Page 1 ZT30 User Manual v1.1 ZT30 FOUR-SENSOR OPTICAL POD 4K AI THERMAL RANGEFINDER USER MANUAL V1.1 Sep 2023 2023 SIYI Technology Copyright...
Page 2 HDR and starlight night vision extend the application scenarios to both day and night. In a word, ZT30 optical pod is a rare and good payload for multi-rotors, VTOLs, and robotics.
Page 3 ZT30 User Manual v1.1 SIYI User Group - Facebook SIYI Official Store (https://shop.siyi.biz) SIYI Official AliExpress Store (https://siyi.aliexpress.com) SIYI YouTube Channel (https://www.youtube.com/c/SIYITech) 2023 SIYI Technology Copyright...
Page 4 Version Date Updates 1. Special interesting functions and cautions. 2. Instruction for acquiring and download files from SIYI camera’s web server. 3. Necessary update for SIYI FPV app. 4. Necessary update for SDK commands. 5. Instruction for using the thermal camera.
Page 5: Table Of Contents
2.3.4 Output Four Video Streams from the Same RTSP Addresses ............20 2.3.5 Acquire Position of Laser Rangefinder Target .................. 20 3 GIMBAL CONTROL ............................. 21 3.1 Control Gimbal Camera from SIYI FPV App or SIYI QGC App (Android) on SIYI Handheld Ground Station ..................................21 3.1.1 Preparation .............................. 21 3.1.2 Gimbal Pitch and Yaw Rotation ......................
Page 6 3.3.6 Advanced Guide for SIYI Gimbal SDK Integration ................47 3.3.7 Interface Documentation for SIYI Gimbal Camera’s Web Server ..........51 3.4 Control SIYI Gimbal Camera in SIYI QGC (Windows) Software through HM30 Transmission System ................................... 57 3.4.1 Preparation .............................. 57 3.4.2 Gimbal Pitch and Yaw Rotation ......................
Page 7 7.2 Link Status ..............................106 7.3 Gimbal Camera............................107 7.4 About SIYI FPV............................109 7.5 SIYI FPV App Update Log ......................... 110 8 Firmware Upgrade and Configuration ......................111 8.1 Gimbal / Zoom Firmware Update ......................111 8.2 Camera Firmware Update .......................... 114 8.3 Gimbal Camera Configuration ........................
Page 8 ZT30 User Manual v1.1 9.2 Warranty ............................... 126 9.2.1 7-Day Return & Refund ........................126 9.2.2 15-Day Replacement ........................... 127 9.2.3 1-Year Warranty Repair ........................129 2023 SIYI Technology Copyright...
Page 9: Read Tips
SIYI Technology is not obliged to any of the damage, loss, or injury. It is prohibited to use SIYI products for military purpose. Users under 14 years’ old...
Page 10: Storage / Carrying / Recycling
SIYI products should be placed in places which are too hot (above 60℃) or too cold (under -20℃). CAUTION SIYI products should not be placed in places under direct sunshine or too dusty or too wet. Carrying or transporting SIYI products should avoid vibration or shatter by which components may break.
Page 11: Introduction
High Resolution Thermal Imaging Full-Screen / Point-Anywhere Temperature Measuring ZT30 four-sensor optical pod carries a 640 x 512 resolution thermal imaging sensor of 19 mm focal length and 30 fps frame rate. Vision is wide and far. Video is smooth and clear. Quick and accurate reactions can be taken as long as abnormal heat source is detected where temperature can be measured by touching on infrared images.
Page 12 Silky movement, smooth zoom, distant scenery, now within reach. *The images recorded by ZT30 will have GPS location information and time attributes. Infrared Zoom Thermal camera supports 2x digital zoom and accurately controls more picture details.
Page 13 The operator can quickly obtain valuable information by comparing the details of the picture. Video Split-Screen ZT30 can split screen for video streams from any two sensors freely and the third sensor can be streamed in the floating window simultaneously. Starlight Night Vision The ultra-sensitive starlight CMOS keep images bright in low light environment.
Page 14 SIYI SDK, or through UART by SIYI SDK or popular open-source protocols like Ardupilot driver and Mavlink. *Developing on SIYI SDK through Ethernet UDP or UART can control SIYI optical pods by protocol and acquire relevant data. Gimbal Motion Mode...
Page 15 Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output enhanced stable images. High Accuracy and High Collaboration Control Algorithms During development stage of ZT30, SIYI has made multiple breakthroughs in control algorithms and stabilization algorithms. IMU Calibration Algorithms...
Page 16 ZT30 User Manual v1.1 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. 2023 SIYI Technology, All Rights Reserved...
Page 20: Technical Specification
Working Temperature Dimension (Quick Release Anti- 201*140*134.5 mm Vibration Claw Included) Weight (Quick Release Anti- 854 g Vibration Claw Included) ZT30 Quick Release Anti-Vibration Claw Dimension 140*140*63 mm Weight 104 g Gimbal ±0.01° Angular Vibration Range Controllable Pitch Angle -90° ~ +25°...
Page 21 Temperature Measuring ±3℃ (0 ~ +550℃) Accuracy Point to Measurement Temperature Measuring Full Screen Measurement Mode Selected Area Measurement Wide Angle Camera Image Sensor 1/2.8 Inch, 4 MP effective resolution Equivalent Focal Length 21 mm 2023 SIYI Technology, All Rights Reserved...
Page 22 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. 2023 SIYI Technology, All Rights Reserved...
Page 23: Packing List
1 x SIYI Gimbal to PX4 / Ardupilot Flight Controller UART Cable (A universal cable for ZT30, ZR30, and A8 mini, it connects SIYI gimbal to the UART port on PX4 / Ardupilot flight controller for data communication and gimbal control)
Page 24: Indicator Definition
ZT30 User Manual v1.1 1.5 Indicator Definition The status indicator on SIYI 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.
Page 25: Get Ready To Use Zt30
Screw Holes’ Position and Distance Mark The specs of the screws for fixing the four tube screws are M.25*8 mm. Quantity: 4. Welcome to contact SIYI to get the SIYI Gimbal 3D Model for pre-installation. 2023 SIYI Technology, All Rights Reserved...
Page 26: Connection And Power
ZT30 User Manual v1.1 2.2 Connection and Power SIYI optical pod and gimbal camera can be powered in many ways. If you plan to carry SIYI gimbal by your plane and the plane may roll in a wide margin, then please use connect SIYI gimbal’s power port directly by a 3S to 6S power battery,...
Page 27: Synchronize Shooting And Split Image
2.3.3 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 SIYI FPV or SIYI 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.
Page 28: Output Four Video Streams From The Same Rtsp Addresses
ZT30 User Manual v1.1 2.3.4 Output Four Video Streams from the Same RTSP Addresses ZT30 four-sensor optical pod can output up to four video streams from the same RTSP addresses. 2.3.5 Acquire Position of Laser Rangefinder Target The laser rangefinder in ZT30 four-sensor optical pod can acquire target’s coordinates and display the information in SIYI FPV app.
Page 29: Gimbal Control
(Android) on SIYI Handheld Ground Station Gimbal connects to air unit directly to control gimbal rotation, gimbal functions, and video display in SIYI FPV app or SIYI QGC app when the air unit is communicating with the ground station. 3.1.1 Preparation It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way.
Page 30 SIYI FPV App Steps 1. Power air unit and bind it with ground station. 2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal quick release board’s Ethernet port. 3. Update SIYI FPV app to the latest.
Page 31: Gimbal Pitch And Yaw Rotation
SIYI QGC App Steps 1. Power air unit and bind it with ground station. 2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal quick release board’s Ethernet port. 3. Run SIYI QGC app, go to “Comm Links – Video Settings”, and select “RTSP Video Stream”...
Page 32: Take Pictures And Record Video
Tap touchscreen, zoom camera will focus automatically. 3.1.4 Take pictures and Record Video While SIYI FPV App or SIYI 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.
Page 33: Preparation
SIYI gimbal camera) ⚫ ZT30 Four-sensor Optical Pod Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers. ⚫ SIYI Gimbal to SIYI Link Cable ⚫ 3 in 1 Control Cable (For ZT30, ZR30, and A8 mini) ⚫...
Page 34 Steps 1. Power MK15 air unit and bind it with MK15 remote controller. 2. Use SIYI Gimbal to SIYI Link Cable to connect MK15 air unit’s Ethernet port with gimbal quick release board’s Ethernet port. 3. Wire the 3 in 1 Control Cable with the MK15 / HM30 Air Unit S.Bus Y Cable.
Page 35: Gimbal Pitch And Yaw Rotation (Taking An Example Of Mk15 Dials)
3.2.2 Gimbal Pitch and Yaw Rotation (Taking an example of MK15 Dials) Below is suggested MK15 channel mapping settings for testing, customers are free to assign MK15 channel mappings as required through SIYI TX app. ⚫ Channel 7 = Left Dial (Reversed) ⚫...
Page 36: Zoom And Focus (Taking An Example Of Mk15 Switches)
ZT30 User Manual v1.1 ⚫ Channel 12 = Button D In SIYI PC Assistant, map “Yaw” function to channel 7 and “Pitch” to channel 8, “Center” to channel 12. Then, if you operate the left dial on MK15 remote controller, gimbal will rotate on yaw axis.
Page 37: Take Pictures And Record Video (Taking An Example Of Mk15 Buttons)
⚫ Channel 9 = Button A ⚫ Channel 10 = Button B In SIYI PC Assistant, map “Photo” function to channel 9 and “Record” to channel Then, if you press button A on MK15 remote controller, camera will take a picture.
Page 38: Uart / Udp Control (Through Sdk)
ZT30 User Manual v1.1 3.3 UART / UDP Control (through SDK) SIYI gimbal camera provides control protocol for all customers. Please refer to the below guide for secondary development based on SIYI gimbal camera. 3.3.1 SDK Protocol Format Field Index...
Page 39 = firmware version v3.2.3 Mark: 1. Ignore the 4 byte (higher byte) 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...
Page 40 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.
Page 41 ZT30 User Manual v1.1 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, A8 mini can only do absolute zoom but cannot do auto focus.
Page 42 ZT30 User Manual v1.1 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 Date Type Date Name Description -100~0~100: Negative and positive represent two directions, higher or...
Page 43 8: Turn off both HDMI and CVBS video output (Only available on A8 mini, restart gimbal to take effect) 9: Point down (Only available on A8 mini) ACK data format No ack Request Gimbal Attitude 2023 SIYI Technology, All Rights Reserved...
Page 44 ZT30: Limitless Pitch ⚫ ZT30 / ZR30 / ZR10 / A8 mini / A2 mini: -90.0 ~ 25.0 degree 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.
Page 45 2: Sub stream (only available on ZT30) 1: Success uint8_t 0: Failure Request Gimbal Camera Image Mode CMD_ID:0x10------Request Gimbal Camera Image Type Send data format Data Type Data Name Description ACK data format 2023 SIYI Technology, All Rights Reserved...
Page 46 7: Single Image (Main: Thermal. Sub: Zoom) 8: Single Image (Main: Thermal. Sub: Wide Angle) Mark: This command is only available for ZT30 at this moment. Send Image Mode to Gimbal Camera CMD_ID:0x11------Send Image Type to Gimbal Camera Send data format Data Type...
Page 47 7: Single Image (Main: Thermal. Sub: Zoom) 8: Single Image (Main: Thermal. Sub: Wide Angle) Mark: This command is only available for ZT30 at this moment. Request the Temperature of a Point CMD_ID:0x12------Request the Temperature of a Point Send data format Data Type...
Page 48 Under digital zoom, the temperature measuring range should refer to the box responded by the camera. 2. This command is only available for ZT30 at this moment. Request the Max / Min Temperature in the Full Image...
Page 49 Y coordinate of the min temperature uint16_t temp_min_x in the full image Mark: This command is only available for ZT30 at this moment. Request the Thermal Color Palette CMD_ID:0x1A------Request the Thermal Color Palette Send data format Data Type Data Name...
Page 50 8: Jungle 9: Medical 10: Black_Hot 11: Glory_Hot Mark: This command is only available for ZT30 at this moment. Request Range Value from the Laser Rangefinder CMD_ID:0x15------Request Range Value from the Laser Rangefinder Send data format Data Type Data Name...
Page 51: Siyi Gimbal Camera Sdk Communication Interface
⚫ Port Number: 37260 ⚫ Heartbeat Package Data: 55 66 01 01 00 00 00 00 00 59 8B 3.3.4 SIYI 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...
Page 52 55 66 01 01 00 00 00 0c 06 f2 ae Send “Enable CVBS Output” Command to Gimbal Camera (Available for A8 mini and ZR30, restart after configuration) 55 66 01 01 00 00 00 0c 07 d3 be 2023 SIYI Technology, All Rights Reserved...
Page 53: Sdk Crc16 Code
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 3.3.5 SDK CRC16 Code...
Page 54 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, 2023 SIYI Technology, All Rights Reserved...
Page 55: Advanced Guide For Siyi Gimbal Sdk Integration
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 SIYI Gimbal Camera SDK Communication Code Examples and fill your required examples to “send_buff” following the below format in hexadecimal.
Page 56 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> 2023 SIYI Technology, All Rights Reserved...
Page 57 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 2023 SIYI Technology, All Rights Reserved...
Page 58 (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; 2023 SIYI Technology, All Rights Reserved...
Page 59: Interface Documentation For Siyi Gimbal Camera's Web Server
ZT30 User Manual v1.1 3.3.7 Interface Documentation for SIYI Gimbal Camera’s Web Server Videos and images stored in SIYI gimbal camera can be acquired directly from the web server interface. Interface baseUrl: 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.
Page 60 "path": "photo/aa" "name": "bb", "path": "photo/bb" "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 2023 SIYI Technology, All Rights Reserved...
Page 61 0: Images media_type 1: Videos count File number path 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: 2023 SIYI Technology, All Rights Reserved...
Page 62 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 1: Videos Empty String: File list is for all the path String files of the present type. 2023 SIYI Technology, All Rights Reserved...
Page 63 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. 2023 SIYI Technology, All Rights Reserved...
Page 64 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 2023 SIYI Technology, All Rights Reserved...
Page 65: Control Siyi Gimbal Camera In Siyi Qgc (Windows) Software Through Hm30 Transmission System
3.4 Control SIYI Gimbal Camera in SIYI QGC (Windows) Software through HM30 Transmission System Gimbal camera connects to air unit directly to control gimbal rotation, gimbal functions, and video display in SIYI QGC Windows software when the air unit is communicating with the ground unit. 3.4.1 Preparation It is necessary to prepare tools, firmware, and software below before controlling gimbal camera in this way.
Page 66 Steps 1. Power air unit and bind it with ground unit. 2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal quick release board’s Ethernet port. 3. Then use HM30 Ground Unit LAN to RJ45 cable to connect the ground unit’s LAN port with the computer’s RJ45 port.
Page 67: Gimbal Pitch And Yaw Rotation
ZT30 User Manual v1.1 5. Run SIYI QGC Windows software, go to “Comm Links – Video Settings”, and select “RTSP Video Stream” for “Source”, then enter the default RTSP addresses of SIYI gimbal camera, video stream will display. Gimbal motion and camera functions can be controlled by mouse in QGroundControl.
Page 68: Zoom And Focus
Farther you hold it from the center of the screen, faster the gimbal rotates. 3.4.3 Zoom and Focus While SIYI QGC Windows software is running, Clicking “Zoom in” or “Zoom out” icon on can control the zoom camera, up to 180X hybrid zoom.
Page 69: Control Siyi Gimbal Camera By The Ardupilot Driver Through Uart
⚫ Ardupilot Flight Controller (v4.3.1 and above firmware) ⚫ ZT30 Four-Sensor Optical Pod Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers. ⚫ SIYI Gimbal to PX4 / Ardupilot Flight Controller UART Cable Mark Above tools should be made by customers at this moment. Please refer to the below picture for pinouts and diagram.
Page 70 ZT30 User Manual v1.1 SIYI will provide a standard cable to support the direct connection between Ardupilot flight controller and SIYI gimbal. Welcome to follow our product updates! ⚫ SIYI QGC Windows Software Mark Above software can be downloaded from relevant product page on SIYI official website.
Page 71 ⚫ MNT1_RC_RATE to 90 (deg/s) to control speed of gimbal when using RC targetting ⚫ CAN1_TYPE to 4 (Mount / SIYI) to allow control of the camera. ⚫ RC6_OPTION = 213 (“Mount Pitch”) to control the gimbal’s pitch angle with RC channel 6 ⚫...
Page 72: Control Siyi Gimbal Camera By Mavlink Gimbal Protocol Through Uart
⚫ PX4 Flight Controller ⚫ ZT30 Four-Sensor Optical Pod Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers. ⚫ SIYI Gimbal to PX4 / Ardupilot Flight Controller UART Cable Mark Above tools should be made by customers at this moment.
Page 73 ZT30 User Manual v1.1 SIYI will provide a standard cable to support the direct connection between PX4 / Ardupilot flight controller and SIYI gimbal. Welcome to follow our product updates! ⚫ Mission Planner Mark Above software can be downloaded from Mission Planner official link.
Page 74 ⚫ 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 2023 SIYI Technology, All Rights Reserved...
Page 75: Integrate Mavlink Flight Controller Attitude To Improve Gimbal Performance While Aircraft Attitude
⚫ PX4 Flight Controller ⚫ ZT30 Four-Sensor Optical Pod Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers. ⚫ SIYI Gimbal to PX4 / Ardupilot Flight Controller UART Cable Mark Above tools should be made by customers at this moment.
Page 76 ZT30 User Manual v1.1 SIYI will provide a standard cable to support the direct connection between PX4 / Ardupilot flight controller and SIYI gimbal. Welcome to follow our product updates! ⚫ Mission Planner Mark Above software can be downloaded from Mission Planner official link.
Page 77 ZT30 User Manual v1.1 ⚫ SR1_EXTRA1 to “50” to set flight controller attitude angle data sending frequency. After configuration, it is necessary to “Write Parameters” and reboot the flight controller to take effect. 2023 SIYI Technology, All Rights Reserved...
Page 78: Necessary Trouble Shooting Steps When Gimbal Attitude Control Is Abnormal
PROBLEM SOLVED 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 2023 SIYI Technology, All Rights Reserved...
Page 79 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 SIYI Support 2023 SIYI Technology, All Rights Reserved...
Page 80: Video Output
4 VIDEO OUTPUT ZT30 four-sensor optical pod output video through Ethernet port. Working with SIYI FPV app, the video stream can be multiple types like single image, split image, main and sub window image. All three cameras in ZT30 can output simultaneously.
Page 82: Dual Camera & Split Image
Single Image – Wide Angle Camera 4.2 Dual Camera & Split Image Dual Camera & Split Image means that SIYI FPV app shows the split image from two cameras in the main window. The suggested setup is below. 1. Assign the split image type from zoom & thermal, wide angle & thermal, zoom &...
Page 83 ZT30 User Manual v1.1 2. Ignore the sub stream. 3. Choose “SIYI Camera 1 Main Stream” for Video 1 in IP addresses settings. Split Image – Zoom Camera & Thermal Camera 2023 SIYI Technology, All Rights Reserved...
Page 84: Dual Camera & Main / Sub Window Image
Split Image – Wide Angle Camera & Thermal Camera 4.3 Dual Camera & Main / Sub Window Image Dual Camera & Main / Sub Window Image means that SIYI FPV app shows the video streams from two cameras in both the main window and the sub window.
Page 85 ZT30 User Manual v1.1 3. Choose “SIYI Camera 1 Main Stream” for Video 1 in IP addresses settings. 4. Choose “SIYI Camera 2 Sub Stream” for Video 2. Main Window: Single Image – Zoom Camera Sub Window: Single Image – Thermal Camera...
Page 86: Triple Camera & Split Image & Main / Sub Window
4.4 Triple Camera & Split Image & Main / Sub Window Triple Camera & Split Image & Main / Sub Window means that SIYI FPV app shows the video streams from three cameras in both the main window and the sub window.
Page 87: Output Video Stream To Siyi Handheld Ground Station
Gimbal camera can connect to the air unit directly, then video will be displayed in SIYI FPV app or SIYI QGC app or other app that are compatible with SIYI link and SIYI gimbal camera when the air unit is communicating with the ground station.
Page 88: Output Video Stream To Android Device Through Hm30 Transmission System
Gimbal camera connects to HM30 air unit directly, then video will be displayed in SIYI FPV app or SIYI QGC app or other app that are compatible with SIYI link and SIYI gimbal camera when the air unit is communicating with the ground unit.
Page 89 SIYI FPV App Steps 1. Power air unit and bind it with ground unit. 2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal quick release board’s Ethernet port. 3. Update SIYI FPV app to the latest.
Page 90: Output Video Stream To Windows Device Through Hm30 Transmission System
Transmission System Gimbal camera connects to HM30 air unit directly, then video will be displayed in SIYI QGC Windows software when the air unit is communicating with the ground unit. Please refer to chapter 3.4 of this manual for details.
Page 91 Steps 1. Power gimbal camera. 2. Use SIYI 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.
Page 92: Output Video To Third-Party Link
ZT30 User Manual v1.1 4. Run SIYI QGC Windows software, go to “Comm Links – Video Settings”, and select “RTSP Video Stream” for “Source”, then enter the default RTSP addresses of SIYI gimbal camera, video stream will display. Gimbal motion and camera functions can be controlled by mouse in QGroundControl.
Page 93: Solutions To No Image
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 SIYI gimbal camera’s Ethernet port and the third-party link’s Ethernet port. 3. Open RTSP video player and input SIYI gimbal camera’s default RTSP addresses, if connection is successful, video will display normally.
Page 94: Video Output To Android Device
ZT30 User Manual v1.1 2. Check Camera IP addresses and RTSP addresses. 3. If you are using SIYI FPV app, check the connection status, app version, video stream settings. 4. If you are using SIYI handheld ground stations, check the Ethernet switch in Android system.
Page 95 If the communication is good, then check if the video cable between the camera and the link’s air unit is good, and if the voltage input is in normal range. 2023 SIYI Technology, All Rights Reserved...
Page 96: Video Output To Windows Device
Successful Network Communication Network Communication Failed 2. Input SIYI gimbal camera’s default IP addresses “192.168.144.25” and press the “Enter” key to check if the communication is successful. If it is, please check the RTSP addresses in the software or try to switch to another software.
Page 97: Common Ip Addresses
⚫ SIYI Camera 1 Sub Stream: 192.168.144.25: 37255 ⚫ SIYI Camera 2 Main Stream: 192.168.144.26: 37256 ⚫ SIYI Camera 2 Sub Stream: 192.168.144.26: 37255 Mark SIYI cameras released after ZT30 (including ZT30) start to use the new addresses. 2023 SIYI Technology, All Rights Reserved...
Page 99: Laser Rangefinder
ZT30 User Manual v1.1 5 LASER RANGEFINDER ZT30 four-sensor optical pod carries a high accuracy laser rangefinder capable of ranging from 5 to 1200 meters. CAUTION Precautions on Using Laser Rangefinder 1. Avoid ranging objects with low surface reflectivity in strong light environments, otherwise the ranging performance may be affected.
Page 100: Laser Rangefinder
ZT30 User Manual v1.1 5.1 Laser Rangefinder The laser rangefinder in ZT30 four-sensor optical pod can be enabled / disabled in SIYI FPV app. Laser Rangefinder Enabled Mark ZT30 four-sensor optical pod’s laser rangefinder can read the target’s coordinates when it is communicating with the flight controller through UART.
Page 101 ZT30 User Manual v1.1 Laser Rangefinder Enabled (shot in low light environment) Mark The target position can only be calibrated in single image of zoom camera. 2023 SIYI Technology, All Rights Reserved...
Page 102: Thermal Imaging
ZT30 User Manual v1.1 6 THERMAL IMAGING ZT30 four-sensor optical pod comes with abundant thermal imaging features. 6.1 Palette The thermal camera can assign different color solutions to high and low temperature regions through the palette to acquire heat data intuitively.
Page 107: Thermometric
ZT30 User Manual v1.1 Black Hot Golden Red 6.2 Thermometric The thermal camera support three thermometric modes. Full image, point, and 2023 SIYI Technology, All Rights Reserved...
Page 108: Full Image Thermometric
6.2.2 Point Thermometric By picking a point in the image and read the relevant temperature data, which can be done by touchscreen in SIYI FPV. 2023 SIYI Technology, All Rights Reserved...
Page 109: Box Thermometric
It is necessary to lock the usual gimbal control in touchscreen to avoid conflict with box temperature measuring. 6.3 Thermal Synchronize Zoom Under split image, zoom camera and thermal camera can zoom simultaneously from 1X to 2X. 2023 SIYI Technology, All Rights Reserved...
Page 111: Siyi Fpv App
ZT30 User Manual v1.1 7 SIYI FPV APP SIYI FPV is an Android application developed by SIYI to configure many SIYI products for video display, camera stream settings, and communication link status monitoring. Mark This chapter is edited based on SIYI FPV App v2.5.15.660.
Page 113: Settings
IP addresses, custom app interface, and switch video decoding type. About Settings Camera IP: Select between SIYI Camera 1 and SIYI Camera 2, between main stream and sub stream, select or input video stream RTSP addresses, disable image, or rotate the relevant image in 180 degrees.
Page 114: Link Status
OSD: Enable / disable standard OSD information. Mavlink OSD: Enable / disable Mavlink OSD information. Speed Unit: Switch speed unit between meter per seconds and kilometer per hour. Longitude and Latitude: Enable / disable information. 2023 SIYI Technology, All Rights Reserved...
Page 115: Gimbal Camera
ZT30 User Manual v1.1 7.3 Gimbal Camera Configure the abundant functions of SIYI optical pod and gimbal camera. About Gimbal Camera Boot Record: Enable / disable automatic video recording by SD card as soon as gimbal camera is powered. File Manager: Preview stored images in TF card. Format the TF card.
Page 116 ⚫ FPV Mode: Gimbal rotates simultaneously as aircraft rolls to get FPV view, and output images with enhanced stability. Camera Firmware Version: Display current camera firmware version. Gimbal Firmware Version: Display current gimbal firmware version. Zoom Firmware Version: Display current gimbal firmware version. 2023 SIYI Technology, All Rights Reserved...
Page 117: About Siyi Fpv
ZT30 User Manual v1.1 7.4 About SIYI FPV Displays the software version of SIYI FPV and common contact information of SIYI Technology. 2023 SIYI Technology, All Rights Reserved...
Page 118: Siyi Fpv App Update Log
7.5 SIYI FPV App Update Log Date 2023-08-24 Version 2.5.15.660 1. New (ZT30): Laser calibration. Display laser ranging target’s coordinates. 2. New: Support TF format. Updates 3. New (ZT30): Thermal color palette. 4. New: File manager to preview stored pictures in TF card.
Page 119: Firmware Upgrade And Configuration
SIYI products for configuration, firmware update, and calibration. Mark The manual is edited based on SIYI PC Assistant v1.3.7. SIYI PC Assistant and the relevant firmware pack can be downloaded from SIYI official website: https://siyi.biz/en/index.php?id=downloads&asd=427 8.1 Gimbal / Zoom Firmware Update SIYI gimbal camera connects to SIYI PC Assistant for gimbal firmware and zoom firmware update.
Page 120 ⚫ SIYI PC Assistant (v1.3.7 or latest version) ⚫ Gimbal Firmware ⚫ Zoom Firmware Mark Above software and firmware can be downloaded from relevant product page on SIYI official website. ⚫ Cable (USB-C to USB-A) Mark Customers should prepare the above tools.
Page 121 ZT30 User Manual v1.1 3. Run “SIYI PC Assistant” and switch to “Upload” page to check gimbal camera’s current firmware version. 4. If the firmware is not latest, then click the “Select File” button in the “Gimbal” to import the latest firmware. And click “Upgrade” and wait till it is “100%” finished.
Page 122: Camera Firmware Update
ZT30 User Manual v1.1 8.2 Camera Firmware Update The camera firmware of SIYI gimbal camera should be upgraded by SD card. Before upgrading, it is necessary to prepare the tools, software, and firmware below. ⚫ Micro-SD Card (Class10, FAT32) Mark Customers should prepare the above tools.
Page 123 2. Restart gimbal camera and wait for 3 to 5 minutes. Camera firmware will be flashed automatically. 3. Run SIYI FPV app or SIYI PC Assistant software to check if camera firmware is updated successfully. 2023 SIYI Technology, All Rights Reserved...
Page 124: Gimbal Camera Configuration
ZT30 User Manual v1.1 8.3 Gimbal Camera Configuration SIYI gimbal camera can be connected to SIYI PC Assistant for channel settings and camera settings. 8.3.1 Channel Configuration The “Channel Config” menu under “Gimbal Config” menu can assign the below gimbal camera functions to up to 16 channels and an idle channel (disabled).
Page 125 ⚫ Image Mode: Select the video stream’s image type and camera source. Single image or split image. Zoom camera, wide angle camera, or thermal imaging camera. Max three switches to be assigned for different image mode. 2023 SIYI Technology, All Rights Reserved...
Page 126: Camera Configuration
ZT30 User Manual v1.1 8.3.2 Camera Configuration The “Gimbal Config” menu also supports abundant and core features of SIYI gimbal camera, such as, checking camera firmware version, modifying camera IP addresses, selecting camera source for main / sub stream and video recording, switching camera resolution or zoom mode, enabling / disabling thermal camera’s...
Page 128 6. The message box will say again “please follow the message box and place the gimbal camera on a flat surface and make sure that the IMU is static. Do not touch or vibrate the gimbal camera”. 2023 SIYI Technology, All Rights Reserved...
Page 129: Imu Constant Temperature Calibration
Specially designed for using gimbals in scenarios with big difference in temperature to avoid the situation that gimbal behaves abnormally because IMU cannot reach constant temperature normally and fast when the environment temperature is far from IMU constant temperature. 2023 SIYI Technology, All Rights Reserved...
Page 130: Accelerator Hexahedral Calibration
During calibration, the gimbal should be placed in all hexahedrons to record accelerator’s output value on each orientation and build the error model. Hexahedral calibration can keep the accelerator’s accuracy and reliability. 2023 SIYI Technology, All Rights Reserved...
Page 131: Main Firmware Update Log
(Some configuration needs to be done in the GCS. The manual will be updated later with relevant instructions.) 11. Fix: All TCP / UDP commands in SIYI gimbal SDK are available on ZT30 now. And some new SIYI gimbal SDK commands (eg. point to focus, acquire current zoom, and max zoom, etc) 12.
Page 132: Siyi Pc Assistant Update Log
Version v1.3.7 svn6958 1. New: Compatibility to a new model. 2. New: Support ZT30 to switch between H265 and H264 codec. Updates 3. Improve: Gimbal calibration function has its own page now. 4. New: Gimbal configuration (thermal synchronize zoom, thermal color palette)
Page 133: After-Sale Service
⚫ Product Defect ⚫ Product Damage SIYI products under the two situations can be sent back to SIYI for repairing. Defect products with valid warranty can be repaired for free. Defect products without valid warranty or damaged products should be charged of repair fees after repairing.
Page 134: Warranty
It is requested beyond seven (7) calendar days of receiving a product. A product sent to SIYI for Return & Refund Service does not include all original accessories, attachments or packaging, or any item is not in new or like-new condition, i.e., with cracks, dents, or scratches.
Page 135: 15-Day Replacement
Damage is caused to the product by uncontrollable external factors, including fire, floods, high winds, or lightning strikes. A product is not delivered to SIYI within seven (7) calendar days after Return & Refund Service confirmation is sent from SIYI.
Page 136 Damage is caused by uncontrollable external factors, including fires, floods, high winds, or lightning strikes. Received product has not been sent back to SIYI seven (7) calendar days after replacement confirmation from SIYI. Proof of damage during transit issued by the carrier cannot be provided.
Page 137: 1-Year Warranty Repair
Charges may apply for services not covered by this Limited Warranty. Please contact SIYI for information specific to your location. Please note that the warranty service is only available in the respective SIYI service regions where you purchased your SIYI product.
Page 138 Damage caused by reliability or compatibility issues when using unauthorized third-party parts. Damage caused by operating the unit with a low-charged or defective battery. Products or parts with an altered identification label or from which the identification label has been removed. 2023 SIYI Technology, All Rights Reserved...

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