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ardupilot/libraries/AP_Scripting/drivers/mount-djirs2-driver.md
Thomas Watson c6c41cb609 AP_Scripting: mount-djirs2: fix parsing for latest firmware 
DJI R SDK version 2.2.0.5 released on October 30, 2020 added CmdSet and
CmdID bytes to reply frames before the data segment which need to be
skipped when parsing replies.

Tested with gimbal firmware 01.04.00.20 and 01.05.00.20 (latest version).
2023-12-13 18:16:11 +11:00

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DJI RS2 and RS3-Pro Mount Driver

DJI RS2 and RS3-Pro gimbal mount driver lua script

How to use

  • Connect gimbal to autopilot's CAN1 port or CAN2 port
  • If connected to CAN1, set CAN_D1_PROTOCOL = 10 (Scripting), CAN_P1_DRIVER = 1 (First driver)
  • If connected to CAN2, set CAN_D2_PROTOCOL = 10 (Scripting), CAN_P2_DRIVER = 2 (Second driver)
  • Set SCR_ENABLE = 1 to enable scripting
  • Set SCR_HEAP_SIZE = 120000 (or higher)
  • Set MNT1_TYPE = 9 (Scripting) to enable the mount/gimbal scripting driver
  • Reboot the autopilot
  • Copy the mount-djirs2-driver.lua script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot

Issues

If the ground station reports "Pre-arm: Mount not healthy", update the gimbal firmware using the DJI Ronin phone app to version 01.04.00.20 or later to correct a mismatch in the way data is received from the gimbal. Completing this update may take more than an hour.