ZR30 User Manual v1.

ZR30
OPTICAL POD
4K RESOLUTION 30X OPTICAL ZOOM

USER MANUAL

V1.3

January 2024

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 ZR30 User Manual v1.3

Thank you for purchasing KAPYAH’s product.

ZR30 is a zoom optical pod with quick release structure and up to 180X hybrid zoom

/ 30X optical zoom, carrying a 4K 1/2.7-inch Sony CMOS, 4K video recording and

photography, abundant gimbal control interface compatible with both KAPYAH links

and third-party links. High accuracy and high collaboration control algorithms ensure

stable imaging and zooming ability during flight. HDR and starlight night vision

extend the application scenarios to both day and night. In a word, ZR30 optical pod

is a rare and good payload for multi-rotors, VTOLs, and robotics.

To ensure you a good experience of the product, please read this manual carefully.

If you encounter any issue using the product, please consult the manual You can

also write an email to KAPYAH ([email protected]).

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User Manual Update Log

Version Date Updates
1. Product features
2. Technical specifications 3. Main firmware
update log.
4. KAPYAH FPV app update log.
1.3 2024.1
5. KAPYAH FPV SDK Guide.
6. KAPYAH Gimbal SDK
7. Add diagrams in some chapters.
8. Instruction for AI follow function
1. Main firmware update log.
1.2 2023.10
2. KAPYAH FPV app update log.
1. Special interesting functions and cautions.
2. Instruction for acquiring and download files from KAPYAH
camera’s web server.
3. Necessary update for KAPYAH FPV app.
4. Necessary update for SDK commands.
5. Instruction for gimbal Mavlink control.
1.1 2023.8
6. Instruction for integrating Mavlink flight attitude data.
7. Trouble shooting for abnormal gimbal attitude.
8. User manual update log.
9. Main firmware update log.
10. KAPYAH FPV app update log.
11. Necessary update for technical specification.

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READ TIPS

Icons

Please pay more attention to content indicated with the following marks:

DANGER Dangerous manipulation probably leads to human injuries.

WARNING Warnings on manipulation possibly leads to human injuries.
CAUTION Cautions on what manipulation may lead to property loss.

Prohibited Mandatory Mark

Safety

ZR30 optical pod is designed for professional application in specific scenes, which

has been done necessary configuration before delivery, it is forbidden to

disassemble the gimbal or to change its mechanical structure. And don’t add more

payload to the gimbal other than its own camera. Gimbal camera is designed with

very precise structure, users who approach to the equipment should have the basic

knowledge of how to operate it. Irregular or irresponsible manipulations to the

device may cause damage, property loss, or human injuries, and KAPYAH

Technology is not obliged to any of the damage, loss, or injury. It is prohibited to use

KAPYAH products for military purpose. Users under 14 years’ old should follow an

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experienced trainer’s guide. Disassembling or modification to the system is

prohibited without permission from its manufacturer, KAPYAH Technology.

Storage / Carrying / Recycling

When your KAPYAH products are stand idle, or you are bringing it outdoors, or the

system reached service life, then please do read the precautions below.

CAUTION
Always place your KAPYAH products at places where babies or kids do not reach.

DANGER
KAPYAH products should be placed in places with below conditions:

Not too hot (above 60℃) or too cold (under -20℃).

Not under direct sunshine or too dusty or too wet.

Not on an unstable holder which lacks solid supports or may cause vibration.

Not nearby steam or other heat sources.

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1 INTRODUCTION

1.1 Product Features

Professional UAV Imaging System

ZR30 carries an 1/2.7-inch Sony image sensor, an 8 megapixels CMOS with

remarkable photosensitivity ability, impressive 4K video recording and photography.

Up to 180x hybrid zoom (30x optical zoom). The scenery is clear, the algorithm is

fast and accurate, and the viewpoint is automatically focused, making it easy to

produce grand pictures. Silky movement, smooth zoom, distant scenery, now within

reach.

*The picture files captured by ZR30 can be written with GPS location information and time attrib
utes.

Point To Focus

Point anywhere to focus lens from zoom camera to get clear view on selected part

of screen.

Focus Tracking

Zoom camera stays focusing and keeps filming smooth videos while users are

scaling images.

Starlight Night Vision

The ultra-sensitive starlight CMOS keep images bright in low light environment.

HDR

HDR (High Dynamic Range) precisely captures good details of highlights and

shadows in dynamic scenes to get true colors and natural brightness.

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AI Enhanced Smart Identify and Tracking

ZR30 works with the optional KAPYAH AI tracking module, which combines

KAPYAH’s self developed AI algorithm and collaborate with KAPYAH 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.

540-Degree Yaw Axis Rotation

Quick Release, Fast Payload Switch

The yaw axis of ZR30 rotates in a range of 540 degrees. Hanging below VTOL

drones or planes, ZR30 optical pod captures 360 degrees around. KAPYAH quick

release structure will support more interesting payloads in the future. Welcome to

follow for updates!

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Incomparable Gimbal Control Interface

KAPYAH 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 KAPYAH gimbal SDK, or through UART by KAPYAH

gimbal SDK or by mainstream open-source protocols ArduPilot and PX4

(Mavlink).

Gimbal Motion Mode

Nose Mode

When the gimbal is installed at an angle of 90 degrees to the horizontal plane, it

will automatically enter the nose mode, which is convenient for installation on the

nose position of the fixed wing drone to achieve a friendlier installation 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.

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FPV Mode

Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output

enhanced stable images.

High Accuracy and High Collaboration Control Algorithms

KAPYAH 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.

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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.

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1.2 Ports, Interface & Definition

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1.3 Technical Specification

Overall
Ethernet Micro-HDMI
Video Output Port

S.Bus
Control Signal Input
UART
Port
Ethernet UDP / TCP
Yaw
High Accuracy
Pitch
3 Axis Stabilization
Roll
11 ~ 25.2 V
Working Voltage
(3S to 6S)
Average 5 W Summit
Power Consumption
12 W

Waterproof Level IP4X

Working Temperature -10 ~ 50 ℃

Dimension
(Quick Release Board 132 x 100 x 180 mm
Included)
Weight
(Quick Release Board 668 g
Included)

ZR30 Quick Release Anti-Vibration Board

Dimension 82 x 65 x 20 mm

Weight 38 g

Gimbal
Angular Vibration Range ±0.01°

Controllable Pitch Angle -90° ~ +25°

Controllable Yaw Angle -270° ~ +270°

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Rotatable Roll Angle -45° ~ +45°

Camera
30X Optical Zoom
Lens
(180X Hybrid Zoom)

Focal Length 4.5 ~ 148.4 mm (±5%)

1/2.7 Inch Sony CMOS 8

Image Sensor
MP Effective Resolution

Aperture F1.3 ~ 2.8 (±5%)

Without Zoom: Diagonal 65.4°, Horizontal 58.1° 30X

FOV
Optical Zoom: Diagonal 2.5°, Horizontal 2.1°
4K (3840 x 2160) @ 25 fps
Video Recording 2K (2560 x 1440) @ 30 fps
Resolution 1080p (1920 x 1080) @ 30 fps
720p (1280 x 720) @ 30 fps

Still Photo Resolution 4K (3840 x 2160)

Video Storage Bitrate 12 Mbps (H.265 Codec)

FAT32
Supported File System
ExFAT

Image Format JPG

Video File Format MP4

Supported MicroSD
MicroSD Class10, max 128 GB
Cards

Still Photography Mode Single

Metering Mode Evaluative metering

White Balance Automatic

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Mark

To make sure that you get smoothly recorded video, please format the SD card, and make the

minimum storage unit as 64 KB before recording.

Please format the SD card to FAT32 before camera firmware upgrade.

1.4 Indicator Definition

The status indicator on KAPYAH 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.

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Triple Yellow Blinks: IMU temperature is abnormal.

2 GET READY TO USE ZR30

2.1 Installation

Screw Holes’ Position and Distance

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Mark

The specs of the screws for fixing the four tube screws are M.3*8 mm. Quantity: 4.

Welcome to contact KAPYAH to get the KAPYAH Gimbal 3D Model for pre-installation.

2.2 Connection and Power

KAPYAH optical pod and gimbal camera can be powered in many ways. If you plan

to carry KAPYAH gimbal by your plane and the plane may roll in a wide margin, then

please use connect KAPYAH gimbal’s power port directly by a 3S to 6S power

battery, not through power distribution board or air unit.

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2.3 Interesting Functions and Cautions

KAPYAH optical pod and gimbal camera support abundant interesting functions.

2.3.1 Capture with Time and Location Information

KAPYAH 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

KAPYAH FPV app.

⚫ Location Information: Gimbal must be communicating with the flight controller

through UART.

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Mark

Location information can only be acquired from Mavlink protocol at this moment. The above

functions are only available in KAPYAH optical pods and gimbal cameras which support

capturing pictures and TF card recording and can communicate with the flight controller

2.3.2 Point to Focus & Focus Tracking

Point to Focus

The zoom camera in ZT30 four-sensor optical pod support selecting focus and

focusing to a point on any place in the image while KAPYAH FPV or KAPYAH

QGroundControl app is running. Fast and accurate.

Focus Tracking

The zoom camera in ZT30 four-sensor optical pod automatically adjust focal length

during optical zooming to keep filming smooth and clear images.

2.3.3 Output Four Video Streams from the Same RTSP Addresses

KAPYAH optical pod (gimbal camera) can output up to four video streams from the
same

RTSP addresses.

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3 GIMBAL CONTROL
KAPYAH optical pod (gimbal camera) support multiple methods to control.

3.1 Enable AI Recognition, Tracking, and Follow through KAPYAH

AI Tracking Module Using KAPYAH Optical Pod (Gimbal Camera)

and KAPYAH Link

KAPYAH optical pod (gimbal camera) can connect to KAPYAH link through

KAPYAH AI tracking module and enable AI recognition, tracking, and follow feature

through KAPYAH FPV app or KAPYAH QGC app while 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.

⚫ KAPYAH Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard

Combo is suggested for excellent compatibility with KAPYAH gimbal cameras)

⚫ KAPYAH Optical Pod (Gimbal Camera)

⚫ Flight Controller

⚫ KAPYAH AI Tracking Module

Mark

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

⚫ KAPYAH Gimbal to KAPYAH Link Cable

Mark

Above tools come with product package.

⚫ KAPYAH FPV App (v2.5.15.695 or latest version)

⚫ KAPYAH QGC App

Mark

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Steps

1. Confirm if gimbal camera’s firmware has been upgraded to be compatible with

KAPYAH AI tracking module and the AI follow function.

2. Confirm if KAPYAH FPV app has been upgraded to be compatible with KAPYAH

AI tracking module and the AI follow function.

3. Please refer to the picture below to connect KAPYAH AI tracking module with

KAPYAH gimbal camera and KAPYAH link.

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4. Please refer to the picture below to connect KAPYAH gimbal camera with flight

controller and integrate attitude data.

5. Run KAPYAH FPV app, go to “Settings - Addresses”, and select “KAPYAH AI

Camera”.
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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 tracking / follow button again to disable the function.

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DANGER
Considering flight safety, it is recommended to use the AI follow function and obstacle

avoidance function together.

When the AI follow function is activated, the operator will not be able to manually control

the flight, and the ground station cannot use the guided mode to control the aircraft.

Switching flight mode can regain control.

When the AI follow function is activated, please ensure that the view on the follow route is

clear and free of obstacles, and always pay attention to flight safety. When encountering

obstacles, please immediately take over the flight manually and re-plan the route.

When the tracking target is lost, the aircraft will hover.

Mark

Using KAPYAH AI tracking module with multiple-sensor optical pods, in KAPYAH FPV

app, the main stream of the optical pod should be configured as zoom camera.

When the tracked object is higher than the multi-rotor drone on the horizontal plane, AI
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follow function does not work; when the tracked object and the multi-rotor drone are on the

same horizontal plane, AI follow function works best.

3.2 Control KAPYAH Optical Pod (Gimbal Camera) in KAPYAH FPV

App or KAPYAH QGC App through KAPYAH link

KAPYAH optical pod (gimbal camera) can connect to KAPYAH link directly to

control gimbal rotation, gimbal functions, and video display in KAPYAH FPV app

or KAPYAH QGC app when the air unit is communicating with the ground unit.

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3.2.1 Preparation

It is necessary to prepare the tools, firmware, and software below before controlling

gimbal camera in this way.

⚫ KAPYAH Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard

Combo is suggested for excellent compatibility with KAPYAH gimbal cameras)

⚫ KAPYAH Optical Pod (Gimbal Camera)

Mark

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

⚫ KAPYAH Gimbal to KAPYAH Link Cable

Mark

Above tools come with product package.

⚫ KAPYAH FPV App (v2.5.15.691 or latest version)

⚫ KAPYAH QGC App

Mark

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

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KAPYAH FPV App Steps

1. Power the air unit and bind it with the ground unit.

2. Use KAPYAH Gimbal to KAPYAH Link Cable to connect the air unit’s Ethernet

port to the gimbal camera’s Ethernet port.

3. Update KAPYAH FPV app to the latest.

4. Run KAPYAH FPV app, go to “Settings” and select the relevant KAPYAH camera

type with main / sub stream, video stream will display. Gimbal motion and camera

functions can be controlled by the application.

KAPYAH QGC App Steps

1. Power the air unit and bind it with the ground unit.

2. Use KAPYAH Gimbal to KAPYAH Link Cable to connect the air unit’s Ethernet

port to the gimbal camera’s Ethernet port.

3. Run KAPYAH QGC app, go to “Comm Links – Video Settings”, and select “RTSP

Video Stream” for “Source”, then enter the default RTSP addresses of KAPYAH

gimbal camera, video stream will display. Gimbal motion and camera functions

can be controlled by the application.

3.2.2 Gimbal Pitch and Yaw Rotation

While KAPYAH FPV App or KAPYAH QGC app is running,

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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 centre.

Mark

Slide on touchscreen and hold it, gimbal will continue rotating till it reaches physical limit.

Farther that you hold it from the centre of the screen, faster the gimbal rotates.

3.2.3 Zoom and Focus

While KAPYAH FPV App or KAPYAH 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.

3.2.4 Take pictures and Record Video

While KAPYAH FPV App or KAPYAH QGC app is running,

Touch “Photo” icon once on to take a picture. Touch “Record” icon to start video

recording. Touch “Recording” icon to stop video recording.

Mark

Before taking a picture or recording video, it is necessary to insert SD card into the camera.
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3.3 Control KAPYAH Optical Pod (Gimbal Camera) in KAPYAH QGC

(Windows) Software through KAPYAH Link

KAPYAH optical pod (gimbal camera) can connect to KAPYAH link directly to

control gimbal rotation, gimbal functions, and video display in KAPYAH QGC

Windows software when the air unit is communicating with the ground unit.

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3.3.1 Preparation

It is necessary to prepare tools, firmware, and software below before controlling

gimbal camera in this way.

⚫ KAPYAH Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard

Combo is suggested for excellent compatibility with KAPYAH gimbal cameras)

⚫ KAPYAH Optical Pod (Gimbal Camera)

Mark

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

⚫ KAPYAH Gimbal to KAPYAH Link Cable

Mark

Above tools come with product package.

⚫ KAPYAH QGC Windows Software

Mark

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

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Steps

1. Power the air unit and bind it with the ground unit.
2. Use KAPYAH Gimbal to KAPYAH Link Cable to connect the air unit’s Ethernet

port with the gimbal’s Ethernet port.

3. Then connect the ground unit of the KAPYAH link to the Windows computer.

4. Modify the computer’s Ethernet settings to have the same gateway with KAPYAH

link and avoid IP addresses conflict.

5. Run KAPYAH QGC Windows software, go to “Comm Links – Video Settings”,

and select “RTSP Video Stream” for “Source”, then enter the default RTSP

addresses of KAPYAH gimbal camera, video stream will display. Gimbal motion

and camera functions can be controlled by mouse in QGroundControl.

3.3.2 Gimbal Pitch and Yaw Rotation

While KAPYAH QGC Windows software is running,

Drag the mouse on screen can control gimbal rotation. Dragging the mouse left and

right are yaw rotation, up and down are pitch rotation.

Double click the mouse on screen, gimbal will automatically center.

Mark

Drag the mouse on screen and hold it, gimbal will continue rotating unless there is a physical

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

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3.3.3 Zoom and Focus

While KAPYAH 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.

3.3.4 Take pictures and Record Video

While KAPYAH QGC Windows software is running,

Click “Photo” icon once on to take a picture. Click “Record” icon to start video

recording. Click “Recording” icon to stop video recording.

Mark

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

camera.

3.4 Control KAPYAH Optical Pod (Gimbal Camera) by S.Bus Signal

and Forward S.Bus Signal to Flight Controller through KAPYAH Link

KAPYAH optical pod (gimbal camera) can be connected to the air unit of KAPYAH

link and the flight controller simultaneously for attitude control through joysticks,

dials, switches, and buttons on a remote controller or on an KAPYAH handheld

ground station.

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3.4.1 Preparation

It is necessary to prepare tools, firmware, and software below before controlling

gimbal camera in this way.

⚫ KAPYAH Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard

Combo is suggested for excellent compatibility with KAPYAH gimbal cameras)

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⚫ KAPYAH Optical Pod (Gimbal Camera)

Mark

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

⚫ KAPYAH Gimbal to KAPYAH Link Cable

⚫ 3 in 1 Control Cable (For ZT30, ZT6, ZR30, and A8 mini)

⚫ MK15 / HM30 Air Unit S.Bus Y Cable

Mark

Above tools come with product package.

⚫ Cable (USB-C to USB-A)

Mark

Above tools should be prepared by customer.

⚫ KAPYAH PC Assistant (v1.3.9 or latest version)

Mark

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

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Steps

1. Power the air unit and bind it with the ground unit.

2. Use KAPYAH Gimbal to KAPYAH 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 KAPYAH PC Assistant on Windows computer.

6. Use the USB-C to USB-A cable to connect the gimbal to the computer, then run

KAPYAH PC Assistant and go to “Gimbal Config” page.

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7. Under “Channel Config” page, assign the communication channel 1 to 16 to

target gimbal and camera functions according to your requirement.

8. For the assigned channels, operate their mapped joysticks, dials, switches, and

buttons on the handheld ground station to confirm if they are working normally.

3.4.2 Gimbal 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 KAPYAH TX app.

⚫ Channel 7 = Left Dial (Reversed)

⚫ Channel 8 = Right Dial

⚫ Channel 12 = Any Button

In KAPYAH 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.

Mark

Hold the dial from its center position, gimbal will keep rotating unless there was a physical

limit. Farther you hold it away from center, faster gimbal rotates.
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3.4.3 Zoom and Focus (Taking an Example of Switch Control)

Below are the suggested channel mapping settings for testing, customers are free

to assign channel mappings as required through KAPYAH TX app.

⚫ Channel 13 = A Switch

⚫ Channel 14 = B Switch

In KAPYAH PC Assistant, map “Zoom” function to channel 13, map “Auto Focus”

function to channel 14.

Then, if you operate switch A, camera will zoom in or zoom out. If you operate switch

B, optical zoom camera will focus automatically.

3.4.4 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 KAPYAH TX app.

⚫ Channel 9 = Button A

⚫ Channel 10 = Button B

In KAPYAH PC Assistant, map “Photo” function to channel 9 and “Record” to

channel 10.

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Then, if you press button A, camera will take a picture. If you press button B, camera

will start or stop video recording.

Mark

Before taking pictures or recording video, it is necessary to insert SD card into the camera.

3.5 UART / UDP Control (KAPYAH Gimbal SDK)

KAPYAH gimbal camera provides control protocol for all customers. Please refer to

the below guide for secondary development based on KAPYAH gimbal camera.

3.5.1 SDK Protocol Format

Field Index Bytes Description

0x6655: starting mark.

STX 0 2
Low byte in the front
0: need_ack (if the current data pack need “ack”) 1:
ack_pack (if the current data pack is an “ack” package)
CTRL 2 1 2-7: reserved

Date field byte length

Data_len 3 2
Low byte in the front
Frame sequence (0 ~ 65535)
SEQ 5 2
Low byte in the front

CMD_ID 7 1 Command ID

DATA 8 Data_len Data

CRC16 check to the complete data package.

CRC16 2
Low byte in the front

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3.5.2 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. Heartbeat pack: 55 66 01 01 00 00 00 00 00 59 8B
2. Only available for TCP protocol.

Request Gimbal 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：0x6E030203 = firmware version v3.2.3

Mark:
1. Ignore the 4th byte (higher byte)
2. Zoom firmware version is only available for optical zoom cameras such as ZR10, ZR30, and ZT30 at this
moment.

Request Gimbal Camera Hardware ID

CMD_ID:0x02------Request Gimbal Camera Hardware ID
Send data format
No. Data Type Data Name Description

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ACK data format

Hardware ID character string (10
Uint8_t hardware_id[12]
digits)

Mark:
The first two digits of the hardware ID character string indicates product model number in hexadecimal.
⚫ 0x6B: ZR10
⚫ 0x73: A8 mini
⚫ 0x75: A2 mini
⚫ 0x78: ZR30
⚫ 0x82: ZT6
⚫ 0x7A: 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

00: Lock Mode

1 uint8_t gimbal_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
x coordinates, the range is the length of
uin16_t touch_x the video stream resolution

y coordinates, the range is the height of

uin16_t touch_y the video stream resolution

ACK data format

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1: Success
1 uint8_t sta
0: Failure

Mark:
1. Auto focus command is only available for optical zoom gimbal cameras like ZT30, ZR30, and ZR10 at this
moment.
2. Under 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: Start zooming in
0: Stop zooming in / out (send when
1 int8_t zoom
released from control command)
-1: Start zooming out
ACK data format

Current (hybrid) zoom multiples

uint16_t zoom_multiple (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. Under 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

Absolute_movemen Input the integer part of the target

1 uint8_t multiple (0X1 ~ 0X1E)
t_int
Absolute_movemen Input the fractional part of the target
2 uint8_t multiple (0X0 ~ 0X9)
t_float

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ACK data format

Absolute_movemen
uint8_t Success and return to 1
t_ask

Mark:
1. Absolute zoom command is only available for optical zoom gimbal cameras like ZT30, ZR30, and ZR10 at
this moment.
2. Under 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

Integer of the max zoom value in
uint8_t zoom_max_int present

Float of the max zoom value in

uint8_t zoom_max_float 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.

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Manual Focus
CMD_ID:0x06------Manual Focus

Send data format

No. Data Type Data Name Description

1: Long shot
0: Stop manual focus (send when
1 int8_t focus
released from control command)
-1: Close shot
ACK data format

1: Success
uint8_t sta
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

-100~0~100: Negative and positive

represent two directions, higher or
lower the number is away from 0,
1 int8_t turn_yaw 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

1: Success
uint8_t sta
0: Fail

Center
CMD_ID:0x08------Center

Send data format

No. Data Type Data Name Description

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1 uint8_t center_pos 1: gimbal centers to

position 0
ACK data format

1: Success
1 uint8_t sta
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
0: HDR OFF
2 uint8_t hdr_sta
1: HDR ON
3 uint8_t reserved
0: Recording OFF
1: Recording ON
4 uint8_t record_sta 2: TF card slot is empty
3: (Recording) Data loss in TF card
recorded video, please check TF card
0: Lock Mode
5 uint8_t gimbal_motion_mode 1: Follow Mode
2: FPV Mode
Gimbal Mounting Method
0: Reserved
6 uint8_t gimbal_mounting_dir
1: Normal
2: Upside Down
(Only available on ZT6 and A8 mini)
Video output status of HDMI and
CVBS:
0:
7 uint8_t video_hdmi_or_cvbs HDMI output ON
CVBS output OFF
1:
HDMI output OFF
CVBS output ON

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Function Feedback Information

CMD_ID:0x0B------Function Feedback Information
Send data format
No. Data Type Data Name Description

ACK data format

0: Success
1: Fail to take a photo
(Please check if TF card is
inserted)
1 uint8_t info_type 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
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
uint8_t func_type (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

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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 / A8 mini: -135.0 ~ 135.0 degrees
⚫ ZT6 / ZR30: -270.0 ~ 270.0 degrees
⚫ ZT30: Limitless

Pitch
⚫ ZT30 / ZT6 / ZR30 / ZR10 / A8 mini / A2 mini: -90.0 ~ 25.0 degree

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Mark:
1. The accuracy of the control angle is in one decimal place. Eg: Set yaw as 60.5 degrees, the command
number should be set as 605.
2. The actual angle data returned to be divided by 10 is the actual degree, accuracy in one decimal place.

Request Gimbal Camera Codec Specs

CMD_ID:0x20------Request Gimbal Camera Codec Specs
Send data format
No. Data Type Data Name Description
0: Recording stream
1: Main stream
uint8_t req_stream_type
2: Sub stream (only available on
ZT30 and ZT6)

ACK data format

0: Recording
stream 1: Main
uint8_t stream_type stream
2: Sub stream (only available on
ZT30 and ZT6)
Codec Format
uint8_t VideoEncType 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
uint8_t VideoFrameRate Video frame rate

Send Codec Specs to Gimbal Camera

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

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uint16_t VideoBitrate Video Bitrate in Kbps

uint8_t reserve Reserved
ACK data format
0: Recording stream 1:
Main stream
uint8_t stream_type
2: Sub stream (only available on ZT30
and ZT6)
1: Success
uint8_t sta
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

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)
1 uint8_t vdisp_mode 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

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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)
1 uint8_t vdisp_mode 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
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)
1 uint8_t vdisp_mode 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.

Request 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

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0: Turn off temperature measuring

1: Measure the temperature once 2:
3 uint8_t get_temp_flag Continuous temperature measuring at
5 Hz

ACK data format

Temperature of the point / 100 (two
1 uint16_t temp
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 Max / 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
X coordinate of the starting
1 uint16_t startx point of the box
Y coordinate of the starting
2 uint16_t starty point of the box

X coordinate of the ending

3 uint16_t endx point of the box

Y coordinate of the ending

4 uint16_t endy point of the box

0: Turn off temperature

measuring

5 uint8_t get_temp_flag 1: Measure the temperature

once 2: Continuous
temperature measuring at 5
Hz
ACK data format
X coordinate of the starting
1 uint16_t startx
point of the box
Y coordinate of the starting
2 uint16_t starty
point of the box
X coordinate of the ending
3 uint16_t endx
point of the box
Y coordinate of the ending
4 uint16_t endy
point of the box
The maximum temperature
5 uint16_t temp_max in the box / 100 (two decimal
places)
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The minimum temperature in

6 uint16_t temp_min the box / 100 (two decimal
places)
X coordinate of the max
7 uint16_t temp_max_x
temperature in the box
Y coordinate of the max
8 uint16_t temp_max_y
temperature in the box
X coordinate of the min
9 uint16_t temp_min_x
temperature in the box
Y coordinate of the min
10 uint16_t temp_min_x
temperature in the box

Mark:
1. Thermal 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
0: Turn off temperature
measuring

1 uint8_t get_temp_flag 1: Measure the temperature

once 2: Continuous
temperature measuring at 5
Hz
ACK data format
The maximum temperature
1 uint16_t temp_max in the full image / 100 (two
decimal places)
The minimum temperature
2 uint16_t temp_min in the full image / 100 (two
decimal places)
X coordinate of the max
3 uint16_t temp_max_x temperature in the full
image
Y coordinate of the max
4 uint16_t temp_max_y temperature in the full
image
X coordinate of the min
5 uint16_t temp_min_x temperature in the full
image

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Y coordinate of the min

6 uint16_t temp_min_x 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

11 thermal colors are available in
total:
0: White_Hot
1: Reserved
2: Sepia
3: Ironbow
4: Rainbow
uint8_t pseudo_color
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 Data Name Description
Type

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11 thermal colors are available in

total:
0: White_Hot
1: Reserved
2: Sepia
3: Ironbow
4: Rainbow
uint8_t pseudo_color 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
4: Rainbow
uint8_t pseudo_color 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
0: 30 fps
1 uint8_t mode
1: 25 fps and output temperature frame
ACK data format

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0: 30 fps
1 uint8_t mode 1: 25 fps and output temperature
frame

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

3.5.3 KAPYAH Gimbal Camera SDK Communication Interface

TTL Serial Port

⚫ Baud rate: 115200
⚫ Data position: 8 digits. Stop position: 1 digit. No check.

UDP
⚫ IP: 192.168.144.25
⚫ Port Number: 37260

TCP
⚫ IP: 192.168.144.25
⚫ Port Number: 37260
⚫ Heartbeat Package Data: 55 66 01 01 00 00 00 00 00 59 8B

3.5.4 KAPYAH Gimbal Camera SDK Communication Code Examples

Request the Gimbal Camera’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’s Max Zoom Value in Present

55 66 01 00 00 00 00 16 B2 A6
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Request the Zoom Camera’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’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’s Hardware ID

55 66 01 00 00 00 00 02 07 f4

Request the Gimbal Camera’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

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

Request the Gimbal Camera’s Attitude Data

55 66 01 00 00 00 00 0d e8 05

Send Control Angle (-90, 0) (Upwards) to Gimbal Camera

55 66 01 04 00 00 00 0e 00 00 ff a6 3b 11

Send “Enable HDMI Output” 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 “Enable CVBS Output” 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 “Disable CVBS / HDMI Output” 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 Mbps

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 Mbps

55 66 01 09 00 00 00 21 00 02 00 0f 70 08 98 3a 00 70 be

Request Gimbal Camera’s Image Mode in Present

55 66 01 00 00 00 00 10 74 c6

Send “Image Mode” Command to Gimbal Camera

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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 “Thermal Color Palette” 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

3.5.5 SDK CRC16 Code

const uint16_t crc16_tab[256];

/***********************************************************
CRC16 Coding & Decoding G(X) = X^16+X^12+X^5+1
***********************************************************/
uint16_t CRC16_cal(uint8_t *ptr, uint32_t len, uint16_t crc_init)
{
uint16_t crc, oldcrc16;
uint8_t temp; crc =
crc_init; while (len--!=0)
{ temp=(crc>>8)&0xff;
oldcrc16=crc16_tab[*ptr^temp];
crc=(crc<<8)^oldcrc16; ptr++;

}
//crc=~crc; //??
return(crc);
}

uint8_t crc_check_16bites(uint8_t* pbuf, uint32_t len,uint32_t* p_result)

{
uint16_t crc_result = 0;
crc_result= CRC16_cal(pbuf,len, 0);
*p_result = crc_result;

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return 2;
}

const uint16_t crc16_tab[256]= {0x0,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,

0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
0x1231,0x210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
0x2462,0x3443,0x420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
0x3653,0x2672,0x1611,0x630,0x76d7,0x66f6,0x5695,0x46b4,
0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
0x48c4,0x58e5,0x6886,0x78a7,0x840,0x1861,0x2802,0x3823,
0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0xa50,0x3a33,0x2a12,
0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0xc60,0x1c41,
0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0xe70,
0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
0x1080,0xa1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
0x2b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
0x34e2,0x24c3,0x14a0,0x481,0x7466,0x6447,0x5424,0x4405,
0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
0x26d3,0x36f2,0x691,0x16b0,0x6657,0x7676,0x4615,0x5634,
0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
0x5844,0x4865,0x7806,0x6827,0x18c0,0x8e1,0x3882,0x28a3,
0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
0x4a75,0x5a54,0x6a37,0x7a16,0xaf1,0x1ad0,0x2ab3,0x3a92,
0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0xcc1,
0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0xed1,0x1ef0

};

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3.5.6 Advanced Guide for KAPYAH Gimbal SDK Integration

This special guide is to help developers (especially whose development is based

on Linux platform) use KAPYAH gimbal SDK.

Mark

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

This guide is using UDP protocol:

1. Go to chapter 3.3.4 of this manual for KAPYAH 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.

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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.

Mark
Before using the SDK to communicate with the gimbal camera in UDP protocol, please do make sure that
the device and the gimbal camera are in the same gateway, which means that ubuntu can ping the gimbal
camera’s IP addresses successfully.
If they still didn’t communicate, the possible reason is that the Windows firewall is interrupting the sending
and receiving of data, then try to disable Windows firewall temporarily.

Relevant Code Examples

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>

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#define RECV_BUUF_SIZE 64
#define SERVER_PORT 37260 // Gimbal Camera (Server) Port
#define SERVER_IP "192.168.144.25" // Gimbal Camera (Server) IP Addresses

int main(int argc, char *argv[])

{
int sockfd;
int ret, i, recv_len;
struct sockaddr_in send_addr, recv_addr;
unsigned char send_buf[] = {0x55,0x66,0x01,0x01,0x00,0x00,0x00,0x08,0x01,0xd1,0x12}; // Frame
protocol of the relevant functions in hexadecimal
unsigned char recv_buf[RECV_BUUF_SIZE] = {0};

/* Create UDP Socket

AF_INET: ipv4 addresses
SOCK_DGRAM: UDP protocol
0: automatically choose the default protocol of the relevant type
*/ if ((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) <
0) { perror("socket"); exit(1);
}

/* Set IP addresses and port number of gimbal camera

sin_family: ipv4 addresses
sin_addr.s_addr: IP addresses of gimbal camera
sin_port： port of gimbal camera
*/
memset(&send_addr, 0, sizeof(send_addr));
send_addr.sin_family = AF_INET; send_addr.sin_addr.s_addr =
inet_addr(SERVER_IP); send_addr.sin_port =
htons(SERVER_PORT);

/* Send frame data

sockfd: descriptor of socket
send_buf： head address in RAM of the sending
data sizeof(send_buf)： length of sending data
0： sending mark, usually it is 0
(struct sockaddr *)&send_addr: structure pointer of the receiving data addresses
(including IP addresses and port)
addr_len: structure size of the receiving data addresses
*/
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printf("Send HEX data\n");

socklen_t addr_len = sizeof(struct sockaddr_in); if(sendto(sockfd, send_buf,
sizeof(send_buf), 0, (struct sockaddr *)&send_addr, addr_len) < 0) {

perror("sendto");
exit(1);
}

/* Receive the responding data from gimbal camera

sockfd: descriptor of “sockfd” socket
recv_buf: head address in RAM of the responding data
RECV_BUUF_SIZE: size of the buffer, which is the length of the max
data to receive
0: receiving mark, usually it is 0
(struct sockaddr *)&recv_addr: the target structure will be filled with addresses (including IP addresses
and port) from the data sender
&addr_len: the target storage position, the structure size of
“src_addr” and “addrlen” should be filled before calling, the actual size of the sender will be filled after calling

*/
recv_len = recvfrom(sockfd, recv_buf, RECV_BUUF_SIZE, 0, (struct sockaddr *)&recv_addr,
&addr_len);
if (recv_len < 0) {
perror("recvfrom"); exit(1);
}

// print the received data in hexadecimal

printf("Received HEX data: ");
for (int i = 0; i < recv_len; i++)
{
printf("%02x ", recv_buf[i]);
}
printf("\n");

// close socket
close(sockfd);

return 0;
}

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3.5.7 Interface Documentation for KAPYAH Gimbal Camera’s Web Server

Videos and images stored in KAPYAH gimbal camera can be acquired directly from

the web server interface.

Interface base Url: http://192.168.144.25:82//cgi-

bin/media.cgi

A Request File Directory

The below interface is to request the directory of the file format for an easy overview. URL:
/api/v1/get directories
Method: GET

Request Data

Data Name Type Description

0: Images
media_type int
1: Videos

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 definition of data is below:

Data Name Type Description

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0: Images
media_type int
1: Videos
[
directories { File directory
"name": "aa",
"path": "/yyy/aa"
},
{
"name": "bb",
"path": "/yyy/bb"
},
]

Request Example
Request the number of all the images:

{
"media_type": 0
}

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"
}
]
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}
"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

0: Images
media_type int
1: Videos

If the string is empty, return to

request the total file number in
path String 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.

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}
The definition of data is below:

Data Name Type Desciption

0: Images
media_type int
1: Videos

count int File number

path int Path of file directory

Request Example
Request the number of all the images:

{
"media_type": 0,
"path": ""
}
Request the image numbers under the target path:

{
"media_type": 0,
"path": "/photo/aa"
}

Successful Response
Condition: Request data is legal and user identity verification passed.
Status Code: 200 OK
Response Example:
File numbers which return to 'photo/aa' after response:

{
"code": 200,
"data": {
"media_type": 0,
"count": 20,
"path": "/photo/aa"
},
"success": true
}

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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": 400,
"message": "Invalid media type",
"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

0: Images
media_type int
1: Videos

Empty String: File list is for all the

files of the present type.
path String
Non-empty String: File list is for the
files under the target path.

start int Start index of the file list

Number of the file list.

If “start” plus “count” is more than
count int 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.

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"success": true, // If the request is successful.

"message": "" // Error message if the request is failed.
}
The definition of data is below:

Data Name Type Description

0: Images
media_type int
1: Videos

path String The requested path.

[
{
"name": "aa.jpg",
"url": "http://xxx/yyy/aa.jpg"
},
list File list.
{
"name": "bb.jpg",
"url": "http://xxx/yyy/bb.jpg"
},
]

Request Example
Request the image list from “photo/20230630” directory:

{
"media_type": 0,
"path": "photo/20230630",
"start": 0,
"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 “'photo/20230630” directory after response:

{
"code": 200,
"data":{
"media_type": 0,
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"path": "photo/20230630",
"list": [
{
"name": "aa.jpg",
"url": "http://xxx/yy/aa.jpg"
},
{
"name": "bb.jpg",
"url": "http://xxx/yy/bb.jpg"
},
...
],
},
"success": true
}

Error 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": 400,
"message": "path not exist",
"success": false
}

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3.6 Control KAPYAH Gimbal Camera by the ArduPilot Driver through

UART and Integrate Flight Controller Attitude Data

Gimbal camera’s UART port connects to ArduPilot flight controller’s UART port

directly to communicate with the flight controller and to control gimbal rotation,

gimbal functions, and camera functions.

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Preparation

It is necessary to prepare the tools, firmware, and software below before controlling

gimbal camera in this way.

⚫ ArduPilot Flight Controller (v4.4.4 and above firmware)

⚫ KAPYAH Optical Pod (Gimbal Camera)

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Mark

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

⚫ KAPYAH Gimbal to PX4 / Ardupilot Flight Controller UART Cable

Mark

Above tools come with product package.

⚫ Mission Planner (Windows) Software

Steps

1. Power KAPYAH gimbal camera and ArduPilot flight controller.

2. Connect gimbal camera’s UART port to ArduPilot 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.

⚫ SERIAL2_PROTOCOL to 8 (“SToRM32 Gimbal Serial”)

⚫ SERIAL2_BAUD to “115” for 115200 bps

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⚫ MNT1_TYPE to “8” (“KAPYAH”) and reboot the ardupilot

⚫ MNT1_PITCH_MIN to -90

⚫ MNT1_PITCH_MAX to 25

⚫ MNT1_YAW_MIN to -80

⚫ MNT1_YAW_MAX to 80

⚫ MNT1_RC_RATE to 90 (deg/s) to control speed of gimbal when using RC

targetting

⚫ CAM1_TYPE to 4 (Mount / KAPYAH) to allow control of the camera.

⚫ RC6_OPTION = 213 (“Mount Pitch”) to control the gimbal’s pitch angle with

RC channel 6

⚫ RC7_OPTION = 214 (“Mount Yaw”) to control the gimbal’s yaw angle with

RC channel 7

⚫ RC8_OPTION = 163 (“Mount Lock”) to switch between “lock” and “follow”

mode with RC channel 8

Optionally these auxiliary functions are also available.

⚫ RC9_OPTION = 166 (“Camera Record Video”) to start/stop recording of

video

⚫ RC9_OPTION = 167 (“Camera Zoom”) to zoom in and out

⚫ RC9_OPTION = 168 (“Camera Manual Focus”) to adjust focus in and out

⚫ RC9_OPTION = 169 (“Camera Auto Focus”) to trigger auto focus

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Integrate Flight Controller Attitude Data

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

control instance.

⚫ SERIAL2_BAUD to “115” for 115200 bps

⚫ SR2_EXTRA1 to “50” to set flight controller attitude angle data sending

frequency.

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After configuration, it is necessary to “Write Parameters” and reboot the flight

controller to take effect.

Mark

Integrate flight controller attitude data can effectively promote gimbal performance while

drone attitude is changing fast.

3.7 Control KAPYAH 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.

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Preparation

It is necessary to prepare the tools, firmware, and software below before controlling

gimbal camera in this way.

⚫ PX4 Flight Controller

⚫ KAPYAH Optical Pod (Gimbal Camera)

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Mark

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

⚫ KAPYAH Gimbal to PX4 / Ardupilot Flight Controller UART Cable

Mark

Above tools come with product package.

⚫ Q GroundControl Windows GCS

3.8 Necessary Trouble Shooting Steps When Gimbal Attitude

Control Is Abnormal

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

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Gimbal Roll Axis Tilts

Check Firmware
Version

Firmware Updated Firmware Updated

PROBLEM SOLVED PROBLEM STILL

Calibrate Gimbal
1. IMU
2. Temperature
3. Accelerator

Calibrated Calibrated
PROBLEM SOLVED PROBLEM STILL

Optimize Installation
1. Gimbal Mounting
2. Gimbal connection cables to power,
Ethernet, and control should be soft.
3. Are dampers original?
4. Check drone vibration and propeller
dynamic balance.

PROBLEM SOLVED PROBLEM STILL

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Check Flight Attitude

NO / SLOW FAST
ATTITUDE CHANGE ATTITUDE CHANGE

Integrate
Flight Controller
Altitude Data

PROBLEM SOLVED PROBLEM STILL

Final Trouble Shooting Before Contacting

SIYI
1. If the gimbal was modified or
disassembled?
2. If the gimbal was damaged by external
force?

Contact
KapYah Support

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4 VIDEO OUTPUT
ZR30 optical pod outputs video through Ethernet and Micro-HDMI port.

Mark

ZR30’s Ethernet port and Micro-HDMI port can output video stream simultaneously.

4.1 Output Video to Windows Device Directly through Ethernet

Gimbal camera connects to Windows device directly, then video will be displayed in

KAPYAH QGC Windows software.

KAPYAH Gimbal RJ45 Cable (New)

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KAPYAH Gimbal RJ45 Cable (Old)

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Preparation
It is necessary to prepare the tools, firmware, and software below before outputting

video stream in this way.

⚫ KAPYAH Optical Pod (Gimbal Camera)

Mark

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

⚫ KAPYAH Gimbal Ethernet to RJ45 Cable

Mark

Above tools come with product package.

⚫ KAPYAH QGC Windows Software

Mark

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

Steps

1. Power gimbal camera.

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2. Use KAPYAH Gimbal Ethernet to RJ45 Cable to connect the gimbal quick

release board’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 KAPYAH
link and avoid IP addresses conflict.

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

4. Run KAPYAH QGC Windows software, go to “Comm Links – Video Settings”,

and select “RTSP Video Stream” for “Source”, then enter the default RTSP

addresses of KAPYAH gimbal camera, video stream will display. Gimbal motion

and camera functions can be controlled by mouse in QGroundControl.

4.2 Output Video to Third-Party Link through Ethernet

KAPYAH gimbal camera can output video to any third-party link which provides

Ethernet port and is compatible with RTSP video stream.

In this way, it is necessary to prepare a customized video cable for connection

between KAPYAH gimbal camera and the third-party link.

CAUTION
KAPYAH 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.

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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 KAPYAH gimbal camera’s Ethernet port and the

thirdparty link’s Ethernet port.

3. Open RTSP video player and input KAPYAH gimbal camera’s default RTSP

addresses, if connection is successful, video will display normally.

Mark

KAPYAH QGC Android app and Windows software support video display from third-party

links as well.

4.3 Output Video through Micro-HDMI

ZR30 optical pod can output video directly though the Micro-HDMI port.

Steps

1. Power ZR30 and connect it to PC. Run KAPYAH Assistant, switch video output

mode to “HDMI” under the “Gimbal Config” page.

2. Connect ZR30 to the HDMI monitor.

3. If video shows up, the connection is successful.

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4.5 Common IP Addresses

KAPYAH Optical Pod / Gimbal Camera’s Default IP Addresses: 192.168.144.25

(NEW) KAPYAH Optical Pod / Gimbal Camera’s Default RTSP Addresses:

⚫ Main Stream: rtsp://192.168.144.25:8554/video1

⚫ Sub Stream: rtsp://192.168.144.25:8554/video2

(NEW) KAPYAH FPV App’s Private Video Stream Protocol’s Addresses:

⚫ KAPYAH Camera 1 Main Stream: 192.168.144.25: 37256

⚫ KAPYAH Camera 1 Sub Stream: 192.168.144.25: 37255

⚫ KAPYAH Camera 2 Main Stream: 192.168.144.26: 37256

⚫ KAPYAH Camera 2 Sub Stream: 192.168.144.26: 37255

Mark

KAPYAH cameras released after ZT30 (including ZT30 and ZT6) start to use the new

addresses. KAPYAH cameras released before ZT30 (including ZR30, A2 mini, A8 mini,

ZR10, and R1M) are stilling using the old addresses.

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5 KAPYAH FPV APP

KAPYAH FPV is an Android application developed by KAPYAH to configure many

KAPYAH products for video display, camera stream settings, and communication

link status monitoring.

Mark

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