> For the complete documentation index, see [llms.txt](https://docs.xbstation.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.xbstation.com/xblink-duo/user-manual/advanced-configuration/cameras-and-gimbals/ip-cameras/siyi-camera-gimbal-1.md).

# Gremsy Gimbal Camera

This article describes how to set up and configure Gremsy Camera Gimbals with XBLink.

Gremsy IP cameras/gimbals can communicate with XBLink via the Ethernet protocol to stream video and telemetry.

## Hardware Setup

We support 2 methods to connect it to XBLink as below:

* **Method 1:** Connect directly to the ETH1 port of XBLink Duo.

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FLghYEGM3gj9rsvDlnR4u%2FCopy%20of%20CAP%201%20(19).png?alt=media&amp;token=4b70ce6b-1214-4729-ae9c-1615d1fe8642" alt=""><figcaption></figcaption></figure>

* **Method 2:** Using [USB to Ethernet Adapter](/xblink-duo/user-manual/getting-started/overview.md#other-not-include). (In case ETH1 port of XBLink is occupied)

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2Fg5LyOZzMEuoQACxFSxqc%2Fimage.png?alt=media&amp;token=09c08cd4-77ad-4d41-ba4e-837c2e839306" alt=""><figcaption></figcaption></figure>

### Method 1: Connect to the ETH1 port of XBLink Duo

The simplest way to connect a Gremsy Gimbal Camera to XBLink Duo is to use its ETH1 port. You just need to plug in the wire according to the instructions below.

<div align="left"><figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FW5D5vHD8GIyFWGMdYrgG%2F2%20(6).png?alt=media&amp;token=63192e85-4ec9-4aaf-a04f-1654f0c47837" alt="" width="349"><figcaption></figcaption></figure> <figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FcL6EKIZwjuzvu54Ta8JA%2Fimage.png?alt=media&amp;token=1657db3d-61b3-4d87-aaa5-82ba0c4586ad" alt="" width="563"><figcaption></figcaption></figure></div>

Finally, power up XBLink Duo and the Gremsy Gimbal.

{% hint style="info" %}
**Note:**  Always use the SATCOM port for Starlink, and the ETH1 port for IP cameras.
{% endhint %}

### Method 2: Using a USB to Ethernet Adapter

If you intend to use both [the remote control](/legacy-products/xblink-plus/user-manual/advanced-configuration/remote-controller.md) and Gremsy Gimbal Cameras, we recommend that you use the [USB to Ethernet Adapter](/legacy-products/xblink-plus/user-manual/getting-started/overview.md#other-not-include) to connect to the USB port of the XBLink.

You can connect Gremsy Gimbal Cameras to USB port of XBLink Duo via [USB to Ethernet Adapter](/legacy-products/xblink-plus/user-manual/getting-started/overview.md#other-not-include) as below

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FzIhZxOJ2beEfr05EuQhy%2F2%20(7).png?alt=media&amp;token=6fb9e7fb-af4d-4cd7-bf1a-07b08a1524ed" alt="" width="375"><figcaption></figcaption></figure>

{% hint style="info" %}
Note: USB port is ETH2 of XBLink Duo.
{% endhint %}

Finally, power up XBLink Duo and the Gremsy Gimbal.

## Configuration

### XBStationPilotApp

If you are using the ETH1 port of XBLink Duo (Method 1), please open XBStationPilotApp and configure the Dashboard tab and the Gimbal tab as below:

Open the XBStationPilotApp and configure the settings as follows:

1. Source Type: **GREMSY\_VIO**
2. Ethernet: **eth1 or eth2**
3. IP Address: **192.168.144.240**

{% hint style="info" %}
Note: The Gimbal IP is the Gremsy IP address of the device. The default Vivo address is 240. Please update it with your actual address.
{% endhint %}

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FYhDyNrRm1OmUMGGZ3AoH%2Fimage.png?alt=media&amp;token=fbfe0e25-1de3-47ff-a81c-3440f1acacac" alt=""><figcaption></figcaption></figure>

Then click the **Turn on** button. Once the connection is successful, you will be able to see the streaming data appear.

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FYI7VvZl5UgpSuFTFZT3c%2Fimage.png?alt=media&amp;token=90825e96-a6ab-4434-88e2-3a246fb823da" alt=""><figcaption></figcaption></figure>

Second, navigate to the Gimbal tab, and configure the Gimbal Model and Gimbal IP as below:

1. Gimbal Model: **GREMSY\_VIVO**
2. Gimbal IP: **192.168.144.240**

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FZPqxEvgN4M13riI5ciqt%2Fimage.png?alt=media&amp;token=14b8ecab-8f9c-4d12-84db-82e221f91a59" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
Note: The Gimbal IP is the Gremsy IP address of the device. The default Vivo address is 240. Please update it with your actual address.
{% endhint %}

### Payload Plus

Finally, please open the Payload Plus Application and configure the Connection tab as below:

1. Target IP: Same as the **Bind Address** value from XBStationPilotApp. (This IP tells Payload Plus the exact network address where PilotApp is hosting the gimbal control and telemetry data, allowing the two applications to communicate).
2. RTSP URL: Same as the **RTSP URL** value from XBStationPilotApp. (This URL provides the direct path for Payload Plus to pull and display the live video feed from your Gremsy camera).

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FRA2nTpjA8mb3FDga4b9g%2Fimage.png?alt=media&amp;token=c1091368-4423-4398-bade-ca51adf1a0b2" alt=""><figcaption></figcaption></figure>

### Ground Station

#### QGroundControl

* Open QGroundControl, Change Source section to **UDP H.265 Video Stream** as below.

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FAjk9G60sDNRfHDq5afDN%2Fimage.png?alt=media&amp;token=78e89b10-f6e7-4b1b-95da-7c16b2e94612" alt="" width="293"><figcaption></figcaption></figure>

#### Mission Planner

1. At the Video HUD area, Right Click -> Video -> GStreamer Stop as below instruction

<figure><img src="https://752643261-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1Ot9F_Ob2Aboz1SKNK%2Fuploads%2FQAmOfHvNmdWBlRtz8O0w%2Fimage.png?alt=media&amp;token=bb4a609a-c0f3-44d2-8c77-3ffe47fbb173" alt="" width="528"><figcaption><p>GStreamer Stop</p></figcaption></figure>

2. At the Video HUD area, Right Click -> Video -> Set GStreamer source -> input GStreamer URL:

`udpsrc port=5601 caps = "application/x-rtp, media=video, clock-rate=90000, encoding-name=H265, payload=96" ! rtpjitterbuffer ! rtph265depay ! avdec_h265 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink`

```
udpsrc port=5601 caps = "application/x-rtp, media=video, clock-rate=90000, encoding-name=H265, payload=96" ! rtpjitterbuffer ! rtph265depay ! avdec_h265 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink
```

{% hint style="info" %}
**NOTE: udpsrc port=560x must be the same as PilotApp**
{% endhint %}

![](https://752643261-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M1Ot9F_Ob2Aboz1SKNK%2F-M_yz5MVA-a6zwERGJU-%2F-M_z0Cg8exmV3XTNiD7K%2Fimage.png?alt=media\&token=6ad93b5c-f09d-4c50-aa49-db54a4a271a0)

{% hint style="info" %}
**NOTE:** The GStreamer URL just need to input at the first time, Mission Planner will auto save this params, the next run with Mission Planner, you just **Right Click -> Video -> Set GStreamer source -> and click OK to use video streaming**
{% endhint %}

![Mission Planner](https://i.imgur.com/kFRpzS9.png)

{% hint style="info" %}
**NOTE:** Download and install the plugin (domestic environment download is slow, if it fails, please restart the Mission Planner ground station and try again)
{% endhint %}

![Mission Planner](https://i.imgur.com/RurZ4jz.png)

After the installation is complete, restart the MissionPlanner ground station to display the following interface.

## Video tutorial

For more information see video as below

{% embed url="<https://drive.google.com/file/d/1TZxerVuOjioJNIxI8w326G50AvA7-jot/view?usp=sharing>" %}