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ardupilot/libraries/AP_Scripting/drivers/mount-djirs2-driver.md
Thomas Watson dd270dac2e AP_Scripting: mount-djirs2: increase bus/mount setup flexibility 
In particular allows the use of the gimbal using PROTOCOL2 attached to a
DroneCAN bus. ArduPilot 4.6 is recommended due to the timeout bug causing
message sends to fail regularly on 4.5.

Tested also that misconfiguring the CAN bus will result in the driver
failing to start, though the error message will be less specific.
2024-11-08 10:47:41 +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

Advanced usage

  • The gimbal can be connected to an existing DroneCAN bus (on ArduPilot 4.6 or later) by setting CAN_Dx_PROTOCOL2=10 on that bus's driver
  • The gimbal can be used as the Nth mount (instead of the first) by setting MNTn_TYPE = 9 and modifying the script's user definitions
  • The gimbal can be used with the Scripting2 protocol by modifying the script's user definitions
  • Multiple gimbals can be used at once by duplicating the script and connecting them to different buses

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.