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base repository: ArduPilot/ardupilot_gazebo
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base: 82e3dd249ff436aa5cd0ada0e1a2e62ccfc0d926
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head repository: ArduPilot/ardupilot_gazebo
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compare: c68db8264922a05ca1ba8052d3968229231dda53
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Showing with 6 additions and 4 deletions.
  1. +5 −3 README.md
  2. +1 −1 config/gazebo-iris-gimbal.parm
8 changes: 5 additions & 3 deletions README.md
Original file line number Diff line number Diff line change
@@ -232,13 +232,15 @@ Display the streamed video:
gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false
```

View the streamed camera frames in OGC:
View the streamed camera frames in [QGC](http://qgroundcontrol.com/):

`Open QGC > Application Settings > Video Settings > Select UDP h.264 Video Stream & use port 5600`

### 4. Using Gimbal
![QGC settings](https://private-user-images.githubusercontent.com/74557164/344478908-f55242f3-cff8-4f81-befd-da68e4df73c6.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTk3NjQwODUsIm5iZiI6MTcxOTc2Mzc4NSwicGF0aCI6Ii83NDU1NzE2NC8zNDQ0Nzg5MDgtZjU1MjQyZjMtY2ZmOC00ZjgxLWJlZmQtZGE2OGU0ZGY3M2M2LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA2MzAlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNjMwVDE2MDk0NVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTkxYjlmYTkwODFiZmMyY2NjMjVjMWZhNjk1NDZhYjUzOTM1YWUzNjI3ZDljZTQ3NmYzM2I4M2JmNzg5ZGY5MmMmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.48sEOYbBONNEA-0qYevB7z_NleKW_zL-hNSefu5UYaQ)

To control gimbal using RC channels,
### 4. Using 3d Gimbal

The Iris model is equipped with a 3d gimbal and camera that can be controlled directly in MAVProxy using the RC overrides.

#### Run Gazebo

2 changes: 1 addition & 1 deletion config/gazebo-iris-gimbal.parm
Original file line number Diff line number Diff line change
@@ -31,4 +31,4 @@ RC8_OPTION 214
# Gimbal roll, pitch and yaw servos
SERVO9_FUNCTION 8
SERVO10_FUNCTION 7
SERVO11_FUNCTION 6
SERVO11_FUNCTION 6