format	MP4
Supported TF Card Type	MicroSD Class10, max 32 GB
Still Photography Mode	Single
Metering Mode	Evaluative metering
White Balance	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.

Packing List

1 x ZR10 Optical Pod

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 Control Y Cable

(Connect SIYI gimbal’s control signal port with SIYI link and controller, including UART control input and S.Bus input)

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 ZR10 Screw Pack

(Using with the fixing board to mount gimbal, including 8 x Cross countersunk head machine screw KM3*12, 8 x M3 Nut Black)

1 x ZR10 Mounting Board & Damper Pack

(For mounting and fixing gimbal and stabilization)

Indicator Definition

The status indicators on ZR10 gimbal camera use 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.

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.

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.

GET READY TO USE ZR10

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.

Connection and Power

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.

Mark

The manufacturing lots of ZR10 after June of 2023 start to support 6S input, please refer to the product sticker and carefully use.

Interesting Functions and Cautions

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 communicate to 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.

GIMBAL CONTROL

SIYI optical pod and gimbal camera support multiple methods to control.

Control Gimbal Camera from SIYI FPV App or SIYI QGC on SIYI Handheld Ground Station

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)
ZR10 Optical Pod

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 (v2.5.12.572 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.
Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal camera’s Ethernet port.
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.
Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal camera’s Ethernet port.
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.

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.

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.

Zoom and Focus

While SIYI FPV App or SIYI QGC app is running, Touching “Zoom in” or “Zoom out” icon on can control camera image zooming, up to 180X hybrid zoom. Optical zoom from 1X to 30X, digital zoom from 30X to 180X. Touching “Close Shot” or “Long Shot” icon, focal length will change from 5 to 150 mm.

Tap touchscreen, camera will focus automatically.

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.

Control Gimbal through S.Bus Signal (Taking an Example of MK15 remote controller)

Gimbal camera can be connected to MK15 air unit for control through joysticks, dials, switches, and buttons on MK15 remote controller when it is communicating with the air unit.

Preparation

It is necessary to prepare the below tools, firmware, and software before controlling gimbal camera in this way.

SIYI Gimbal to SIYI Link Cable
Control Y Cable
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.

SIYI PC Assistant (v1.3.4 or latest version

Mark

Above software can be downloaded from relevant product page on SIYI official website.

Steps

Power MK15 air unit and bind it with MK15 remote controller.

Use SIYI Gimbal to SIYI Link Cable to connect MK15 air unit’s Ethernet port with gimbal’s Ethernet port.

Wire the Control Y Cable with the MK15 / HM30 Air Unit S.Bus Y Cable.

Then use the combined cable to connect MK15 air unit’s RC port and gimbal’s control signal port.

Install and run SIYI PC Assistant on Windows computer.

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.

Under “Channel Config” page, assign remote controller channel 1 to 16 to target gimbal / camera functions according to your requirement.

For the assigned channels, operate their mapped joysticks, dials, switches, and buttons on MK15 remote controller to confirm if they are working normally.

Gimbal Pitch and Yaw Rotation (Taking an Example of MK15 Dials)

Below are the MK15 channel mapping settings for gimbal testing, customers are free to assign MK15 channel mappings as required through SIYI TX app.

Channel 7 = Left Dial (Reversed)
Channel 8 = Right Dial
Channel 12 = Button D

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 on MK15 remote controller, gimbal will rotate around yaw axis. If you operate the right dial, gimbal will rotate around pitch axis. Press button D, gimbal will center automatically.

Mark

Hold the dial from its center position, gimbal will rotate till reaching limit. Farther that you hold it away from center screen, faster gimbal rotates.

Zoom and Focus (Taking an Example of MK15 Switches)

Below are the MK15 channel mapping settings for gimbal testing, customers are free to assign MK15 channel mappings as required through SIYI TX app.

Channel 13 = Left Switch SA
Channel 14 = Left Switch SB
Channel 11 = Button C

In SIYI PC Assistant, map “Zoom” function to channel 13 and “Focus” to channel 14, “Auto Focus” to channel 11.

Then, if you operate the SA switch on MK15 remote controller, camera will zoom in or zoom out, optical zoom from 1X to 10X, digital zoom from 10X to 30X. If you operate the SB switch, camera will focus from 5 mm to 47 mm.

Press button C and camera will focus automatically.

Take Pictures and Record Video (Taking an Example of MK15 Buttons)

Below are the MK15 channel mapping settings for gimbal testing, customers are free to assign MK15 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 on MK15 remote controller, 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.

UART / UDP Control (through SDK)

SIYI gimbal camera provides control protocol for all customers. Please refer to the below guide for secondary development based on SIYI gimbal camera.

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

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)

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
0x7A: ZT30

Auto Focus

CMD_ID:0x04——Auto Focus

Send data format

No.

Data Type

Data Name

Description

uint8_t

auto_focus

1: Start auto focus for once

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.

Manual Zoom and Auto Focus

CMD_ID:0x05——Manual Zoom and Auto Focus
Send data format
No.	Data Type	Data Name	Data Description
1	int8_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

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 t_int	Input the integer part of the target multiple (0X1 ~ 0X1E)
2	uint8_t	Absolute_movemen t_float	Input the fractional part of the target multiple (0X0 ~ 0X9)
ACK data format
	uint8_t	Absolute_movemen t_ask	Success and return to 1

Mark:

Absolute zoom command is only available for optical zoom gimbal cameras like ZT30, ZR30, and ZR10 at this
Under this command, A8 mini can only do absolute zoom and cannot do auto

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

Manual Focus

CMD_ID:0x06——Manual Focus

Send data format

No.

Data Type

Data Name

Description

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.	Date Type	Date 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

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

uint8_t

reserved

uint8_t

hdr_sta

0: HDR OFF

1: HDR ON

uint8_t

reserved

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

uint8_t

gimbal_motion_mode

0: Lock Mode

1: Follow Mode

2: FPV Mode

uint8_t

gimbal_mounting_dir

Gimbal Mounting Method 0: Reserved

1: Normal

2: Upside Down

uint8_t

video_hdmi_or_cvbs

(Only available on A8 mini)

Video output status of HDMI and 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

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)

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

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_velocity	Roll axis rotation speed

Mark:

The above data to be divided by 10 is the actual degree, accuracy in one decimal place.

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
ZR10 / ZR30: Same with A8Mini
ZT30:Limitless

Pitch

A8 mini: -90.0 ~ 25.0 degree
ZR10 / ZR30 / ZT30: Same with A8mini

Mark:

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
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

No.

Data Type

Data Name

Description

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

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

uint16_t

X coordinate of the point

uint16_t

Y coordinate of the point

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	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:

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
Read temperature of a box command is only available for ZT30 at this.

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 of the full screen / 100 (two decimal places)
2	uint16_t	temp_min	Min temperature of the full screen / 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.

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

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

SDK CRC16 Code

				
					const uint16_t crc16_tab[256];
/************************************
CRC16 Coding &amp; 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&gt;&gt;8)&amp;0xff; oldcrc16=crc16_tab[*ptr^temp]; crc=(crc

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.

This guide is using UDP protocol:

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.

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.

Create a socket keyword.

Send data to the gimbal camera and do not revise.

Receive data responded by the gimbal camera and do not revise.

Print the received data in hexadecimal and do not revise.

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>

Control SIYI Gimbal Camera in SIYI QGC Windows Software through HM30 Image Transmission System

Gimbal camera 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.

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
ZR10 Optical Pod

Mark

Above products can be purchased from SIYI directly or from SIYI authorized dealers.

SIYI Gimbal to SIYI Link Cable
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

Power air unit and bind it with ground unit.
Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal camera’s Ethernet port.
Then use HM30 Ground Unit LAN to RJ45 cable to connect the ground unit’s LAN port with the computer’s RJ45 port.
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.

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.

Gimbal Pitch and Yaw Rotation

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 limit. Farther you hold it from the center of the screen, faster the gimbal rotates.

Zoom and Focus

While SIYI QGC Windows software is running, Clicking “Zoom in” or “Zoom out” icon on can control the zoom camera, up to 180X hybrid zoom. Optical zoom from 1X to 30X, digital zoom from 30X to 180X. Clicking “Close Shot” or “Long Shot” icon, focal length will change from 5 to 150 mm.

Click on screen, camera will focus automatically.

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.

Mark

Before taking a picture or recording video, it is necessary to insert SD card into gimbal camera.

Control SIYI Gimbal Camera by the Ardupilot Driver through UART

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.

Preparation

It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way.

Ardupilot Flight Controller (v4.3.1 and above firmware)
ZR10 Optical Pod

Mark

Above products can be purchased from SIYI directly or from SIYI authorized dealers.

SIYI Gimbal to Ardupilot Flight Controller UART Cable

Mark

Above tools should be made by customers at this moment. Please refer to the below picture for pinouts and diagram.

SIYI will provide a standard cable to support the direct connection between Ardupilot flight controller and SIYI gimbal. Welcome to follow our product updates!

Mission Planner

Mark

Above software can be downloaded from Mission Planner official link.

Steps

Power SIYI gimbal camera and Ardupilot flight controller.
Connect gimbal camera’s UART port to Ardupilot flight controller’s UART port and make sure they are communicating with each other.
Run ground station and set the following parameters.

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 -160
MNT1_YAW_MAX to 160
MNT1_RC_RATE to 90 (deg/s) to control speed of gimbal when using RC targetting
CAN1_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
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 autofocus

Control SIYI Gimbal Camera by Mavlink Gimbal Protocol through UART

Gimbal camera’s UART port connects to PX4 / Ardupilot flight controller’s UART port directly to communicate with the flight controller and to control gimbal rotation, gimbal functions, and camera functions.

Preparation

It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way.

PX4 / Ardupilot Flight Controller
ZR10 Optical Pod

Mark

Above products can be purchased from SIYI directly or from SIYI authorized dealers.

SIYI Gimbal to Ardupilot Flight Controller UART Cable

Mark

Above tools should be made by customers at this moment. Please refer to the below picture for pinouts and diagram.

SIYI will provide a standard cable to support the direct connection between PX4 / Ardupilot flight controller and SIYI gimbal. Welcome to follow our product updates!

Mission Planner

Mark

Above software can be downloaded from Mission Planner official link.

Steps

Power SIYI gimbal camera and flight controller.
Connect gimbal camera’s UART port to flight controller’s UART port and make sure they are communicating with each other.
Run ground station and set the following parameters.

SERIAL1_PROTOCOL to 2 (Mavlink 2)
SERIAL1_BAUD to “115” for 115200 bps
Optional: BRD_SER2_RTSCTS to “0” to disable serial flow control
MNT1_TYPE to “4” (SToRM32 MAVLink) and reboot the ardupilot
MNT1_PITCH_MIN to -90
MNT1_PITCH_MAX to 25
MNT1_YAW_MIN to -160
MNT1_YAW_MAX to 160
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
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 Mavlink Flight Controller Attitude to Improve Gimbal Performance While Aircraft Attitude Is Changing Fast

Now SIYI gimbal comes with flight controller attitude integration algorithms. Gimbal attitude control and flight controller attitude data coordinates to improve gimbal stability while aircraft attitude is changing fast, such as fast take off, fast yawing, and fast / continuous rotation.

Preparation

It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way.

PX4 / Ardupilot Flight Controller
ZR10 Optical Pod

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 should be made by customers at this moment. Please refer to the below picture for pinouts and diagram.

SIYI will provide a standard cable to support the direct connection between PX4 / Ardupilot flight controller and SIYI gimbal. Welcome to follow our product updates!

Mission Planner

Mark

Above software can be downloaded from Mission Planner official link.

Steps

Power SIYI gimbal camera and flight controller.
Connect gimbal camera’s UART port to flight controller’s UART port and make sure they are communicating with each other.
Run ground station and set the following parameters.

The params below assume the autopilot’s TELEM1 port is used for instance.

SERIAL1_BAUD to “115” for 115200 bps

SR1_EXTRA1 to “50” to set flight controller attitude angle data sending frequency.

After configuration, it is necessary to “Write Parameters” and reboot the flight controller to take effect.

Necessary Trouble Shooting Steps When Gimbal Attitude Control Is Abnormal

Let’s take an example of the problem that gimbal roll axis tilts abnormally.

VIDEO OUTPUT

ZR10 optical pod supports multiple ways of outputting video stream through the Ethernet video port.

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.

Output Video Stream to Android Device through HM30 Full HD Image Transmission System

Gimbal camera 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
ZR10 Optical Pod

Mark

Above products can be purchased from SIYI directly or from SIYI authorized dealers.

SIYI Gimbal to Link Cable

Mark

Above tools come with product package.

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 unit.
Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal camera’s Ethernet port.
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.
Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal camera’s Ethernet port.
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.

Output Video Stream to Windows Device through HM30 Full HD Image Transmission System

Gimbal camera 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.

Output Video to Windows Device Directly

Gimbal camera connects to Windows device directly, then video will be displayed in SIYI QGC Windows software.

Preparation

It is necessary to prepare the tools, firmware, and software below before outputting video stream in this way.

ZR10 Optical Pod

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

Power gimbal camera.

Use SIYI Gimbal Ethernet to RJ45 Cable to connect the gimbal camera’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.

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.

Gimbal motion and camera functions can be controlled by mouse in QGroundControl.

Output Video to Third-Party Link

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

Power the air unit of the third-party link and bind it with the ground unit.
Use the video cable to connect SIYI gimbal camera’s Ethernet port and the third- party link’s Ethernet port.
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.

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.

Video Output to Android Device

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

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.

Video Output to Windows Device

Use the “Win + R” key combo to wake up the “Run” program and input the command “cmd”.

Successful Network Communication

Network Communication Failed

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.

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.

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

Mark

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.

SIYI FPV APP

SIYI FPV is an Android application developed by SIYI to configure multiple SIYI devices for image transmission settings, camera settings, video stream display, and link status monitor.

Mark

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

Settings

In the “Settings” page, you can configure camera IP Addresses, configure application interface, switch decoding type.

About Settings

Camera IP: Select SIYI Camera 1 and SIYI Camera 2, or input camera RTSP addresses manually, or disable image. The “Rotate” buttons can rotate the image in 180 degrees.

Cross Sight: Display a cross sight in the center of the image. Map: Display the flight map at the left-bottom corner of the app. OSD Color: Adjust the color of all OSD information.

Decoding Type: Switch between “Hardware Decoding” and “Software Decoding”. Please refer to your video input device to choose the decoding type with the best performance.

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.

Gimbal Camera

Configure the basic functions for SIYI gimbal cameras and cameras.

About Gimbal Camera

Auto Record: Turn on / off automatically video recording by TF card on gimbal camera start. Record Resolution: Switch camera record resolution between HD (720p), Full HD (1080p), and 2K.

Video Resolution: Switch camera real-time streaming resolution between HD (720p) and Full HD (1080p).

Motion Mode: Switch gimbal motion mode between Lock Mode, Follow Mode, and FPV Mode.

Under Lock Mode, gimbal rotates simultaneously as aircraft rolls to get FPV and output
enhanced stable images, compatible with planes and racing drones especially for FPV scenes.
Under Follow Mode, gimbal follows when aircraft rotates horizontally, compatible with multi-copter drones.
Under Lock Mode, gimbal does not follow when aircraft rotates horizontally. Camera Firmware Version: Display the current camera firmware version.

Gimbal Firmware Version: Display the current gimbal firmware version. Zoom Firmware Version: Display the current gimbal firmware version.

About SIYI FPV

Displays the software version of SIYI FPV and common contact information of SIYI Technology.

SIYI FPV App Update Log

Date

2023-07-31

Version

2.5.14.644

Updates

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 controller location and device location.

4. New: Status indication for missing TF card.

Firmware Upgrade and Configuration

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 v1.3.4.

Gimbal / Zoom Firmware Update

SIYI gimbal camera connects to SIYI PC Assistant for gimbal firmware and zoom firmware update.

Mark

Zoom firmware update is only available for zoom gimbal cameras only.

Before upgrading, it is necessary to prepare the tools, software, and firmware below.

SIYI PC Assistant (v1.3.4 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)

Mark

Customers should prepare the above tools.

Firmware Upgrade Steps

Install “SIYI PC Assistant” on your Windows device.

Use the USB-C to USB-A cable to connect Windows device’s USB-A port to gimbal camera’s USB-C port.

Run “SIYI PC Assistant” and switch to “Upload” page to check gimbal camera’s current firmware version.

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.

Camera Firmware Update

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 (Class10, FAT32)

Mark

Customers should prepare the above tools.

Please format the SD card to FAT32 format 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

Save camera firmware’s “.bin” file to the SD card’s root directory and do not change the file name.

Restart gimbal camera and wait for 3 to 5 minutes. Camera firmware will be flashed automatically.

Run SIYI FPV app or SIYI PC Assistant software to check if camera firmware is updated successfully.

Gimbal Camera Configuration

SIYI gimbal camera can be connected to SIYI PC Assistant for channel settings and camera settings.

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.
Zoom: Control camera for optical zoom and digital zoom.
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 (for ZT30 only).

Camera Configuration

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.

Gimbal Calibration

The “Gimbal Calibration” can help users do IMU calibration, IMU Constant temperature calibration, and accelerator hexahedral calibration.

IMU Calibration

IMU calibration can keep the inertial measuring unit’s accuracy and reliability.

Steps

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”.

The PC assistant start to check IMU status automatically to determine if the gimbal should be calibrated.

If IMU is working normally, there will be a message box to indicate “not necessary to calibrate”.

If IMU is not working normally, there will be a message box to indicate “calibration is necessary”.

Click “Start Gimbal” and “Calibrate”.

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”.

IMU calibration menu will display “calibrating”.

After a few seconds, IMU calibration will be finished.

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.

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.

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.

Main Firmware Update Log

Date	2023-07-28
Camera Firmware	0.2.9 svn947 svn945
Gimbal Firmware	0.3.0 svn6895
Zoom Firmware	0.2.2 svn6826
SIYI FPV	2.5.14.644
Updates	1. New: Gimbal SDK supports all TCP and UDP commands. 2. Improve: Absolute zoom error. 3. New: Now customers can preview stored camera pictures and videos through SIYI FPV app. 4. Improve: Now ZR10 records videos in MP4 format. 5. Improve: RTSP streaming supports up to 4 streams from the same IP addresses. 6. Fix: Date information in picture file was wrong. 7. Improve: Videos recorded and pictures taken by ZR10 are organized by date and time in folders.

Date	2023-05-06
Camera Firmware	0.2.8 svn636 svn544
Gimbal Firmware	0.2.7 svn6662
Zoom Firmware	0.2.1 svn6675
SIYI PC Assistant	1.3.4 svn6679
Updates	1. New: Accelerator hexahedral calibration. 2. Fix: Abnormal temperature indicators. 3. New: Now camera pictures come with time and location information. 4. Improve: Gimbal will not center when it hits roll limit. 5. Improve: Gimbal and motor control algorithm. 6. Improve: Auto focus.

Date	2022-11-30
Camera Firmware	0.2.6 svn452 svn451
Gimbal Firmware	0.2.2 svn6290
Updates	1. New: SDK command for gimbal rotation control by angle. 2. New: User IMU calibration.

Date	2022-11-16
Camera Firmware	0.2.5 svn329 svn307
Gimbal Firmware	0.1.9 svn6097
Updates	1. New: Upside down mode. 2. New: FPV mode. 3. Improve: Lock mode, follow mode. 4. Improve: Gimbal and motor control algorithm.

Date	2022-08-02
Camera Firmware	0.2.4 svn306
Gimbal Firmware	0.1.8 svn6012
Zoom Firmware	0.1.5 svn6007
Updates	1. Improve: Auto focus from 10X to 30X zoom. 2. New: SDK commands for acquiring firmware version, device ID, gimbal attitude data, working mode. 3. Improve: Over exposure. 4. New: Codec switch in SIYI PC Assistant. 5. Improve: Reduce gimbal rotation control speed under high zoom to improve stability. 6. Improve: Auto detection of yaw axis limit on start. Support 320-degree yaw along with the new manufacturing lot. 7. Improve: Zoom control.

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Table of Contents

SIYI-ZR10 User Manual

INTRODUCTION

Product Features

Excellent UAV Imaging System

Focus Tracking

Starlight Night Vision

HDR

320-Degree Yaw Axis Rotation

Incomparable Gimbal Control Interface

Gimbal Motion Mode

Upside Down Mode

Follow Mode

Lock Mode

FPV Mode

3-Axis Gimbal Stabilizer

High-Precision FOC Control

High Accuracy and High Collaboration Control Algorithms

IMU Calibration Algorithms

Attitude Fusion Algorithms

Industry-Level 3-Axis Stabilization Algorithms

High-Precision FOC Motor Control Algorithms

Parts

At a Glance

Portas on ZR10

Mark

Technical Specification

Overall

Gimbal

Camera

Mark

Packing List

Indicator Definition

GET READY TO USE ZR10

Installation

Screw Holes’ Position and Distance

Mark

Connection and Power

Mark

Interesting Functions and Cautions

Mark

GIMBAL CONTROL

Control Gimbal Camera from SIYI FPV App or SIYI QGC on SIYI Handheld Ground Station

Preparation

Mark

Mark

Mark

SIYI FPV App Steps

SIYI QGC App Steps

Gimbal Pitch and Yaw Rotation

Mark

Zoom and Focus

Take pictures and Record Video

Mark

Control Gimbal through S.Bus Signal (Taking an Example of MK15 remote controller)

Preparation

Mark

Mark

Mark

Steps

Gimbal Pitch and Yaw Rotation (Taking an Example of MK15 Dials)

Mark

Zoom and Focus (Taking an Example of MK15 Switches)

Take Pictures and Record Video (Taking an Example of MK15 Buttons)

Mark

UART / UDP Control (through SDK)

SDK Protocol Format

SDK Communication Commands

Acquire Firmware Version

Acquire Hardware ID

Auto Focus

Manual Zoom and Auto Focus