Page 1 ZR30 User Manual v1.3 ZR30 OPTICAL POD 4K RESOLUTION 30X OPTICAL ZOOM USER MANUAL V1.3 January 2024 2024 SIYI Technology Copyright...
Page 2 ZR30 User Manual v1.3 Thank you for purchasing SIYI’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 SIYI links and third-party links.
Page 3 ZR30 User Manual v1.3 SIYI User Group - Facebook SIYI Official Website (https://siyi.biz/en) SIYI Official Store (https://shop.siyi.biz) SIYI Official AliExpress Store (https://siyi.aliexpress.com) SIYI YouTube Channel (https://www.youtube.com/c/SIYITech) 2024 SIYI Technology Copyright...
Page 4 1. Main firmware update log. 2023.10 2. SIYI FPV app update log. 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.
Page 5: Table Of Contents
3.1 Enable AI Recognition, Tracking, and Follow through SIYI AI Tracking Module Using SIYI Optical Pod (Gimbal Camera) and SIYI Link ......................18 3.2 Control SIYI Optical Pod (Gimbal Camera) in SIYI FPV App or SIYI QGC App through SIYI link .. 25 3.2.1 Preparation ............................26 3.2.2 Gimbal Pitch and Yaw Rotation ......................
Page 6 ZR30 User Manual v1.3 3.4 Control SIYI Optical Pod (Gimbal Camera) by S.Bus Signal and Forward S.Bus Signal to Flight Controller through SIYI Link ......................... 34 3.4.1 Preparation ............................35 3.4.2 Gimbal Pitch and Yaw Rotation (Taking an example of Dial Control) ......... 37 3.4.3 Zoom and Focus (Taking an Example of Switch Control) ............
Page 7 ZR30 User Manual v1.3 5.5 SIYI FPV App Update Log ........................103 7.6 SIYI FPV SDK Guide ..........................105 7.6.1 Access Method ..........................105 7.6.2 Interface Instructions ........................107 7.7 SIYI FPV SDK Update Log ........................110 6 SIYI Assistant ............................... 111 6.1 Gimbal / Zoom Firmware Update ......................
Page 8: 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 should follow an...
Page 9: Storage / Carrying / Recycling
SIYI Technology. Storage / Carrying / Recycling When your SIYI 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 SIYI products at places where babies or kids do not reach.
Page 10: Introduction
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.
Page 11 540-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. SIYI quick release structure will support more interesting payloads in the future. Welcome to...
Page 12 ZR30 User Manual v1.3 gnal by switches and dials, or through Ethernet by touchscreen or by UDP / TCP c ommands based on SIYI gimbal SDK, or through UART by SIYI gimbal SDK or by mainstream open-source protocols ArduPilot and PX4 (Mavlink).
Page 13 ZR30 User Manual v1.3 High Accuracy and High Collaboration Control Algorithms SIYI 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...
Page 14: Ports, Interface & Definition
ZR30 User Manual v1.3 1.2 Ports, Interface & Definition 2024 SIYI Technology Copyright...
Page 15: Technical Specification
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°...
Page 16 ZR30 User Manual v1.3 Camera 30X Optical Zoom Lens (180X Hybrid Zoom) Focal Length 4.5 ~ 148.4 mm (±5%) 1/2.7 Inch Sony CMOS Image Sensor 8 MP Effective Resolution Aperture F1.3 ~ 2.8 (±5%) Without Zoom: Diagonal 65.4°, Horizontal 58.1°...
Page 17: 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 18: Indicator Definition
ZR30 User Manual v1.3 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 19: Get Ready To Use Zr30
2.1 Installation Screw Holes’ Position and Distance Mark The specs of the screws for fixing the four tube screws are M.3*8 mm. Quantity: 4. Welcome to contact SIYI to get the SIYI Gimbal 3D Model for pre-installation. 2024 SIYI Technology Copyright...
Page 20: 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, not through power distribution board or air unit.
Page 21: Interesting Functions And Cautions
Mark Location information can only be acquired from Mavlink protocol at this moment. The above functions are only available in SIYI optical pods and gimbal cameras which support capturing pictures and TF card recording and can communicate with the flight controller (ZT30, ZT6, ZR30, A8 mini, ZR10).
Page 22: Point To Focus & Focus Tracking
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 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 24: Gimbal Control
ZR30 User Manual v1.3 3 GIMBAL CONTROL SIYI optical pod (gimbal camera) support multiple methods to control. 2024 SIYI Technology Copyright...
Page 25: Enable Ai Recognition, Tracking, And Follow Through Siyi Ai Tracking Module Using Siyi Optical Pod (Gimbal Camera) And Siyi Link
AI recognition, tracking, and follow feature through SIYI FPV app or SIYI QGC app while the air unit is communicating with the ground unit. It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way.
Page 26 1. Confirm if gimbal camera’s firmware has been upgraded to be compatible with SIYI AI tracking module and the AI follow function. 2. Confirm if SIYI FPV app has been upgraded to be compatible with SIYI AI tracking module and the AI follow function.
Page 28 ZR30 User Manual v1.3 4. Please refer to the picture below to connect SIYI gimbal camera with flight controller and integrate attitude data. 2024 SIYI Technology Copyright...
Page 29 ZR30 User Manual v1.3 5. Run SIYI FPV app, go to “Settings - Addresses”, and select “SIYI AI Camera”. 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).
Page 30 When the tracking target is lost, the aircraft will hover. Mark Using SIYI AI tracking module with multiple-sensor optical pods, in SIYI 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...
Page 31 ZR30 User Manual v1.3 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. 2024 SIYI Technology Copyright...
Page 32: Control Siyi Optical Pod (Gimbal Camera) In Siyi Fpv App Or Siyi Qgc App Through Siyi Link
SIYI QGC App through SIYI link SIYI optical pod (gimbal camera) can connect to SIYI link 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 unit.
Page 33: Preparation
It is necessary to prepare the tools, firmware, and software below before controlling gimbal camera in this way. ⚫ SIYI Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard Combo is suggested for excellent compatibility with SIYI gimbal cameras) ⚫...
Page 34: Gimbal Pitch And Yaw Rotation
ZR30 User Manual v1.3 1. Power the air unit and bind it with the ground unit. 2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port to the gimbal camera’s Ethernet port. 3. Update SIYI FPV app to the latest.
Page 35: Zoom And Focus
Farther that you hold it from the center of the screen, faster the gimbal rotates. 3.2.3 Zoom and Focus While SIYI FPV App or SIYI QGC app is running, Touching “Zoom in” or “Zoom out” icon on can control the zoom camera.
Page 36: Control Siyi Optical Pod (Gimbal Camera) In Siyi Qgc (Windows) Software Through Siyi Link
3.3 Control SIYI Optical Pod (Gimbal Camera) in SIYI QGC (Windows) Software through SIYI Link SIYI optical pod (gimbal camera) can connect to SIYI link 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.
Page 37: Preparation
It is necessary to prepare tools, firmware, and software below before controlling gimbal camera in this way. ⚫ SIYI Links (MK32 Standard Combo / HM30 / MK15 Enterprise Standard Combo is suggested for excellent compatibility with SIYI gimbal cameras) ⚫ SIYI Optical Pod (Gimbal Camera) Mark Above products can be purchased from SIYI directly or from SIYI authorized dealers.
Page 38 ZR30 User Manual v1.3 2. Use SIYI Gimbal to SIYI Link Cable to connect the air unit’s Ethernet port with the gimbal’s Ethernet port. 3. Then connect the ground unit of the SIYI link to the Windows computer. 4. Modify the computer’s Ethernet settings to have the same gateway with SIYI link and avoid IP addresses conflict.
Page 39: Gimbal Pitch And Yaw Rotation
ZR30 User Manual v1.3 3.3.2 Gimbal Pitch and Yaw Rotation While SIYI 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.
Page 40 ZR30 User Manual v1.3 Mark Before taking a picture or recording video, it is necessary to insert SD card into gimbal camera. 2024 SIYI Technology Copyright...
Page 41: Control Siyi Optical Pod (Gimbal Camera) By S.bus Signal And Forward S.bus Signal To Flight Controller Through Siyi Link
3.4 Control SIYI Optical Pod (Gimbal Camera) by S.Bus Signal and Forward S.Bus Signal to Flight Controller through SIYI Link SIYI optical pod (gimbal camera) can be connected to the air unit of SIYI link and the flight controller simultaneously for attitude control through joysticks, dials, switches, and buttons on a remote controller or on an SIYI handheld ground station.
Page 42: Preparation
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, ZT6, ZR30, and A8 mini) ⚫ MK15 / HM30 Air Unit S.Bus Y Cable Mark Above tools come with product package.
Page 43 Steps 1. Power the air unit and bind it with the ground unit. 2. Use SIYI Gimbal to SIYI 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.
Page 44: Gimbal Pitch And Yaw Rotation (Taking An Example Of Dial Control)
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 SIYI TX app. ⚫ Channel 7 = Left Dial (Reversed) ⚫...
Page 45: Zoom And Focus (Taking An Example Of Switch Control)
ZR30 User Manual v1.3 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, gimbal will rotate on yaw axis. If you operate the right dial, gimbal will rotate on pitch axis.
Page 46: Take Pictures And Record Video (Taking An Example Of Button Control)
⚫ 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, camera will take a picture. If you press button B, camera will start or stop video recording.
Page 47: Uart / Udp Control (Siyi Gimbal Sdk)
ZR30 User Manual v1.3 3.5 UART / UDP Control (SIYI Gimbal SDK) SIYI gimbal camera provides control protocol for all customers. Please refer to the below guide for secondary development based on SIYI gimbal camera. 3.5.1 SDK Protocol Format Field...
Page 48 = 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 49 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 50 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.
Page 51 -1: Close shot ACK data format 1: Success uint8_t 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 Date Type...
Page 52 ZR30 User Manual v1.3 ACK data format 1: Success uint8_t 0: Fail Request Gimbal Configuration Information CMD_ID:0x0A------Request Gimbal Configuration Information Send data format Data Type Data Name Description ACK data format uint8_t reserved 0: HDR OFF uint8_t hdr_sta 1: HDR ON...
Page 53 ZR30 User Manual v1.3 ACK data format 0: Success 1: Fail to take a photo (Please check if TF card is inserted) uint8_t info_type 2: HDR ON 3: HDR OFF 4: Fail to record a video (Please check if TF card is inserted)
Page 54 Pitch ⚫ ZT30 / ZT6 / 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 55 ZR30 User Manual v1.3 0: Recording stream 1: Main stream stream_type uint8_t 2: Sub stream (only available on ZT30 and ZT6) Codec Format VideoEncType uint8_t 1: H264 2: H265 Resolution_L uint16_t Resolution in length Resolution_H uint16_t Resolution in height VideoBitrate...
Page 56 ZR30 User Manual v1.3 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:...
Page 57 ZR30 User Manual v1.3 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:...
Page 58 ZR30 User Manual v1.3 Y coordinate of the starting point of the uint16_t starty X coordinate of the ending point of the uint16_t endx Y coordinate of the ending point of the uint16_t endy 0: Turn off temperature measuring 1: Measure the temperature once...
Page 59 ZR30 User Manual v1.3 The maximum temperature in the full temp_max uint16_t image / 100 (two decimal places) The minimum temperature in the full temp_min uint16_t image / 100 (two decimal places) X coordinate of the max temperature temp_max_x uint16_t...
Page 60 ZR30 User Manual v1.3 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...
Page 61 ZR30 User Manual v1.3 Request Temperature from the Thermal Imaging Camera Once CMD_ID:0x35------ Request Temperature from the Thermal Imaging Camera Once Send data format Data Type Data Name Description ACK data format uint8_t 1: Success Mark: This command is only available for ZT30 and ZT6 at this moment.
Page 62 ZR30 User Manual v1.3 Mark: This command is only available for ZT30 and ZT6 at this moment. Send Thermal Calibration to Gimbal CMD_ID:0x3A------ Send Thermal Calibration to Gimbal Send data format Data Type Data Name Description 0: ON uint8_t EnvCorrect...
Page 63 ZR30 User Manual v1.3 1. All parameters of this protocol are divided by 100 and retained to two decimal places. 2. This command is only available for ZT30 and ZT6 at this moment. Request Range Value from the Laser Rangefinder...
Page 64 ZR30 User Manual v1.3 Send Lase Rangefinder Status to Gimbal CMD_ID:0x32------ Send Lase Rangefinder Status to Gimbal Send data format Data Type Data Name Description 1: ON uint8_t laser_state 0: OFF ACK data format 1: Success uint8_t 0: Fail Mark: This command is only available for ZT30 at this moment.
Page 65 ZR30 User Manual v1.3 CMD_ID:0x3E------ Send Flight Controller GPS Data to Gimbal Send data format Data Type Data Name Description uint32_t time_boot_ms [ms] time since boot int32_t [degE7] Latitude int32_t [degE7] Longitude int32_t [cm] Altitude (MSL) int32_t alt_ellipsoid [cm] Altitude (above WGS84, EGM96 ellipsoid).
Page 66: Siyi Gimbal Camera Sdk Communication Interface
⚫ Port Number: 37260 ⚫ Heartbeat Package Data: 55 66 01 01 00 00 00 00 00 59 8B 3.5.4 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 67 ZR30 User Manual v1.3 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 Request the Zoom Camera’s Zoom Value in Present...
Page 68 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”...
Page 69: Sdk Crc16 Code
ZR30 User Manual v1.3 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...
Page 70: Advanced Guide For Siyi Gimbal Sdk Integration
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 3.5.6 Advanced Guide for SIYI Gimbal SDK Integration This special guide is to help developers (especially whose development is based 2024 SIYI Technology Copyright...
Page 71 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 72 ZR30 User Manual v1.3 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.
Page 73 ZR30 User Manual v1.3 #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};...
Page 74 ZR30 User Manual v1.3 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...
Page 75: Interface Documentation For Siyi Gimbal Camera's Web Server
ZR30 User Manual v1.3 3.5.7 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 76 ZR30 User Manual v1.3 "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": {...
Page 77 ZR30 User Manual v1.3 "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...
Page 78 ZR30 User Manual v1.3 "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,...
Page 79 ZR30 User Manual v1.3 Method: GET Request Data Data Name Type Description 0: Images media_type 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.
Page 80 ZR30 User Manual v1.3 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,...
Page 81 ZR30 User Manual v1.3 "code": 400, "message": "path not exist", "success": false 2024 SIYI Technology Copyright...
Page 82: Control Siyi Gimbal Camera By The Ardupilot Driver Through Uart And Integrate Flight Controller Attitude Data
ZR30 User Manual v1.3 3.6 Control SIYI 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.
Page 83 ⚫ ArduPilot Flight Controller (v4.4.4 and above firmware) ⚫ SIYI Optical Pod (Gimbal Camera) 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 come with product package.
Page 84 ⚫ MNT1_RC_RATE to 90 (deg/s) to control speed of gimbal when using RC targetting ⚫ CAM1_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 85 ZR30 User Manual v1.3 ⚫ 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 Integrate Flight Controller Attitude Data The params below assume the autopilot’s telem2 port is used and the Camera1...
Page 86 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. Welcome to visit ArduPilot official documentation for SIYI gimbal as well. https://ardupilot.org/copter/docs/common-siyi-zr10-gimbal.html 2024 SIYI Technology Copyright...
Page 87: Control Siyi Gimbal Camera By Mavlink Gimbal Protocol Through Uart And Integrate Flight Controller Attitude Data
ZR30 User Manual v1.3 3.7 Control SIYI 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.
Page 88 ⚫ PX4 Flight Controller ⚫ SIYI Optical Pod (Gimbal Camera) 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 come with product package.
Page 89: Necessary Trouble Shooting Steps When Gimbal Attitude Control Is Abnormal
ZR30 User Manual v1.3 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. Gimbal Roll Axis Tilts Check Firmware Version Firmware Updated Firmware Updated PROBLEM STILL...
Page 90 ZR30 User Manual v1.3 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...
Page 91: Video Output
ZR30 User Manual v1.3 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. 2024 SIYI Technology Copyright...
Page 92: Output Video To Windows Device Directly Through Ethernet
ZR30 User Manual v1.3 4.1 Output Video to Windows Device Directly through Ethernet Gimbal camera connects to Windows device directly, then video will be displayed in SIYI QGC Windows software. 2024 SIYI Technology Copyright...
Page 93 ZR30 User Manual v1.3 SIYI Gimbal RJ45 Cable (New) SIYI Gimbal RJ45 Cable (Old) Preparation 2024 SIYI Technology Copyright...
Page 94 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 95 IP addresses conflict. For example, let’s assign “192.168.144.30” for the computer IP addresses. 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.
Page 96: Output Video To Third-Party Link Through Ethernet
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 97: 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 SIYI Assistant, switch video output mode to “HDMI” under the “Gimbal Config” page. 2. Connect ZR30 to the HDMI monitor.
Page 98: Solutions To No Image Through Ethernet
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 99 ZR30 User Manual v1.3 Successful Network Communication Network Communication Failed 2. If the network communication is failed, then check the communication between the link’s ground unit and the air unit. 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.
Page 100: 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 101 Mark If you have done all trouble shooting by following the steps above and still didn’t solve the problem, then please contact your dealer, or contact SIYI Support directly. 2024 SIYI Technology Copyright...
Page 102: Common Ip Addresses
⚫ SIYI Camera 2 Sub Stream: 192.168.144.26: 37255 Mark SIYI cameras released after ZT30 (including ZT30 and ZT6) start to use the new addresses. SIYI cameras released before ZT30 (including ZR30, A2 mini, A8 mini, ZR10, and R1M) are stilling using the old addresses.
Page 103: Siyi Fpv App
ZR30 User Manual v1.3 5 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 v2.5.15.691.
Page 104 ZR30 User Manual v1.3 SIYI FPV App OSD Information Definition SIYI FPV Camera Function Icon Definition 2024 SIYI Technology Copyright...
Page 105: Settings
IP addresses, custom app interface, and switch map type. About Settings Camera IP: Select among SIYI AI Camera, 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 106: Link Status
ZR30 User Manual v1.3 5.2 Link Status Display the link status directly over the FPV image. About 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.
Page 107: Gimbal Camera
ZR30 User Manual v1.3 5.3 Gimbal Camera Configure the basic functions for SIYI gimbal cameras and cameras. About Gimbal Camera Boot Record: Enable / disable automatic video recording by SD card as soon as the camera is powered. File Manager: Preview stored images in TF card. Format the TF card.
Page 108 ZR30 User Manual v1.3 Record Resolution: Decide to switch the recording resolution or not according to camera source. Max record resolution is 4K. Video Output Port: Switch the video outputting ports. ⚫ HDMI: Through the gimbal camera’s Micro-HDMI port. ⚫ CVBS: Through the CVBS pin in the gimbal camera’s Ethernet port to output videos in...
Page 109: About Siyi Fpv
ZR30 User Manual v1.3 5.4 About SIYI FPV Displays the software version of SIYI FPV and common contact information of SIYI Technology. 2024 SIYI Technology Copyright...
Page 110: Siyi Fpv App Update Log
3. New (A8 mini): Enable OSD watermark on recording images. 4. New: Both video streams can turn on / off recording. 5. New (SIYI AI Tracking Module): A switch for flight tracking. Updates 6. New (Thermal): A switch for thermal gain.
Page 111 ZR30 User Manual v1.3 controller location and device location. 4. New: Status indication for missing TF card. 2024 SIYI Technology Copyright...
Page 112: Siyi Fpv Sdk Guide
ZR30 User Manual v1.3 7.6 SIYI FPV SDK Guide SIYI provides the SIYI FPV SDK to help professional Android application developers to integrate the unique features in SIYI FPV app to their own GCS. 7.6.1 Access Method a) Add “fpvlib” into Your Project Copy the “fpvlib.aar”...
Page 113 ZR30 User Manual v1.3 c) Add FPV Display Function into Code Add JNI Library Like the example below, add JNI library file into the “main” directory, then the “so” library file can be copied from “demo” to your project directory.
Page 114: Interface Instructions
ZR30 User Manual v1.3 mSurfaceView.getHolder().addCallback(new SurfaceHolder.Callback() { @Override public void surfaceCreated(SurfaceHolder holder) { Logcat.d(TAG, "onSurfaceCreated..."); mConnectionManager.notifySurfaceCreate(holder.getSurface()); @Override public void surfaceChanged(SurfaceHolder holder, int format, int width , int height) { @Override public void surfaceDestroyed(SurfaceHolder holder) { mConnectionManager.notifySurfaceDestroy(holder.getSurface()); ⚫ Dual-Channel FPV Display: Dual-channel FPV display supports Ethernet connection only.
Page 115 A2 mini FPV gimbal at this moment. It works only when the video stream addresses “RtspConstants.DEFAULT_TCP_VI DEO_URL” setRectify(Context context, boolean “SUB_TCP_VIDEO_URL”. rectify) Attention： If distortion correction is activated, when you switch from SIYI camera addresses “RtspConstants.DEFAULT_TCP_VI DEO_URL” “SUB_TCP_VIDEO_URL” to RTSP 2024 SIYI Technology Copyright...
Page 116 ZR30 User Manual v1.3 addresses, new surface objects should be imported. One way to do this is to remove “SurfaceView” and add a new “SurfaceView” through “addView”, then import the “Surface” object again “SurfaceHolder.Callback”. Request camera control objects. getCameraManager() SYSDKCameraManager...
Page 117: Siyi Fpv Sdk Update Log
ZR30 User Manual v1.3 7.7 SIYI FPV SDK Update Log Version 2.5.15 1. Fix the issue that RTSP stream may blurr. 2. Add camera control interface. 3. Fix some other known issues. Updates Mark: It is necessary to update the “so” and “aar” file, which can be updated frm the “aar_so”...
Page 118: Siyi Assistant
ZR30 User Manual v1.3 6 SIYI Assistant SIYI PC Assistant is a Windows software developed by SIYI to configure many SIYI products for configuration, firmware update, and calibration. Mark The manual is edited based on SIYI PC Assistant v1.3.9. SIYI PC Assistant and the relevant firmware pack can be downloaded from SIYI official website: https://siyi.biz/en/index.php?id=downloads&asd=25...
Page 119: Gimbal / Zoom Firmware Update
ZR30 User Manual v1.3 6.1 Gimbal / Zoom Firmware Update SIYI gimbal camera connects to SIYI PC Assistant for gimbal firmware and zoom firmware update. Mark Zoom firmware update is only available for optical zoom gimbal cameras. Before upgrading, it is necessary to prepare the tools, software, and firmware below.
Page 120 1. Install “SIYI PC Assistant” on your Windows device. 2. Use the USB-C to USB-A cable to connect Windows device’s USB-A port to gimbal camera’s USB-C port. 3. Run “SIYI PC Assistant” and switch to “Upload” page to check gimbal camera’s current firmware version. 2024 SIYI Technology Copyright...
Page 121 ZR30 User Manual v1.3 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. Mark Before updating any firmware, gimbal camera should be powered.
Page 122: Camera Firmware Update
ZR30 User Manual v1.3 6.2 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 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. 2024 SIYI Technology Copyright...
Page 124: Gimbal Camera Configuration
ZR30 User Manual v1.3 6.3 Gimbal Camera Configuration SIYI gimbal camera can be connected to SIYI PC Assistant for channel settings and camera settings. 6.3.1 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 ZR30 User Manual v1.3 ⚫ Zoom: Control camera for optical zoom and digital zoom. ⚫ Manual Focus: Adjust zoom camera focal length for manual focus. ⚫ Yaw: Control gimbal rotation on yaw axis. ⚫ Pitch: Control gimbal rotation on pitch axis.
Page 126: Camera Configuration
ZR30 User Manual v1.3 6.3.2 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 127: Gimbal Calibration
ZR30 User Manual v1.3 6.4 Gimbal Calibration The “Gimbal Calibration” can help users do IMU calibration, IMU Constant temperature calibration, and accelerator hexahedral calibration. 6.4.1 IMU Calibration IMU calibration can keep the inertial measuring unit’s accuracy and reliability. Steps 1. Click “Check”, gimbal camera will power off automatically. Meanwhile, please follow the message box and place the gimbal camera on a flat surface and make sure that the IMU is static.
Page 128 ZR30 User Manual v1.3 2. The PC assistant start to check IMU status automatically to determine if the gimbal should be calibrated. 3. If IMU is working normally, there will be a message box to indicate “not necessary to calibrate”.
Page 129: Imu Constant Temperature Calibration
ZR30 User Manual v1.3 7. IMU calibration menu will display “calibrating”. 8. After a few seconds, IMU calibration will be finished. 6.4.2 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.
Page 130: Accelerator Hexahedral Calibration
ZR30 User Manual v1.3 Before calibration, please input the environment temperature of your operating field, the software will start to calculate the target IMU constant temperature so that IMU can reach the temperature fast after powering on gimbal camera. The software is showing IMU temperature in real-time.
Page 131: Main Firmware Update Log
2. New: Support DCIM standard file system and EXIF information format 3. New: SIYI gimbal SDK supports obtaining attitude data from external devices for flight controller integration 4. New: SIYI gimbal SDK supports obtaining GPS information and adding it to Updates photo EXIF format 5.
Page 132 2. New: SIYI gimbal SDK supports TCP protocol. 3. New: SIYI gimbal SDK supports point to focus. 4. New: Enable OSD in Micro-HDMI video output. 5. New: Preview and download pictures through SIYI FPV app and format SD card. 6. New: Firmware upgrade through SIYI FPV app.
Page 133: Siyi Pc Assistant Update Log
ZR30 User Manual v1.3 6.6 SIYI PC Assistant Update Log Date 2024-01-06 Version 1.4.0 1. New: Support AI follow function and adjusting follow speed. Updates Date 2023-12-18 Version 1.3.9 1. New (ZT30, ZT6): An activation process for thermal imaging function.
Page 134: 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 135: 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 136: 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 137 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. 2024 SIYI Technology Copyright...
Page 138: 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 139 ZR30 User Manual v1.3 Damage caused by improper installation, in correct use, or operation not in accordance with official instructions or manuals. Damage caused by non-authorized service provider. Damage caused by unauthorized modification of circuits and mismatch or misuse of the battery and charger.
Page 140 ZR30 User Manual v1.3 SIYI Technology Business Inquiry: info@siyi.biz Phone: +86 400 838 2918 A/S Center: support@siyi.biz 2024 SIYI Technology Copyright...

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