SIYI ZT6 User Manual

INTRODUCTION

Product Features

Dual Sensors, Mini Size & Lightweight

ZT6 is a mini size and lightweight optical pod integrated with an optical sensor and a thermal imaging sensor. Dual sensors collaborate efficiently to detect heat sources and measure temperature, to capture clear picture and provide a broad view

High Resolution Thermal Imaging

Full-Image Thermometric / Point Thermometric / Box Thermometric

ZT6 mini dual-sensor optical pod carries a 640 x 512 resolution thermal imaging sensor of 13 mm focal length and 30 fps frame rate. Vision is wide, video is smooth and clear. Quick and accurate reactions can be taken as long as abnormal heat source is detected where temperature can be measured by touching on infrared images.

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ZT6 works with the optional SIYI AI tracking module, which combines SIYI’s self developed AI algorithm and collaborate with SIYI optical pods (gimbal cameras) to achieve real-time tracking and capture of targets, and real-time focusing and zooming to highlight the selected object in the picture. The target will always be in the center of the picture and maintain a clearly visible proportion of the picture. It supports the anti-lost function. During the following process, if the target is blocked or briefly leaves the monitoring screen, the AI tracking module can automatically recognize and continue tracking when it re-enters the monitoring screen.

Powerful Comprehensive UAV Imaging System

ZT6 mini dual sensor 1/2.8-inch Sony CMOS, which supports powerful 4K video recording and 6x digital zoom. Silky movement, smooth zoom, distant scenery, now within reach. *The picture files captured by ZT6 can be written with GPS location information and time attributes

Infrared Zoom

Thermal camera supports 2x digital zoom and accurately controls more picture details.

Synchronized Zoom

Thermal imaging camera and zoom camera can zoom in and out synchronously in the same perspective. The operator can quickly obtain valuable information by comparing the details of the picture.

Video Split-Image

ZT6 can split image for the two sensors to stream combined videos from optical
camera and thermal camera.

Yaw Axis 540-Degree Rotation

The yaw axis of ZT6 mini dual-sensor optical pod rotates in a range of 540 degrees, providing 360-degree vision around

Incomparable Gimbal Control Interface

SIYI optical pods’ (gimbal cameras’) powerful compatibility 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 / TCP commands based on SIYI gimbal SDK, or through UART by SIYI gimbal SDK or by mainstream open-source protocols ArduPilot and PX4 (Mavlink)

Gimbal Working Mode

Nose Mode

Gimbal mounted on the head of the plane at an angle of 90 degrees to the horizon will automatically enter the nose mode, which is easy for installation on VTOL drones and planes to achieve an excellent angle and a wider field of view

Upside Down Mode

Gimbal automatically activates upside down mode when it is placed upside down,very convenient to be mounted on multiple kinds of vehicles like UGV, USV, robot dog, and more robotics.

Follow Mode

Horizontally, gimbal follows when aircraft rotates.

Lock Mode

Horizontally, gimbal does not follow when aircraft rotates.

FPV Mode

Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output enhanced stable images.

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SIYI has done even more in control algorithms and stabilization algorithms.

IMU Calibration Algorithms

Compensate and correct errors of the inertial measurement unit, reduce interference factors such as zero bias, scale factor, inter-axis error, temperature drift, noise, etc., greatly improve the measurement accuracy of IMU, and improve the stability of the gimbal in large temperature differences, wide margin steering, and strong vibration environments

Attitude Fusion Algorithms

Comprehensively utilize the data of sensors such as accelerometers and gyroscopes, obtain the pitch angle, roll angle, and yaw angle of the gimbal through mathematical models and filtering algorithms, and fuse this information to effectively improve system performance, stability, and robustness.

Industry-Level 3-Axis Stabilization Algorithms

Deeply integrate and utilize 3-axis gyroscopes, 3-axis accelerometers, PID controllers, motors, and magnetic encoders to achieve gimbal attitude stabilization control and continuously output stable high-definition video images during motion.

High-Precision FOC Motor Control Algorithms

Control the current components of the motor to control torque and magnetic field respectively, thereby achieving decoupling control of the brushless motor and greatly reducing picture jitter.

Ports, Interface & Definition

Technical Specification

Overall

Video Output Port	Ethernet / CVBS Micro-HDMI
Control Signal Input Port	S.Bus UART Ethernet UDP / TCP
Control Signal Output Port	S.Bus
High Accuracy 3 Axis Stabilization	Yaw Pitch Roll
Working Voltage	11 ~ 25.2 V (3S to 6S)
Power Consumption	Average 6.5 W Summit 15 W
Waterproof Level	IP53
Working Temperature	-10 ~ 50 ℃
Dimension	73.5 x 75 x 131.5 mm
Weight	Excluding Anti-Vibration Board: 177 g Including Anti-Vibration Board: 197 g

Gimbal

Angular Vibration Range	±0.01°
Controllable Pitch Angle	-90° ~ +25°
Controllable Yaw Angle	-270° ~ +270°
Rotatable Roll Angle	-45° ~ +45°

Optical Camera

Lens	Fixed Focal Length 6x Digital Zoom
Equivalent Focal Length	20 mm

Image Sensor	Sony 1/2.7 Inch CMOS 8 MP Effective Resolution
Aperture	F2.8
FOV	Diagonal 93° Horizontal 84.5°
Video Recording Resolution	4K (3840 x 2160) @ 30 fps 2K (2560 x 1440) @ 30 fps 1080p (1920 x 1080) @ 30 fps 720p (1280 x 720) @ 30 fps
Still Photo Resolution	4K (3840 x 2160)

Thermal Imaging Camera

Thermal Sensor	Uncooled VOx Microbolometer
Resolution	640 x 512
Zoom	2X Digital
Lens	Focal Length: 13 mm Aperture: F1.0 Fixed Focus Athermalization
Wavelength Range	8 ~ 14 um
Temperature Measuring Range	High Gain: -20 ~ +150℃ Low Gain: 50 ~ +550℃
Temperature Measuring Accuracy	±2℃ (-20 ~ +150℃) ±5℃ (50 ~ +550℃)
Temperature Measuring Mode	Full Image Thermometric Point Thermometric Box Thermometric

G eneral Camera Specs

Video Storage Bitrate	15 Mbps (H.265 Codec)
File Storage Format	FAT32 ExFAT
Image Format	JPG
Video Format	MP4
Supported MicroSD Cards	MicroSD Class10, Max 256 GB

Still Photography Mode	Single
White Balance	Auto

1.4 Packing List

1 x ZT6 Mini Dual-Sensor 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 3 in 1 Control Cable
(A universal cable for ZT30, ZT6, ZR30, and A8 mini, it connects SIYI gimbal’s control signal
port with SIYI link and controller, including UART control input, S.Bus input and output)

1 x ZT6 Power Cable
(Power supply cable for ZT6)

1 x SIYI Gimbal Ethernet Cable
(A backup cable for customer DIY purpose to connect SIYI gimbal to third-party Ethernet
devices)

1 x SIYI Gimbal to SIYI Link Cable
(An all-in-one cable for only touch screen control to SIYI gimbal through SIYI link, it can power
SIYI gimbal and can also transfer video stream and control signal)

1 x SIYI Gimbal Ethernet to RJ45 Cable
(Connect SIYI gimbal with RJ45 device directly)

1 x SIYI Gimbal to PX4 / ArduPilot Flight Controller UART Cable
(A universal cable for ZT30, ZT6, ZR30, and A8 mini, it connects SIYI gimbal to the UART port
on PX4 / ArduPilot flight controller for data communication and gimbal control)

1 x ZT6 Screw Pack
(Using with the fixing board to mount ZT6, including 6 x Hex Socket Large Flat Head Cap Screw
TM3*8)

1.5 Indicator Definition

The status indicator on SIYI gimbal uses three different colors and different
blinking frequencies to indicate the system’s working or abnormal status.

Solid Green: Normally working

Slow Green Blinks: S.Bus signal input is normal

Double Green Blinks: Integrating flight controller attitude data is normal.

Slow Red Blinks: One of or all the firmware does not match (camera firmware, gimbal firmware, zoom firmware).

Triple Red Blinks: Failed to identify zoom module (for optical zoom gimbal camera only)

Red-Red-Yellow Blinks Continuously: Failed to identify camera board.

Yellow Blinks: Power input voltage is low (lower than 10 V)

Double Red Blinks: IMU temperature rising is abnormal

Double Yellow Blinks: IMU temperature is rising

Triple Yellow Blinks: IMU temperature is abnormal

GET READY TO USE ZT6

Installation

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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.

Interesting Functions and Cautions

SIYI optical pod and gimbal camera support abundant interesting functions.

Capture with Time and Location Information

SIYI optical pod and gimbal camera can save time and location information into captured pictures in EXIF format. The preconditions that the function will work are:

Time Information: The ground station must connect to internet and run the latest SIYI FPV app.

Location Information: Gimbal must be communicating with the flight controller through UART.

Synchronize Shooting and Split Image

ZT6 mini dual-sensor optical pod’s zoom camera, wide angle camera, and thermal imaging camera can shoot images simultaneously in flexible combinations. Welcome to refer to chapter 4.1 to 4.4 in this manual for more detail.

Output Four Video Streams from the Same RTSP Addresses

SIYI optical pods and gimbal cameras can output up to four video streams from the same RTSP addresses.

GIMBAL CONTROL

SIYI optical pod (gimbal camera) support multiple methods to control.

Enable AI Recognition, Tracking, and Follow through SIYI AI Tracking Module Using SIYI Optical Pod (Gimbal Camera) and SIYI Link

SIYI optical pod (gimbal camera) can connect to SIYI link through SIYI AI tracking module and enable AI recognition, tracking, and follow feature through SIYI FPV app or SIYI QGC app while the air unit is communicating with the ground unit.It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way.

SIYI Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard Combo is suggested for excellent compatibility with SIYI gimbal cameras)

SIYI Optical Pod (Gimbal Camera)

Flight Controller

SIYI AI Tracking Module

Steps
1. Confirm if gimbal camera’s firmware has been upgraded to be compatible with
SIYI AI tracking module and the AI follow function.
2. Confirm if SIYI FPV app has been upgraded to be compatible with SIYI AI
tracking module and the AI follow function.
3. Please refer to the picture below to connect SIYI AI tracking module with SIYI
gimbal camera and SIYI link

4. Please refer to the picture below to connect SIYI gimbal camera with flight
controller and integrate attitude data

5. Run SIYI FPV app, go to “Settings – Addresses”, and select “SIYI AI Camera”.

6. Return to main image, touch the AI tracking function button to enable the function.

7. Confirm if the flight controller integration button shows up (which means flight
controller attitude data is integrated).

8. Switch flight mode to “Guided” and configure the max flight speed.

9. Touch the AI follow button to enable target follow function.
10. Touch the AI tracking / follow button again to disable the function.

Control SIYI Optical Pod (Gimbal Camera) in SIYI FPV App or SIYI QGC App through SIYI link

SIYI optical pod (gimbal camera) can connect to SIYI link directly to control gimbal rotation, gimbal functions, and video display in SIYI FPV app or SIYI QGC app when the air unit is communicating with the ground unit.

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

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.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 the zoom camera.
Click the touchscreen once, optical zoom gimbal 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.

Control SIYI Optical Pod (Gimbal Camera) in SIYI QGC (Windows) Software through SIYI Link

SIYI optical pod (gimbal camera) can connect to SIYI link directly to control gimbal rotation, gimbal functions, and video display in SIYI QGC Windows software when the air unit is communicating with the ground unit.

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.

Zoom and Focus

While SIYI QGC Windows software is running,Clicking “Zoom in” or “Zoom out” icon on can control the zoom camera.
Click on screen, optical zoom camera will focus automatically.

Take pictures and Record Video

While SIYI QGC Windows software is running,Click “Photo” icon once on to take a picture. Click “Record” icon to start video recording. Click “Recording” icon to stop video recording.

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SIYI optical pod (gimbal camera) can be connected to the air unit of SIYI link and the flight controller simultaneously for attitude control through joysticks, dials, switches, and buttons on a remote controller or on an SIYI handheld ground station.

Preparation

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

SIYI Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard Combo is suggested for excellent compatibility with SIYI gimbal cameras)

SIYI Optical Pod (Gimbal Camera)

Steps

1.
P ower the air unit and bind it with the ground unit
2.
Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with
gimbal’s Ethernet port.
3.
Wire the 3 in 1 Control Cable with the MK15 / HM30 Air Unit S.Bus Y Cable.
4.
Then use the combined cable to connect the air unit’s RC port and the gimbal’s
control signal port.
5.
Install and run SIYI PC A ss istant on Windows computer.
6.
Use the USB C to USB A cable to connect the gimbal to the computer, then run
SIYI PC Assistant and go to “Gimbal Config” page.

7.
Under “Channel Config” page, assign the communication channel 1 to 16 to
target gimbal and camera functions according to your requirement.
8.
F or the assigned channels, operate their mapped joysticks, dials, switches, and buttons on
the handheld ground station
to confirm if they are working normally.

G imbal Pitch and Yaw Rotation (Taking an example of Dial Control

Below
is suggested channel mapping settings for testing, customers are free to
assign channel mappings as required through SIYI TX app.
C hannel 7 = Left Dial (Reversed)
C hannel 8 = Right Dial
C hannel 12 = Any Button
In SIYI PC Assistant, map “Yaw” function to channel 7 and “Pitch” to channel 8,“Center” to channel 12 .

Then, if you operate the left dial gimbal will rotate on yaw axis. If you operate the right dial, gimbal will rotate on pitch axis. Press the button, gimbal will center itself automatically.

Zoom and Focus (Taking an E xample of Switch Control

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

C hannel 13 = A Switch
C hannel 14 = B Switch

In SIYI PC Assistant, map “Zoom” function to channel 13, map “Auto Focus”function to channel 14 Then, if you operate switc h A camera will zoom in or zoom out. If you operateswitch B, optical zoom camera will focus automatically.

Take Pictures and Record Video (Taking an Example of Button Control

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

C hannel 9 = Button A
C hannel 10 = Button B

In SIYI PC Assistant, map “Photo” function to channel 9 and “Record” to channel10.Then, if you press button A camera will take a picture. If you press button B,camera will start or stop video recording.

UART / UDP Control SIYI Gimbal SDK)

SIYI gim bal 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

.2 SDK Communication Commands

TCP Heartbeat

CMD_ID:0x00 TCP Heartbeat
Send data format
No.	Data Type	Data Name	Description

ACK data format
			No ack

Mark:
1.H eartbeat pack: 55 66 01 01 00 00 00 00 00 59 8B
2.Only available for TCP protocol.

Request Gimba l Camera Firmware Version

CMD_ID:0x01 Request Gimbal Camera 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：0x6E 030203 = firmware version v3.2.3
Mark:
1.Ignore the 4 th byte (higher byte)
2.Z oom firmware version is only available for optical zoom cameras such as ZR10 ZR30 , and ZT30 at this
moment.
3.The camera system takes about 30 seconds to start up . V alid camera firmware version cannot be
obtained before the startup is completed. The camera firmware version number obtained during this
period is 0.0.0

Request Gimbal Camera Hardware ID

CMD_ID:0x02 Request Gimbal Camera 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 h exadecimal
0x 6B: ZR10
0 x73: A8 mini
0 x75: A2 mini
0 x78: ZR30
0 x82: ZT6
0 x7A: ZT30

Request Gimbal Camera’s Present Working Mode

	CMD_ID:0x19 Request Gimbal Camera’s Present Working Mode
	Send data format
	No.		Data Type		Data Name		Description

	ACK data format
1		uint8_t		gimbal_mode		00: Lock Mode 01: Follow Mode 02: FPV Mode

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
	uin16_t	touch_x	x coordinates, the range is the length of the video stream resolution
	uin16_t	touch_y	y coordinates, the range is the height of the video stream resolution
ACK data format
1	uint8_t	sta	1: Success 0: Failure

Mark:
1.Auto focus command is only available for optical zoom gimbal cameras like ZT30, ZR30, and ZR10 at this
moment.
2.U nder split image, the effective value of the x coordinates is a half of the length of the video stream
resolution.

Manual Zoom and Auto Focus

CMD_ID:0x05 Manual Zoom and Auto Focus
Send data format
No.	Data Type	Data Name	Data Description
1	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, accuracy is one decimal point)

Mark:
1.Manual zoom and auto focus command is only available for optical zoom gimbal cameras like ZT30,
ZR30, and ZR10 at this moment.
2.U nder this command, ZT6 and A8 mini can only do manual zoom but 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	Data Description
1	uint8_t	Absolute_movemen	Input the integer part of the target

		t_int	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:
1.Absolute zoom command is only available for optical zoom gimbal cameras like ZT30, ZR30, and ZR10 at
this moment.
2.U nder this command, ZT6 and A8 mini can only do absolute zoom but cannot do auto focus.

Request the Max Zoom Value in Present

CMD_ID:0x16 Request the Max Zoom Value in Present
Send data format
No.	Data Type	Data Name	Description

ACK data format
	uint8_t	zoom_max_int	Integer of the max zoom value in present
	uint8_t	zoom_max_float	Float of the max zoom value in present

Mark:
This command is available for zoom gimbal cameras.

Request the Zoom Value in Present

CMD_ID:0x18 Acquire the Zoom Value in Present
Send data format
No.	Data Type	Data Name	Description

ACK data format
	uint8_t	zoom_int	Integer of the zoom value in present
	uint8_t	zoom_float	Float of the zoom value in present

Mark:
This command is available for zoom gimbal cameras.

Manual Focus

CMD_ID:0x06 Manual Focus
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.	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

Request Gimbal Configuration Information

CMD_ID:0x0A Request 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

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 ZT6 and 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 Record

CMD_ID:0x0C Photo and Record
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 ZT6 and A8 mini, restart gimbal to take effect) 7: Set video output as CVBS (Only available on ZT6 and A8 mini, restart gimbal to take effect) 8: Turn off both HDMI and CVBS video output (Only available on ZT6 and A8 mini, restart gimbal to take effect)

ACK data format
			No ack

Request Gimbal Attitude

CMD_ID:0x0D Request Gimbal Attitude
Send data format
No.	Data Type	Data Name	Description

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:
1.The above data to be divided by 10 is the actual degree, accuracy in one decimal place.
2.It is suggested to use the command “0x25” to configure the sending frequency of gimbal attitude data in
certain frequency continuously and actively.

Send Control Angle to Gimbal

CMD_ID:0x0E Send Control Angle to Gimbal
Send data format
No.	Data Type	Data Name	Description
	int16_t	yaw	Target yaw angle
	int16_t	pitch	Target pitch angle
ACK data format
	int16_t	yaw	Current yaw angle
	int16_t	pitch	Current pitch angle
	int16_t	roll	Current roll angle

Control Angle Range
Yaw:
ZR10 / A 8 mini: 135.0 ~ 135.0 degrees
ZT6 / ZR30: 270.0 ~ 270.0 degrees
Z T30: Limitless
Pitch
ZT30 / ZT6 / ZR30 / ZR10 / A 8 mini / A2 mini: 90.0 ~ 25.0 degree
Mark:
1.T he accuracy of the control angle is in one decimal place. Eg: Set yaw as 60.5 degrees, the command
number should be set as 605.
2.The actual angle data returned to be divided by 10 is the actual degree, accuracy in one decimal place.

Request G imbal Camera Codec Specs

CMD_ID:0x20 Request Gimbal Camera Codec Specs
Send data format
No.	Data Type	Data Name	Description
	uint8_t	req_stream_type	0: Recording stream 1: Main stream 2: Sub stream (only available on ZT30 and ZT6)
ACK data format
	uint8_t	stream_type	0: Recording stream 1: Main stream 2: Sub stream (only available on ZT30 and ZT6)
	uint8_t	VideoEncType	Codec Format 1: H264 2: H265
	uint16_t	Resolution_L	Resolution in length
	uint16_t	Resolution_H	Resolution in height
	uint16_t	VideoBitrate	Video Bitrate in Kbps

Send Codec Specs to Gimbal Camera

CMD_ID:0x21 Send Codec Specs to Gimbal Camera
Send data format
No.	Data Type	Data Name	Description
	uint8_t	stream_type	0: Recording stream 1: Main stream 2: Sub stream (only available on ZT30 and ZT6)
	uint8_t	VideoEncType	Codec Format 1: H264 2: H265
	uint16_t	Resolution_L	Resolution in length: 1920, 1280
	uint16_t	Resolution_H	Resolution in height: 1080, 720
	uint16_t	VideoBitrate	Video Bitrate in Kbps
	uint8_t	reserve	Reserved
ACK data format
	uint8_t	stream_type	0: Recording stream 1: Main stream 2: Sub stream (only available on ZT30 and ZT6)
	uint8_t	sta	1: Success 0: Failure

Request Gimbal Camera Image Mode

CMD_ID:0x10 Request Gimbal Camera Image Type
Send data format
No.	Data Type	Data Name	Description

ACK data format

uint8_t

vdisp_mode

Image Mode:

0: Split Screen (Main: Zoom & Thermal. Sub: Wide Angle)

1: Split Screen (Main: Wide Angle & Thermal. Sub: Zoom)

2: Split Screen (Main: Zoom & Wide Angle. Sub: Thermal)

3: Single Image (Main: Zoom. Sub: Thermal)

4: Single Image (Main: Zoom. Sub: Wide Angle)

5: Single Image (Main: Wide Angle. Sub: Thermal)

6: Single Image (Main: Wide Angle. Sub: Zoom)

7: Single Image (Main: Thermal. Sub: Zoom)

8: Single Image (Main: Thermal. Sub: Wide Angle)

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Send Image Mode to Gimbal Camera

CMD_ID:0x11 Send Image Type to Gimbal Camera
Send data format
No.	Data Type	Data Name	Description
1	uint8_t	vdisp_mode	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

Image Mode:

0: Split Screen (Main: Zoom & Thermal. Sub: Wide Angle)

1: Split Screen (Main: Wide Angle & Thermal. Sub: Zoom)

2: Split Screen (Main: Zoom & Wide Angle. Sub: Thermal)

3: Single Image (Main: Zoom. Sub: Thermal)

4: Single Image (Main: Zoom. Sub: Wide Angle)

5: Single Image (Main: Wide Angle. Sub: Thermal)

6: Single Image (Main: Wide Angle. Sub: Zoom)

7: Single Image (Main: Thermal. Sub: Zoom)

8: Single Image (Main: Thermal. Sub: Wide Angle)

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Reques t the Temperature of a Point

CMD_ID:0x12 Request the Temperature of a Point
Send data format
No.	Data Type	Data Name	Description
1	uint16_t	x	x coordinate of the point
2	uint16_t	y	y coordinate of the point
3	uint8_t	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:
This command is only available for ZT30 and ZT6 at this moment.

Request the M ax / Min Temperature in a Selected Box

CMD_ID:0x13 Request the Max / Min Temperature in a Selected Box
Send data format
No.	Data Type	Data Name	Description
1	uint16_t	startx	X coordinate of the starting point of the box
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	The maximum temperature in the box / 100 (two decimal places)
6	uint16_t	temp_min	The minimum 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.T hermal camera supports digital zoom, the temperature measuring box will zoom in and out according to
the digital zoom multiples . Under digital zoom, the temperature measuring range should refer to the box
responded by the camera.
2.This command is only available for ZT30 and ZT6 at this moment.

Request the Max / Min Temperature in the Full Image

CMD_ID:0x14 Request the Max / Min Temperature in the Full Image
Send data format
No.	Data Type	Data Name	Description
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	The maximum temperature in the full image / 100 (two decimal places)
2	uint16_t	temp_min	The minimum temperature in the full image / 100 (two decimal places)
3	uint16_t	temp_max_x	X coordinate of the max temperature in the full image

uint16_t

temp_max_y

Y coordinate of the max temperature

in the full image

uint16_t

temp_min_x

X coordinate of the min temperature

in the full image

uint16_t

temp_min_x

Y coordinate of the min temperature

in the full image

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Request the Thermal Color Palette

CMD_ID:0x1A Request the Thermal Color Palette
Send data format
No.	Data Type	Data Name	Description

ACK data format
	uint8_t	pseudo_color	11 thermal colors are available in total: 0: White_Hot 1: Reserved 2: Sepia 3: Ironbow 4: Rainbow 5: Night 6: Aurora 7: Red_Hot 8: Jungle 9: Medical 10: Black_Hot 11: Glory_Hot

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Send a Thermal Color to Gimbal Camera

CMD_ID:0x1B Send a Thermal Color to Gimbal Camera
Send data format
No.	Data Type	Data Name	Description

			11 thermal colors are available in
			total:
			0: White_Hot
			1: Reserved
			2: Sepia
			3: Ironbow
	uint8_t	pseudo_color	4: Rainbow 5: Night
			6: Aurora
			7: Red_Hot
			8: Jungle
			9: Medical
			10: Black_Hot
			11: Glory_Hot
ACK data format
			11 thermal colors are available in
			total:
			0: White_Hot
			1: Reserved
			2: Sepia
			3: Ironbow
	uint8_t	pseudo_color	4: Rainbow 5: Night
			6: Aurora
			7: Red_Hot
			8: Jungle
			9: Medical
			10: Black_Hot
			11: Glory_Hot

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Send Thermal RAW Data Command to Gimbal

CMD_ID:0x34 Send Thermal RAW Data Command to Gimbal

Send data format

No.

Data Type

Data Name

Description

uint8_t

mode

0: 30 fps

1: 25 fps frame

and

output

temperature

ACK data format

uint8_t

mode

0: 30 fps

1: 25 fps frame

and

output

temperature

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Request Temperature from the Thermal Imaging Camera Once

CMD_ID:0x35 Request Temperature from the Thermal Imaging Camera Once

Send data format

No.	Data Type	Data Name	Description

ACK data format
1	uint8_t	ack	1: Success

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Request Thermal Gain

CMD_ID:0x37 Request Thermal Gain
Send data format
No.	Data Type	Data Name	Description

ACK data format
1	uint8_t	Ir_gain	0: Low gain 1: High gain

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Send Thermal Gain to Gimbal

CMD_ID:0x38 Send Thermal Gain to Gimbal
Send data format
No.	Data Type	Data Name	Description
1	uint8_t	Ir_gain	0: Low gain 1: High gain
ACK data format
1	uint8_t	Ir_gain	0: Low gain 1: High gain

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Request Thermal Calibration

CMD_ID:0x39 Request Thermal Calibration
Send data format
No.	Data Type	Data Name	Description

ACK data format
1	uint8_t	EnvCorrect	0: ON 1: OFF

Mark:
This command is only available for ZT30 and ZT6 at this moment.

Send Thermal Calibration to Gimbal

CMD_ID:0x3A Send Thermal Calibration to Gimbal
Send data format
No.	Data Type	Data Name	Description
1	uint8_t	EnvCorrect	0: ON 1: OFF
ACK data format
1	uint8_t	EnvCorrect	0: ON 1: OFF

Mark:
This command is only available for ZT30 and ZT6 at
this moment.

Request Thermal Calibration Parameters

CMD_ID:0x3B Request Thermal Calibration Parameters
Send data format
No.	Data Type	Data Name	Description

ACK data format
1	uint16_t	Dist	Distance (m)
2	uint16_t	Ems	Target emission rate (%)
3	uint16_t	Hum	Humidity (%)
4	uint16_t	Ta	Atmospheric Temperature (°C)
5	uint16_t	Tu	Reflection Temperature (°C)

Mark:
1.All parameters of this protocol are divided by 100 and retained to two decimal places.
2.This command is only available for ZT30 and ZT6 at this moment.

Send Thermal Calibration Parameters to Gimbal

CMD_ID:0x3C Send Thermal Calibration Parameters to Gimbal
Send data format
No.	Data Type	Data Name	Description
1	uint16_t	Dist	Distance (m)
2	uint16_t	Ems	Target emission rate (%)
3	uint16_t	Hum	Humidity (%)
4	uint16_t	Ta	Atmospheric Temperature (°C)
5	uint16_t	Tu	Reflection Temperature (°C)
ACK data format
1	uint8_t	ack	1: Success

Mark:
1.All parameters of this protocol are divided by 100 and retained to two decimal places.
2.This command is only available for ZT30 and ZT6 at this moment.

Request Range Value from the Laser Rangefinder

CMD_ID:0x15 Request Range Value from the Laser Rangefinder
Send data format
No.	Data Type	Data Name	Description

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:
This command is only available for ZT30 and at this moment.

Request the Latitude and Longitude of the Laser Rangefinder’s Target

CMD_ID:0x17 Request the Latitude and Longitude of the Laser Rangefinder’s Target
Send data format
No.	Data Type	Data Name	Description

ACK data format
1	int32_t	lon_degE7	[degE7] Longitude (WGS84, EGM96 spheroid)
2	int32_t	lat_degE7	[degE7] Latitude (WGS84, EGM96 spheroid)

Mark:
This command is only available for ZT30 at this moment.

Request Laser Rangefinder Status

CMD_ID:0x31 Request Laser Rangefinder Status
Send data format
No.	Data Type	Data Name	Description

ACK data format
1	uint8_t	laser_state	1: ON 0: OFF

Mark:
This command is only available for ZT30 at this moment.

Request Laser Rangefinder Status

CMD_ID:0x31 Request Laser Rangefinder Status
Send data format
No.	Data Type	Data Name	Description

ACK data format
1	uint8_t	laser_state	1: ON 0: OFF

Mark:
This command is only available for ZT30 at this moment.

Send Lase Rangefinder Status to Gimbal

CMD_ID:0x32 Send Lase Rangefinder Status to Gimbal

Send data format

No.	Data Type	Data Name	Description
1	uint8_t	laser_state	1: ON 0: OFF
ACK data format
1	uint8_t	sta	1: Success 0: Fail

Mark:
This command is only available for ZT30 at this moment.

Send Flight Controller Attitude Data to Gimbal UART Port

CMD_ID:0x22 Send Flight Controller Attitude Data to Gimbal UART Port
Send data format
No.	Data Type	Data Name	Description
1	float	roll	[rad] Roll angle (-pi..+pi)
2	float	pitch	[rad] Pitch angle (-pi/2..+pi/2)
3	float	yaw	[rad] Yaw angle (-pi..+pi)
4	float	rollspeed	[rad/s] Roll angular speed
5	float	pitchspeed	[rad/s] Pitch angular speed
6	float	yawspeed	[rad/s] Yaw angular speed
ACK data format

Request the Flight Controller to Send Data Stream to Gimbal

CMD_ID:0x24 Request the Flight Controller to Send Data Stream to Gimbal
Send data format
No.	Data Type	Data Name	Description
1	uint8_t	data_type	1：Attitude data 2：RC channel data (not ready yet)
2	uint8_t	data_freq	Outputting Frequency 0：OFF 1：2 Hz 2：4 Hz 3：5 Hz 4：10 Hz 5：20 Hz 6：50 Hz 7：100 Hz
ACK data format
1	uint8_t	data_type	1：Attitude data 2：RC channel data

Send Flight Controller GPS Data to Gimbal

CMD_ID:0x3E Send Flight Controller GPS Data to Gimbal
Send data format
No.	Data Type	Data Name	Description
1	uint32_t	time_boot_ms	[ms] time since boot

2	int32_t	lat	[degE7] Latitude
3	int32_t	lon	[degE7] Longitude
4	int32_t	alt	[cm] Altitude (MSL)
5	int32_t	alt_ellipsoid	[cm] Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
6	float	vn	[m/s] X Speed
7	float	ve	[m/s] Y Speed
8	float	vd	[m/s] Z Speed
ACK data format

Request the Gimbal to Send Data Stream

CMD_ID:0x25 Request the Gimbal to Send Data Stream
Send data format
No.	Data Type	Data Name	Description
1	uint8_t	data_type	1：Attitude data 2 ： Laser rangefinder data (available in ZT30 only)
2	uint8_t	data_freq	Outputting Frequency 0：OFF 1：2 Hz 2：4 Hz 3：5 Hz 4：10 Hz 5：20 Hz 6：50 Hz 7：100 Hz
ACK data format
1	uint8_t	data_type	1：Attitude data 2：Laser rangefinder data

Mark:
The frequency of sending laser rangefinder data cannot be configured at this moment.If the frequency is not0, it sends data.

Set UTC Time

CMD_ID:0x30 Set UTC Time
Send data format
No.	Data Type	Data Name	Description
1	uint64_t	Timestamp	UNIX epoch time(us)
ACK data format
1	int8_t	ack	1: Success 0: Time format error

Format SD Card

CMD_ID:0x48 Format SD Card
Send data format
No.	Data Type	Data Name	Description

ACK data format
1	uint8_t	format_sta	0: Fail 1: Success

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

H eartbeat Package Data: 55 66 01 01 00 00 00 00 00 59 8B

SIYI Gimbal Camera SDK Communication Code Examples

				
					Request the Gimbal Camera&rsquo;s Working Mode in Present
55 66 01 00 00 00 00 19 5D 57

zoom 1
55 66 01 01 00 00 00 05 01 8d 64

zoom-1
55 66
01 01 00 00 00 05 FF 5c 6a

Absolute Zoom (4.5X)
55 66 01 02 00 10 00 0f 04 05 6b 15

Request the Zoom Camera&rsquo;s Max Zoom Value in Present
55 66 01 00 00 00 00 16 B2 A6

Request the Zoom Camera&rsquo;s Zoom Value in Present
55 66 01 00 00 00 00 18 7C 47

Manual Zoom 1
55 66 01 01 00 00 00 06 01 de 31

Manual Zoom-1
55 66 01 01 00 00 00 06 ff 0f 3f

Take a Picture
55 66 01 01 00 00 00 0c 00 34 ce

Record Video
55 66 01 01 00 00 00 0c 02 76 ee

Gimbal Rotation 100 100
55 66 01 02 00 00 00 07 64 64 3d cf

Center
55 66 01 01 00 00 00 08 01 d1 12

Request Gimbal Camera&rsquo;s Status Information
55 66 01 00 00 00 00 0a 0f 75

Auto Focus
55 66 01 01 00 00 00 04 01 bc 57

Request the Gimbal Camera&rsquo;s Hardware ID
55 66 01 00 00 00 00 02 07 f4

Request the Gimbal Camera&rsquo;s Firmware Version
55 66 01 00 00 00 00 01 64 c4

Lock Mode
55 66 01 01 00 00 00 0c 03 57 fe

Follow Mode
55 66 01 01 00 00 00 0c 04 b0 8e

FPV Mode
55 66 01 01 00 00 00 0c 05 91 9e

Request the Gimbal Camera&rsquo;s Attitude Data
55 66 01 00 00 00 00 0d e8 05

Send Control Angle ( 90, 0) ( U pwards) to Gimbal Camera
55 66 01 04 00 00 00 0e 00 00 ff a6 3b 11

Send &ldquo;Enable HDMI Output&rdquo; Command to Gimbal Camera (Available for ZT6, ZR30, and A8 mini, restart after
configuration)
55 66 01 01 00 00 00 0c 06 f2 ae

Send &ldquo;Enable CVBS Output&rdquo; Command to Gimbal Camera (Available for ZT6 and A8 mini, restart after
configuration)
55 66 01 01 00 00 00 0c 07 d3 be

Send &ldquo;Disable CVBS / HDMI Output&rdquo; Command to Gimbal Camera (Available for ZT6 ZR30, and A8 mini,
restart after configuration)
55 66 01 01 00 00 00 0c 08 3c 4f

Request Gimbal Camera Codec Specs
55 66 01 01 00 00 00 20 00 BF 8D

Configure Camera Codec Specs Main Stream to HD Resolution
55 66 01 09 00 00 00 21 01 02 00 05 d0 02 dc 05 00 58 45

Configure Camera Codec Specs Main Stream to Ultra HD Resolution
55 66 01 09 00 00 00 21 01 02 80 07 38 04 d0 07 00 5a 68

Configure Recording Video Stream Resolution as 2K and H265 Bitrate as 15 M b ps
55 66 01 09 00 00 00 21 00 02 00 0a a0 05 98 3a 00 15 f3

Configure Recording Video Stream Resolution as 4K and H265 Bitrate as 15 M b ps
55 66 01 09 00 00 00 21 00 02 00 0f 70 08 98 3a 00 70 be

Request Gimbal Camera&rsquo;s Image Mode in Present
55 66 01 00 00 00 00 10 74 c6

Send &ldquo;Image Mode&rdquo; Command to Gimbal Camera
55 66 01 01 00 00 00 11 01 3a ab

Request the Temperature of a Point in Thermal Image
55 66 01 05 00 00 00 12 00 00 00 00 01 a8 2f

Request the Thermal Color Palette
55 66 01 00 00 00 00 1A 3e 67

Send the &ldquo; T hermal Color Palette&rdquo; Command to the Thermal Camera
55 66 01 01 00 00 00 1B 03 b3 64

Request Range Value from the Rangefinder (Low byte in front, high byte in back, available for ZT30)
55 66 01 00 00 00 00 15 D1 96

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 ----!=
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.

Before using the guide, please do read the chapter 3.3.1 to 3.3.5 of the user manual.

This guide is using UDP protocol
1.Go to chapter 3.3.4 of this manual for SIYI Gimbal Camera SDK Communication Code
Examples and fill your required examples to “send_buff” following the below format in
hexadecimal.

2.Chang the gimbal camera’s server port and IP addresses to what you need. The double
quotation marks of the IP addresses should be kept.

3.Create a socket keyword.

4.Send data to the gimbal camera and do not revise.

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

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.

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 gimbalcamera’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
" // 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>

In terface Documentation for SIYI Gimbal Camera’s Web Server

Videos and images stored in SIYI gimbal camera can be acquired directly from the web server interface.

Interface
baseUrl:http://192.168.144.25:82//cgi bin/media.cgi
A R equest File Directory
The below interface is to request the directory of the file format for an easy overview.
URL/api/v1/getdirectories
Method GET

Request Data

Data Name

Type

Description

media_type

int

0: Images

1: Videos

				
					Response Data
The format of the response data is below:
{
"code": 200, // Status
"data": {}, Content of the data.
"success": true, I f the request is successful.
"message": "" Error message if the request is failed.
}

The d efinition of data is below:

Data Name

Type

Description

media_type

int

0: Images

1: Videos

directories

[

{

“name”: “aa”,

“path”: “/yyy/aa”

{

“name”: “bb”,

“path”: “/yyy/bb”

]

File directory

				
					Request Example 
Request the number of all the images: 
{ 
"media_type": 
} 
Successful Response Condition: Request data is legal. Status Code: 200 OK Response Example: 
File directory after response: 
{ 
"code": 200,   
"data": { 
      "media_type": 0
      "directories": [ 
   { 
    "name": "aa", 
    "path": "photo/aa" 
   } 
   {
     "name": "bb", 
       "path": "photo/bb" 
  }
 ]
}
"success": true
Error Response 
Condition: Request data is illegal. Eg: File type is illegal. Status Code: 400 BAD REQUEST 
Response Example: 
"code": 400, 
    "message": "Invalid media type",     "success": false
    }

B Request the File Numbers under the File Directory

The below interface is for authorized users to request the file numbers under the target directory.
URL /api/v1/getmediacount
Method
GET

Request Data

Data Name

Type

Description

media_type

int

0: Images

1: Videos

path

String

If the string is empty, return to request the total file number in present.

If the string is not empty, return to the number of the target directory.

				
					Response Data
The format of the response data is below:
{ "code": 200, Status code.
"data": {}, Content of the data.
"success": true, If the request is successful.
"message": "" Error message if the request is failed.
}
The d efinition of data is below:

Data Name	Type	Desciption
media_type	int	0: Images 1: Videos
count	int	File number
path	int	Path of file directory

				
					Request Example
Request the number of all the images:
{ "media_type":
"path":
}
Request the image numbers under the target path:
{
"media_type":
"path": "/photo/
Successful Response
Condition: Request data is legal and user identity verification passed.
Status Code: 200 OK
Response Example:
File numbers which return to 'photo/ after response:
{
"code":
"data":
"media_type":
"count":
"path": "/photo/
"success": true
Error Response
Condition: Request data is illegal. Eg: File type is illegal. File path does not exist.
Status Code: 400 BAD REQUEST
Response Example:
{
"code":
"message": "Invalid media
"success": false
C Request File List
The below interface is for authorized users to request the file list.
URL/api/v1/getmedialist
Method
GET
Request Data

Data Name

Type

Description

media_type

int

0: Images

1: Videos

path

String

Empty String: File list is for all the files of the present type.

Non-empty String: File list is for the

files under the target path.

start

int

Start index of the file list

count

int

Number of the file list.

If “start” plus “count” is more than

the number of the file list, return to the end of the file list from “start”.

files under the target path.

start

int

Start index of the file list

count

int

Number of the file list.

If “start” plus “count” is more than

the number of the file list, return to the end of the file list from “start”.

				
					Response Data
The format of the response data is below:
{
"code": 200, Status code.
"data": {}, Content of data.
"success": true, If the request is successful.
"message": "" Error message if the request is failed.
}
The d efinition of data is below:

Data Name	Type	Description
media_type	int	0: Images 1: Videos
path	String	The requested path.
list	[ { “name”: “aa.jpg”, “url”: “http://xxx/yyy/aa.jpg“ }, { “name”: “bb.jpg”, “url”: “http://xxx/yyy/bb.jpg“ }, ]	File list.

				
					Request Example
Request the image list from &ldquo;photo/20230630&rdquo; directory:
{
media_type": 0,
"path": "photo/
"start":
"count": 10
}
Successful Response
Condition: Request data is legal and user identity verification passed.

Status Code: 200 OK
Response Example:
Return to the image list under &ldquo;'photo/20230630&rdquo; directory after response
{
"code":200
"data":{ 
"media_type": 0, 
"path": "photo/20230630",
"list",[
 { 
 "name": "aa.jpg", 
 "url": "http://xxx/yy/aa.jpg"
 }, 
 { 
 "name": "bb.jpg", 
 "url": "http://xxx/yy/bb.jpg"  
 }, 
 ]
 }
"success": true
}
rror Response
Condition: Request data is illegal. Eg File type is illegal. File path does not exist. Start index exceed the max
value. Etc.
Status Code: 400 BAD REQUEST
Response Example:
{
"code":
"message": "path not
"success": false
}

Control SIYI Gimbal Camera by the Ardu P ilot Driver through UART and Integrate Flight Controller Attitude Data

Gimbal camera’s UART port connects to Ardu P ilot 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.

1.Ardu P ilot Flight Controller (v4. 4 4 and above firmware)
2.SIYI Optical Pod (Gimbal Camera)
3.SIYI Gimbal to PX4 / Ardupilot Flight Controller UART Cable
4.Mission Planner (Windows) Software

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

Gimbal Control

The params below assume the autopilot’s telem2 port is used and the Camera1 control instance.

S ERIAL2_PROTOCOL to 8 ((“SToRM32 Gimbal
S ERIAL2_BAUD t o “115” f or 1 15200 bps
M NT1_TYPE to 8 S IYI” and reboot the ardupilot
M NT1_PITCH_MIN to 90
M NT1_PITCH_MAX to 25
M NT1_YAW_MIN to 80
M NT1_YAW_MAX to 80
M NT1_RC_RATE to 90 ( d eg/s) to control speed of gimbal when using RC targetting
CAM1_TYPE to 4 (M ount / SIYI to allow control of the camera.
R C6_OPTION = 2 13 M ount Pitch” to control the gimbal’s pitch angle with RC channel 6
R C7_OPTION = 2 14 M ount Y aw” to control the gimbal’s yaw angle with RC channel 7
R C8_OPTION = 163 (Mount L ock”) to switch between “lock” and “follow”
mode with RC channel 8
Optionally these auxiliary functions are also available.
RC9_OPTION = 166 C amera Record Video” t o start/stop recording of video
RC9_OPTION = 167 C amera Z oom” to zoom in and out
RC9_OPTION = 168 C amera M anual Foc u s” to adjust focus in and out
RC9_OPTION = 169 C amera Auto Focus” to trigger auto focus

Integrate Flight Controller Attitude Data

The params below assume the autopilot’s telem2 port is used and the Camera1 control instance.

SERIAL2_BAUD t o “115” f or 1 15200 bps

SR 2 _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.

Control SIYI Gimbal Camera by Mavlink Gimbal Protocol through UART and Integrate Flight Controller Attitude Data

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

Preparation
It is necessary to prepare the tools, firmware, and software below before
controlling gimbal camera in this way.
PX4 Flight Controller
SIYI Op tical Pod (Gimbal Camera)

SIYI Gimbal to PX4 / Ardupilot Flight Controller UART Cable

QGroundControl Windows GCS

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

ZT6 mini dual-sensor optical pod comes with three video output methods:
Ethernet, HDMI, and CVBS(AV).

Single Camera & Single Image

Single Camera & Single Image means that SIYI FPV app shows only one camera video stream in the main window. The suggested setup is below.
1. Choose the main camera or the thermal camera for the main stream according to your requirement.

2. Ignore the sub stream.
3. Choose “SIYI Camera 1 Main Stream” for Video 1 in IP addresses settings. Turn off the stream for Video 2.

Single Image – Optical Camera

Single Image – Thermal Camera

Dual Camera & Split Image

Dual Camera & Split Image means that SIYI FPV app shows the split image from two cameras in the main window. The suggested setup is below.
1. Assign the split image type as Main & Thermal for the main stream according to your requirement.

2. Ignore the sub stream.
3. Choose “SIYI Camera 1 Main Stream” for Video 1 in IP addresses settings. Turn off the stream for Video 2.

Split Image – Zoom Camera & Thermal Camera

Dual Camera & Main / Sub Window Image

Dual Camera & Main / Sub Window Image means that SIYI FPV app shows the video streams from two cameras in both the main window and the sub window. The suggested setup is below.
1. Choose the main camera for the main stream, the sub stream will automatically be set as the thermal camera

2. Choose “SIYI Camera 1 Main Stream” for Video 1 in IP addresses settings.
3. Choose “SIYI Camera 1 Sub Stream” for Video 2.

Main Window: Single Image – Zoom Camera
Sub Window: Single Image – Thermal Camera

Output Video to Windows Device Directly through Ethernet

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

Preparation

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

SIYI Optical Pod (Gimbal Camera)

SIYI Gimbal Ethernet to RJ45 Cable

SIYI QGC Windows Software

Steps

1. Power gimbal camera.
2. Use SIYI Gimbal Ethernet to RJ45 Cable to connect the gimbal quick releaseboard’s Ethernet port to Windows device’s RJ45 port. If your computer does not come with RJ45 port, it is suggested to use an RJ45 to USB converter.
3. Modify the computer’s Ethernet settings to have the same gateway with SIYI link and avoid IP addresses conflict.

For example, let’s assign “192.168.144.30” for the computer IP addresses.

4. Run SIYI QGC Windows software, go to “Comm Links – Video Settings”, and select “RTSP Video Stream” for “Source”, then enter the default RTSP addresses of SIYI gimbal camera, video stream will display. Gimbal motion and camera functions can be controlled by mouse in QGroundControl.

Output Video to Third-Party Link through Ethernet

SIYI gimbal camera can output video to any third-party link which providesEthernet port and is compatible with RTSP video stream.
In this way, it is necessary to prepare a customized video cable for connectionbetween SIYI gimbal camera and the third-party link.

CAUTION

SIYI gimbal camera Ethernet port’s “RX-” pinout should connect to the third-party link Ethernet port’s “RX-” pinout, and “RX+” pinout to “RX+” pinout. Do not cross the pinouts, otherwise it will cause damage to the device.

Steps

1.Power the air unit of the third-party link and bind it with the ground unit.
2. Use the video cable to connect SIYI gimbal camera’s Ethernet port and the third-party link’s Ethernet port.
3. Open RTSP video player and input SIYI gimbal camera’s default RTSP addresses, if connection is successful, video will display normally.

SIYI QGC Android app and Windows software support video display from third-party links as well.

Output CVBS Video to Analog Transmitter

ZT6 mini dual-sensor optical pod can output CVBS video to analog transmitter directly though the Ethernet port.
Before using ZT6 in this way, users should prepare the video cable by themselves, then connect ZT6 to the FPV transmitter and power both of them

Steps

1. Please refer to the above picture to connect ZT6 to your analog transmitter and power the gimbal.
2. Connect ZT6 to PC and run SIYI Assistant. Switch video output mode to “CVBS” under the “Gimbal Config” page.
3. Power the analog transmitter and bind it with the ground unit.
4. Turn on the FPV monitor, if video shows up, the connection is successful.

Output Video through Micro-HDMI

ZT6 mini dual-sensor optical pod can output video directly though the Micro-HDMI port.

Steps

1. Power ZT6 and connect it to PC. Run SIYI Assistant, switch video output mode to “HDMI” under the “Gimbal Config” page.
2. Connect ZT6 to the HDMI monitor.
3. If video shows up, the connection is successful.

Solutions to No Image through Ethernet

If gimbal camera failed to output video or the video cannot be displayed properly,please follow the steps below for trouble shooting.
1. Confirm if the link’s ground unit is communicating with the air unit and if the camera is connected to the air unit.
2. Check Camera IP addresses and RTSP addresses.
3. If you are using SIYI FPV app, check the connection status, app version, video stream settings.
4. If you are using SIYI handheld ground stations, check the Ethernet switch in Android system.
5. Please double check if the gimbal camera’s IP addresses was modified accidentally. If video still does not show up, please follow the steps below and make a deep investigation according to the video output mode, the video display device, and the application / software you are using.

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.

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

Common IP Addresses

SIYI Air Unit IP Address: 192.168.144.11
SIYI Ground Unit IP Address: 192.168.144.12
SIYI Handheld Ground Station Android System IP Address: 192.168.144.20
SIYI Ethernet to HDMI Output Converter IP Add: 192.168.144.50
SIYI AI Camera IP Address: 192.168.144.60
SIYI Optical Pod / Gimbal Camera’s Default IP Addresses: 192.168.144.25
(NEW) SIYI Optical Pod / Gimbal Camera’s Default RTSP Addresses:
SIYI AI Camera: rtsp://192.168.144.25:8554/video0
Main Stream: rtsp://192.168.144.25:8554/video1
Sub Stream: rtsp://192.168.144.25:8554/video2
(NEW) SIYI FPV App’s Private Video Stream Protocol’s Addresses:
SIYI Camera 1 Main Stream: 192.168.144.25: 37256
SIYI Camera 1 Sub Stream: 192.168.144.25: 37255
SIYI Camera 2 Main Stream: 192.168.144.26: 37256
SIYI Camera 2 Sub Stream: 192.168.144.26: 37255
SIYI IP67 Camera A’s IP Address: 192.168.144.25
SIYI IP67 Camera B’s IP Address: 192.168.144.26
SIYI Air Unit HDMI Input Converter’s IP Address: 192.168.144.25
SIYI IP67 Camera A’s RTSP Address: rtsp://192.168.144.25:8554/main.264
SIYI IP67 Camera B’s RTSP Address: rtsp://192.168.144.26:8554/main.264
SIYI Air Unit HDMI Input Converter’s RTSP Address:
rtsp://192.168.144.25:8554/main.264
Common Video Player: SIYI FPV, QGroundControl, EasyPlayer
Network Diagnosis Tool: Ping Tools

THERMAL IMAGING

ZT6 mini dual-sensor optical pod comes with abundant thermal imaging features.

Palette

The thermal camera can assign different color solutions to high and low temperature regions through the palette to acquire heat data intuitively.

White Hot

Golden

Iron Oxide

Rainbow

Night

Aurora

Red Hot

Jungle

Medical

Black Hot

Golden Red

Thermometric

The thermal camera support three thermometric modes. Full image, point, and box.

Full Image Thermometric

Enable temperature measuring in the full image, marking the points of the maximum temperature and the minimum temperature, and indicating relevant temperature data.

Point Thermometric

By picking a point in the image and read the relevant temperature data, which can be done by touchscreen in SIYI FPV.

Box Thermometric

By drawing a box in the image, marking the points of the maximum temperature and the minimum temperature in the box, and indicating relevant temperature data.

Thermal Gain

Thermal imaging camera support switching between high gain and low gain to
measure temperature in a wide range.
High Gain: -20 ~ +150℃ (±2℃)
Low Gain: 50 ~ +550℃ (±5℃)

Thermal Raw Data

Thermal imaging camera can save and output RAW data by taking pictures (a full
frame of 640 x 512 resolution including temperature data).
Image Only: Outputs thermal images only.
Including RAW: Take a picture to save thermal RAW data.

Thermal Calibration

Thermal imaging camera temperature measurement results are affected by factors such as ambient reflection temperature, atmospheric temperature, target temperature, target emissivity, atmospheric transmittance, and target distance. Therefore, to obtain accurate temperature measurement results, the thermal imaging camera needs to be corrected for environmental variables.

1. Reflected temperature: Infrared rays emitted by surrounding objects will be reflected by the target object.
2. Atmospheric transmittance: The atmosphere will absorb the infrared radiation of the target object and generate radiation itself.
3. Target emissivity: the ratio of the ability of an actual object to radiate infrared to that of an ideal black body.
4. Target distance: Due to some complex optical and structural problems, the measured temperature of the same target object at different distances is also different.
5. Target temperature: Due to the factor of atmospheric attenuation, the same target object will have different measured temperatures at different temperatures.

Thermal Synchronize Zoom

Under split image, zoom camera and thermal camera can zoom simultaneously from 1X to 2X.

Without Zoom

2X Zoom

SIYI FPV ANDROID 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.

SIYI FPV App compatible SIYI devices

SIYI FPV App compatible SIYI devices
ZT6 Mini Dual-Sensor Optical Pod
SIYI AI Tracking Module
ZT30 Four-Sensor Optical Pod
ZR30 4K AI 180X Hybrid Zoom Optical Pod
A2 mini Ultra-Wide-Angle FPV Gimbal
MK32 / MK32E Enterprise Handheld Ground Station
A8 mini AI Zoom Gimbal Camera
ZR10 2K 30X Hybrid Zoom Optical Pod
R1M HD Recording FPV Camera
Air Unit HDMI Input Converter
HM30 Full HD Image Transmission System
MK15 / MK15E Mini Handheld Ground Station

SIYI FPV App OSD Information Definition

SIYI FPV Camera Function Icon Definition

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 among SIYI AI Camera, SIYI Camera 1 and SIYI Camera 2, between main stream and sub stream, select or input video stream RTSP addresses, disable image, or rotate the relevant image in 180 degrees. Cross Sight: Enable / disable a cross sight in the center of the image. OSD Color: Custom the color of all OSD information. Map: Enable / disable the map box over the left-bottom corner of the image. Map Type: Switch map type (currently between Baidu and Google).

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 abundant functions of SIYI optical pod and gimbal camera.

About Gimbal Camera

Boot Record: Enable / disable automatic video recording by SD card as soon as the camera is powered.File Manager: Preview stored images in TF card. Format the TF card. Laser Calibration: The target position in the camera image may need to be calibrated tomatch the accurate laser rangefinder orientation. (Only available for ZT30)Full Image Thermometric: Enable / disable the full image temperature measurement feature in the thermal imaging camera. Synchronize Zoom: Enable / disable simultaneous zooming of the thermal camera and the zoom camera.
Thermal Calibration: To calibrate the thermal camera by changing environment elements.
Thermal Palette: Assign different color solutions for the thermal imaging camera.
Thermal Gain: Switch between low gain and high gain for the thermal imaging camera.
Thermal RAW: Choose to include the RAW data in thermal images or not.
Main / Sub Stream: Configure the main stream and the sub stream separately for their camera source and parameters.
Image Mode: Select the video stream’s image type and camera source. Single image or
split image. Zoom camera, wide angle camera, or thermal imaging camera.
Stream Resolution: Decide to switch the output resolution of the current video stream or not according to camera source. Max output resolution is Ultra HD (1080p). Record Resolution: Decide to switch the recording resolution or not according to camera
source. Max record resolution is 4K.

Video Output Port: Switch the video outputting ports.
HDMI: Through the gimbal camera’s Micro-HDMI port.
CVBS: Through the CVBS pin in the gimbal camera’s Ethernet port to output videos in analog signal (Only available for ZT6 and A8 mini).
OFF: Through the gimbal camera’s Ethernet only

Gimbal Working Mode: Switch gimbal working mode among Lock Mode, Follow Mode,and FPV Mode.
Lock Mode: Horizontally, gimbal does not follow when aircraft rotates.
Follow Mode: Horizontally, gimbal follows when aircraft rotates.
FPV Mode: Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output images with enhanced stability.
AI Tracking: When the gimbal is connected to the AI tracking module and the AI tracking function is activated. It will be AI tracking mode only.
Camera Firmware Version: Display current camera firmware version.
Gimbal Firmware Version: Display current gimbal firmware version.
Zoom Firmware Version: Display current gimbal firmware version (Only available for optical zoom cameras).

About SIYI FPV

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

SIYI FPV App Update Log

Date	2024-01-26
Version	2.5.15.695
Updates	1. New: Support AI follow function.

Date

2023-12-18

Version

2.5.15.691

Updates

1. Fix: Temperature data still shows on image after switching to optical cameras from thermal camera.

2. New (A8 mini): Enable OSD watermark on recording images.

3. New: Both video streams can turn on / off recording.

4. New (SIYI AI Tracking Module): A switch for flight tracking.

5. New (Thermal): A switch for thermal gain.

6. New (Thermal): A switch for thermal calibration.

7. New (Thermal): A switch for thermal RAW.

8. Fix: Camera control interface bug when two different cameras are plugged.

Date

2023-10-20

Version

2.5.15.679

Updates

1. New: AI recognition and tracking function control interface.

2. New (ZT30): Zoom & thermal camera simultaneous recording function control interface.

3. New: Add the AI tracking module to IP addresses settings.

4. Improve: Occasionally video stream does not recover when the link is disconnected under SIYI camera protocol.

Date

2023-08-24

Version

2.5.15.660

Updates

1. New (ZT30): Laser calibration. Display laser ranging target’s coordinates.

2. New: Support TF format.

3. New (ZT30): Thermal color palette.

4. New: File manager to preview stored pictures in TF card.

5. Improve: New icon indication for missing TF card.

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.

SIYI FPV SDK Guide

SIYI provides the SIYI FPV SDK to help professional Android application developers to integrate the unique features in SIYI FPV app to their own GCS.

Access Method

a)Add “fpvlib” into Your Project Copy the “fpvlib.aar” file to the “libs” folder in your “module” like below:

Revise the “build.gradle” file:

b) Configure “AndroidManifest” File
Add USB reading authorization to the “AndroidManifest” file in your “module” and configure the “intent-filter” file.

c) Add FPV Display Function into Code
Add JNI Library
Like the example below, add JNI library file into the “main” directory, then the “so” library file can
be copied from “demo” to your project directory

Add FPV Video Display to Code
Please pay attention to the below points for your code:
Firstly, use the static method “getInstances()” of “ConnectionManager” to get the
“ConnectionManager” object. Then call the “ConnectionManager.checkConnectWithIntent()”
method in the lifecycle method “onCreate()” and “onNewIntent()”.
Video stream should be displayed through “SurfaceView”. So, we create an “SurfaceView”
object and need to call “ConntionManager.notifySurfaceCreate()” and “notifySurfaceDestroy”
method from “surfaceCreated()” and “surfaceDestroy()”.

mSurfaceView.getHolder().addCallback(new SurfaceHolder.Callback() {
@Override
public void surfaceCreated(SurfaceHolder holder) {
Logcat.d(TAG, “onSurfaceCreated…”);
mConnectionManager.notifySurfaceCreate(holder.getSurface());
}
@Override
public void surfaceChanged(SurfaceHolder holder, int format, int width
, int height) {
}
@Override
public void surfaceDestroyed(SurfaceHolder holder) {
mConnectionManager.notifySurfaceDestroy(holder.getSurface());
}
});
Dual-Channel FPV Display:
Dual-channel FPV display supports Ethernet connection only. It does not support AOA or USB
connection. For dual-channel FPV display, we should configure the IP addresses first, then
create two “SurfaceView” for image display. Whether the second video stream is required or not
can be judged by the connection type through connection status. You can refer to “demo” for detail.
When you quit the application, please do not forget to call the
“UsbConnectionManager.release()” method.
For more detail, please refer to the codes in “demo”.

Interface Instructions

ConnectionManager

Name	Description
getInstance(Context context)	Single case method for “ConnectionManager”
setWirelessUrl(String url1, String url2)	Set the addresses for video stream.
checkConnectWithIntent(Intent intent)	Initial the connection.
notifySurfaceCreate(Surface surface)	Notify that the first “Surface” is created, the “Surface” is for video display.
notifySurfaceDestroy(Surface surface)	Notify that the first “Surface” is destroyed.
notifySecondSurfaceCreate(Surface	Notify that the second “Surface” is

surface)	created, the “Surface” is for video display.
notifySecondSurfaceDestroy(Surface surface)	Notify that the second “Surface” is destroyed.
setConnectionListener(ConnectionListen er listener)	Set callback for the connection status.
setFrameListeners(FrameListener frameListener, FrameListener secondFrameListener)	Set callback for video stream.
getSDKVersion()	Request SDK version.
release()	Release SDK.

SettingsConfig

Name	Description
SettingsConfig.getInstance().initConfig( context)	Initialize the settigns. This method must be called.
setLogEnable(boolean)	Set if print the log in the sdk. It is suggested to disable print in the “release” version.
setDecodeType(Context context, @IDecodeListener.DecodeType int decodeType)	Set decoding type. In default it is hardware decoding.
setSupportWirelessConnection(Context context, boolean supportWireless)	Set if to support Ethernet connection method.
setRectify(Context context, boolean rectify)	Set if to activate the video stream distortion correction function. The function is disabled in default and is only for A2 mini FPV gimbal at this moment. It works only when the video stream addresses is “RtspConstants.DEFAULT_TCP_VI DEO_URL” “SUB_TCP_VIDEO_URL”. Attention： If distortion correction is activated, when you switch from SIYI camera addresses “RtspConstants.DEFAULT_TCP_VI DEO_URL” “SUB_TCP_VIDEO_URL” to RTSP addresses, new surface objects should be imported. One way to do this is to remove “SurfaceView” and add a new “SurfaceView” through “addView”, then import the “Surface” object again in

	“SurfaceHolder.Callback”.
getCameraManager()	Request camera control objects. SYSDKCameraManager

SYSDKCameraManager

Name

Description

/**

* Set Camera Resolution

* @param streamType：

* [CameraInfo.STREAM_MAIN], [CameraInfo.STREAM_SUB].

* @param resolution： [CAMERA_RESOLUTION_SD] 480p, [CAMERA_RESOLUTION_HD] 720p, [CAMERA_RESOLUTION_FHD] 1080p.

* [CAMERA_RESOLUTION_2K] 2K, [CAMERA_RESOLUTION_4K] 4K,

fun setResolution(cameraIndex: Int, @CameraInfo.StreamType streamType: Int,

@CameraResolution resolution: Int)

Set camera resolution.

SIYI FPV SDK Update Log

Version

2.5.15

Updates

1. Fix the issue that RTSP stream may blurr.

2. Add camera control interface.

3. Fix some other known issues.

Mark:

It is necessary to update the “so” and “aar” file, which can be updated frm the “aar_so” folder.

Version

2.5.14

Updates

1. Fix some issues which causes anormal in JNI library (need to update “so” library).

2. Fix some other known issues.

Mark:

It is necessary to update the “so” and “aar” file, which can be updated frm the “aar_so” folder.

Version

2.5.13

Updates

1. Fix the issue that the video stream of some IP65 cameras may blurr.

2. Add to support ZT30 camera video stream.

Mark:

It is necessary to update the “so” and “aar” file, which can be updated frm the “aar_so” folder.

SIYI FPV WINDOWS APP

SIYI FPV Windows is a Windows OS based application developed by SIYI to support many SIYI link products, optical pods (gimbal cameras), and autopilot (flight controller) for their abundant function, configuration, and device status monitoring.

SIYI FPV App compatible SIYI devices
ZT6 Mini Dual-Sensor Optical Pod
ZT30 Four-Sensor Optical Pod
ZR30 4K 180X Hybrid Zoom Optical Pod
MK32 Enterprise Handheld Ground Station
A8 mini Zoom Gimbal Camera
ZR10 2K 30X Hybrid Zoom Optical Pod
HM30 Full HD Image Transmission System
MK15 Mini Handheld Ground Station

SIYI FPV Windows App Function Definition

UI Function & Definition

Top Status Bar

Top status bar is to display the system’s working status.

About Top Status Bar

Flight Controller Alerts: Alert messages from flight controller.
Flight Mode: Currently activated flight mode.
Current Voltage: Current voltage from aircraft power battery.
Battery Life Percentage: Current battery level from aircraft power battery in percentage.
Connection Status: Connection status of video stream.
Link Signal Strength: Signal strength of the communication link in dBm.
Application Settings: Some basic application settings.

Left Tools Bar

Left tools bar is to control the basic function of optical pod (gimbal camera).

Gimbal Rotation

Provide some quick actions to control gimbal attitude.

About Gimbal Rotation

Center: Gimbal camera centers in both yaw axis and pitch axis.
Yaw Center & Pitch Down: Gimbal camera centers in yaw axis and points down in pitch
axis.
Yaw Center: Gimbal camera centers in yaw axis.
Pitch Down: Gimbal camera points down in pitch axis.

Image Type

Switch image type for multi-sensor optical pods.

About Image Type

Singe Image (Zoom Camera): Main windows displays image from zoom camera only.
Singe Image (Wide Angle Camera): Main windows displays image from wide angle
camera only.
Singe Image (Thermal Camera): Main windows displays image from thermal camera only.
Split Image (Zoom & Thermal): Main windows displays image from zoom camera in left
and thermal camera in right.
Split Image (Wide Angle & Thermal): Main windows displays image from wide angle
camera in left and thermal camera in right.
Split Image (Zoom & Wide Angle): Main windows displays image from zoom camera in
left and wide-angle camera in right.

Thermal Palette

Switch thermal image type in multiple-sensor optical pods.

Laser Range Finder

Turn on / off the laser range finder in multiple-sensor optical pods.

Synchronize Zoom

Turn on / off synchronize zoom of zoom camera and thermal camera from 1X to
2X under split image in in multiple-sensor optical pods.

Right tools bar is to control the basic function of camera.

Function

Basic settings for optical cameras.

About Optical Camera Basic Settings

Boot Record: Enable / disable automatic video recording by SD card as soon as the camera
is powered.
Record Sub Stream: Turn on video recording for the sub stream.
Stream Resolution: Decide to switch the output resolution of the current video stream or
not according to camera source. Max output resolution is Ultra HD (1080p).
Record Resolution: Decide to switch the recording resolution or not according to camera source. Max record resolution is 4K.

Basic settings for thermal camera.

About Thermal Camera Basic Settings

Thermal RAW: Choose to include the RAW data in thermal images or not.
Thermal Calibration: To calibrate the thermal camera by changing environment elements.
Thermal Gain: Switch between low gain and high gain for the thermal imaging camera.

Flight Controller Mavlink Attitude Data

Displays Mavlink flight attitude data telemetry from flight controller in real-time.

About Flight Controller Mavlink Attitude Data

Flight Attitude: Aircraft flight direction and yaw angle.
Home Point: Direct distance between the projection of the current position of the aircraft
on the ground and the home point.
Airspeed: The speed of the aircraft relative to the surrounding air during flight (Unit: m/s or km/h).
Ground Speed: The speed of the aircraft relative to ground during flight (Unit: m/s or km/h).
Flight Time: Accumulated flight time of aircraft.
Flight Distance: Accumulated flight distance of aircraft relative to ground.
Throttle: Current throttle output (0 ~ 100).
Wind Speed: The velocity of air flow around the aircraft (Unit: m/s or km/h).
Wind Direction: The direction of air flow around the aircraft.
IMU Temperature: Flight controller IMU temperature.
True Altitude: The current flight altitude of the aircraft relative to the home point.
Flight Speed: The absolute flight speed of the aircraft in real time.
Altitude: The absolute altitude of the aircraft in real time.
Latitude & Longitude: Latitude and longitude of the aircraft’s current location.
GNSS Satellite Number: The current number of satellites captured by the global
positioning and navigation system.
GNSS Positioning Accuracy: The current positioning accuracy of the global positioning
and navigation system.

Map

Map box locates in the left-down corner of the main window which can be displayed / hided, and the size can be adjusted.

Sub Window

Sub window locates in the right-down corner of the main window which displays video stream from sub stream. Sub window can be displayed or hided, and the size can be adjusted. Sub window and main window can be switched for image display

System Settings

Camera Settings

Check current camera model, camera network addresses, and camera firmware version.

About Camera Settings

Camera Addresses: Select camera model, default camera network addresses, or input RTSP addresses for main stream and sub stream, or disable image.
Camera Firmware Version: Display current camera firmware version.

Gimbal Settings

Set gimbal motion mode, check gimbal firmware version, and zoom firmware version.

About Gimbal Settings

Gimbal Motion Mode: Switch gimbal working mode among Lock Mode, Follow Mode,
and FPV Mode.
Lock Mode: Horizontally, gimbal does not follow when aircraft rotates.
Follow Mode: Horizontally, gimbal follows when aircraft rotates.
FPV Mode: Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output
images with enhanced stability.
Gimbal Firmware Version: Display current gimbal firmware version.
Zoom Firmware Version: Display current gimbal firmware version (Only available for
optical zoom cameras).

Link Status

Monitor SIYI image transmission link’s status.

About Link Status

Channel: Current frequency channel of the transmission link under current working frequency.

Signal Quality: Current signal quality of the link in percentage (0 ~ 100).

Signal Strength: Current signal strength of the link in dBm.

Latency: Current signal transmission latency of the link (Unit: ms).

Data Download: Downloading data of the transmission link from air unit per second (Unit:KB).

Bandwidth Download: Downloading bandwidth of the transmission link from air unit (Unit: Mbps).

Data Upload: Uploading data of the transmission link to air unit per second (Unit: KB).

Bandwidth Upload: Uploading bandwidth of the transmission link to air unit (Unit: Mbps).

Others

Switch map type, check app lication version and SIYI contact information.

SIYI A SSISTANT

SIYI PC Assistant is a Windows software developed by SIYI to configure many
SIYI products for configuration, firmware update, and calibration.

Gimbal / Z o om Firmware Update

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

Before upgrading, it is necessary to prepare the tools, software, and firmware below.
SIYI PC Assistant ( v 1.3. 9 or lates t version)
Gimbal Firmware
Zoom Firmware
Cable (USB C to USB A)

Firmware Upgrade Steps

1. Install “SIYI PC Assistant” on your Windows device.
2. Us e the USB C to USB A cable to connect Windows device’s USB A port to
gimbal camera’s USB C port.
3. Run “SIYI PC Assistant” and switch to “Upload” page to check gimbal camera’s
current firmware version.

4. I f the firmware is not latest, then click the “Select File” button in the “ G imbal” to import the latest firmware. And click “Upgrade” and wait till it is “100%” finished.

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
Camera Firmware

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

2. Restart gimbal camera and wait for 3 to 5 minutes. Camera firmware will be flashed automatically.
3. Run SIYI FPV app or SIYI PC Assistant software to check if camera firmware is updated successfully.

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 ass ign the below gimbal c amera 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.

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
sy nch ronized zoom, enabling / disabling boot recording.

A bout Camera Configuration

IP Config: Modify camera IP addresses.
Gateway Config: Modify camera gateway.
Gimbal Working Mode: Switch gimbal working mode ( F ollow M ode L ock M ode FPV M ode)
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 ( N ormal A bsolute Z oom).
T hermal Synchronize Zoom: Enable / disable the synchronize zoom feature of the thermal came ra
and the zoom camera in split image.
T hermal Palette: Assign different color solutions for the thermal images.
T hermal Gain: Switch between low gain and high gain for thermal imaging.
T hermal Calibration: Calibrate the thermal camera by changing environment elements.

Boot Record: Enable / disable automatic video recording by TF card as soon as gimbal camera is powered.

IMU Calibration

I MU ca libration can keep the inertial measuring unit’s accuracy and reliability.

Steps

1. C lick “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”.

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

3. I f IMU is working normally, there will be a message box to indicate “not necessary to calibrate”.
4. I f IMU is not working normally, there will be a message box to indicate “calibration is “calibration is

5. C lick “Start Gimbal” and “Calibrate”.
6. The message box will say again “please follow the message box and place the gimbal camera on a flat surface and make sure that the IMU is static. Do not touch or vibrate the gimbal camera”.

7. I MU calibration menu will display “calibrating”.

8. A fter a few seconds, IMU calibration will be finished.

IMU Constant Temperature Calibration

S pecially 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.

B efore 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

A ccelerator hexahedral calibration can calibrate the accelerator’s sensitivity, zero bias, and inter axis error, etc. During calibration, the gimbal should be placed in all hexahedrons to record accelerator’s output value on each orientation and build the error model. Hexahedral calibration can keep the accelerator’s accuracy and reliability.

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Table of Contents

SIYI ZT6 User Manual

INTRODUCTION

Product Features

Dual Sensors, Mini Size & Lightweight

High Resolution Thermal Imaging

Full-Image Thermometric / Point Thermometric / Box Thermometric

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Powerful Comprehensive UAV Imaging System

Infrared Zoom

Synchronized Zoom

Video Split-Image

Yaw Axis 540-Degree Rotation

Incomparable Gimbal Control Interface

Gimbal Working Mode

Nose Mode

Upside Down Mode

Follow Mode

Lock Mode

FPV Mode

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IMU Calibration Algorithms

Attitude Fusion Algorithms

Industry-Level 3-Axis Stabilization Algorithms

High-Precision FOC Motor Control Algorithms

Ports, Interface & Definition

Technical Specification

Overall

Gimbal

Optical Camera

Thermal Imaging Camera

G eneral Camera Specs

1.4 Packing List

1.5 Indicator Definition

GET READY TO USE ZT6

Installation

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Connection and Power

Interesting Functions and Cautions

Capture with Time and Location Information

Synchronize Shooting and Split Image

Output Four Video Streams from the Same RTSP Addresses

GIMBAL CONTROL

Enable AI Recognition, Tracking, and Follow through SIYI AI Tracking Module Using SIYI Optical Pod (Gimbal Camera) and SIYI Link

Control SIYI Optical Pod (Gimbal Camera) in SIYI FPV App or SIYI QGC App through SIYI link

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Gimbal Pitch and Yaw Rotation

Zoom and Focus

Take pictures and Record Video

Control SIYI Optical Pod (Gimbal Camera) in SIYI QGC (Windows) Software through SIYI Link

Gimbal Pitch and Yaw Rotation

Zoom and Focus

Take pictures and Record Video

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Preparation

G imbal Pitch and Yaw Rotation (Taking an example of Dial Control

Zoom and Focus (Taking an E xample of Switch Control

Take Pictures and Record Video (Taking an Example of Button Control

UART / UDP Control SIYI Gimbal SDK)

SDK Protocol Format

.2 SDK Communication Commands

SIYI Gimbal Camera SDK Communication Interface

SIYI Gimbal Camera SDK Communication Code Examples

SDK CRC16 Code

Advanced Guide for SIYI Gimbal SDK Integration

In terface Documentation for SIYI Gimbal Camera’s Web Server

Control SIYI Gimbal Camera by the Ardu P ilot Driver through UART and Integrate Flight Controller Attitude Data

Control SIYI Gimbal Camera by Mavlink Gimbal Protocol through UART and Integrate Flight Controller Attitude Data

Necessary Trouble Shooting Steps When Gimbal Attitude Control Is Abnormal

VIDEO OUTPUT

Single Camera & Single Image

Dual Camera & Split Image