From 61fed2b3de344a91c53ae5c195abb016d017ab32 Mon Sep 17 00:00:00 2001
From: snktshrma <sharma.sanket272@gmail.com>
Date: Sun, 30 Jun 2024 21:44:10 +0530
Subject: [PATCH] Readme: Add guide for using the 3d gimbal

- Update QGC settings image.
- Match gimbal limits in README with params.
- Remove params not modified from defaults

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 README.md                      | 41 ++++++++++++++++++++++++++++++++++
 config/gazebo-iris-gimbal.parm | 27 +++++++++++-----------
 2 files changed, 55 insertions(+), 13 deletions(-)

diff --git a/README.md b/README.md
index cedda898..9aaecec9 100644
--- a/README.md
+++ b/README.md
@@ -232,6 +232,47 @@ Display the streamed video:
 gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false
 ```
 
+View the streamed camera frames in [QGC](http://qgroundcontrol.com/):
+
+`Open QGC > Application Settings > Video Settings > Select UDP h.264 Video Stream & use port 5600`
+
+![qgc_video_settings](https://github.com/user-attachments/assets/61fa4c2a-37e2-47cf-abcf-9f110d9c2015)
+
+
+### 4. Using 3d Gimbal
+
+The Iris model is equipped with a 3d gimbal and camera that can be controlled directly in MAVProxy using the RC overrides.
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r iris_runway.sdf
+```
+
+#### Run ArduPilot SITL with a specified parameter file
+
+```bash
+cd ardupilot
+
+sim_vehicle.py -D -v ArduCopter -f JSON --add-param-file=$HOME/ardupilot_gazebo/config/gazebo-iris-gimbal.parm --console --map
+```
+
+Control action for gimbal over RC channel:
+
+| Action | Channel | RC Low | RC High |
+| ------------- | ------------- | ------------- | ------------- |
+| Roll | RC6 | Roll Left | Roll Right |
+| Pitch | RC7 | Pitch Down | Pitch Up |
+| Yaw | RC8 | Yaw Left | Yaw Right |
+
+Example usage:
+
+`rc 6 1100` - Gimbal rolls left
+
+`rc 7 1900` - Gimbal pitch upwards
+
+`rc 8 1500` - Gimbal yaw neutral
+
 ## Models
 
 In addition to the Iris and Zephyr models included here, a selection
diff --git a/config/gazebo-iris-gimbal.parm b/config/gazebo-iris-gimbal.parm
index 3cf5d186..c2d29622 100644
--- a/config/gazebo-iris-gimbal.parm
+++ b/config/gazebo-iris-gimbal.parm
@@ -14,17 +14,18 @@ RNGFND1_SCALING  10
 RNGFND1_PIN      0
 RNGFND1_MAX_CM   5000
 
-# Gimbal on mount 1 has 2 DOF
-MNT1_PITCH_MAX   90
-MNT1_PITCH_MIN   -90
-MNT1_ROLL_MAX    90
-MNT1_ROLL_MIN    -90
-MNT1_TYPE        1
+# Gimbal RC in
+RC6_MAX          1900
+RC6_MIN          1100
+RC6_OPTION       212         # Mount1 Roll
+RC7_MAX          1900
+RC7_MIN          1100
+RC7_OPTION       213         # Mount1 Pitch
+RC8_MAX          1900
+RC8_MIN          1100
+RC8_OPTION       214         # Mount1 Yaw
 
-# Gimbal roll and pitch RC
-RC9_OPTION       212
-RC10_OPTION      213
-
-# Gimbal roll and pitch servos
-SERVO5_FUNCTION  8
-SERVO6_FUNCTION  7
+# Gimbal servo out
+SERVO9_FUNCTION  8           # Mount1Roll
+SERVO10_FUNCTION 7           # Mount1Pitch
+SERVO11_FUNCTION 6           # Mount1Yaw