Common: add djirs2 gimbal support to upcoming features

common/source/docs/common-cameras-and-gimbals.rst

@@ -101,6 +101,7 @@ Detail topics
     Gremsy Pixy U Gimbal <common-gremsy-pixyu-gimbal>
     Servo Gimbal <common-camera-gimbal>
     SimpleBGC Gimbal Controller <common-simplebgc-gimbal>
+    Siyi ZR10, ZR30 and A8 <common-siyi-zr10-gimbal>
     SToRM32 Gimbal Controller <common-storm32-gimbal>
     Tarot 2D Gimbal <common-tarot-gimbal>
     FLIR Vue Pro Thermal Camera <common-flir-vue-pro>

common/source/docs/common-djirs2-gimbal.rst

@@ -0,0 +1,41 @@
+.. _common-djirs2-gimbal:
+
+===========================
+DJI RS2 and RS3-Pro Gimbals
+===========================
+
+.. image:: ../../../images/djirs2-gimbal.png
+    :height: 450px
+
+ArduPilot 4.4 (and higher) support the `DJI RS2 <https://www.dji.com/rs-2>`__ and `DJI RS3-Pro <https://www.dji.com/jp/rs-3-pro>`__ handheld gimbals using a :ref:`Lua script <common-lua-scripts>`.  The driver relies on the gimbal supporting the "DJI R SDK" protocol which is only these two gimbals as far as we know.  Other gimbals including the very similar RSC2 and RS3 are not supported.
+
+What to Buy
+===========
+
+- `DJI RS2 <https://www.dji.com/rs-2>`__ or `DJI RS3-Pro <https://www.dji.com/jp/rs-3-pro>`__ gimbal
+- `DJI R Focus Wheel <https://store.dji.com/product/ronin-s-focus-wheel>`__ to allow connecting to the autopilot
+
+Connection and Configuration
+============================
+
+Connect the autopilot's CAN1 or CAN2 port to the Focus wheel as shown below
+
+.. image:: ../../../images/djirs2-gimbal-autopilot-connection.png
+    :width: 450px
+    :target: ../_images/djirs2-gimbal-autopilot-connection.png
+
+Connect to the autopilot with a ground station and do the following
+
+- If using CAN1, set :ref:`CAN_D1_PROTOCOL <CAN_D1_PROTOCOL>` = 10 (Scripting), :ref:`CAN_P1_DRIVER <CAN_P1_DRIVER>` = 1 (First driver)
+- If using CAN2, set :ref:`CAN_D2_PROTOCOL <CAN_D2_PROTOCOL>` = 10 (Scripting), :ref:`CAN_P2_DRIVER <CAN_P2_DRIVER>` = 2 (Second driver)
+- Set :ref:`SCR_ENABLE <SCR_ENABLE>` = 1 to enable scripting
+- Set :ref:`SCR_HEAP_SIZE <SCR_HEAP_SIZE>` = 120000 (or higher)
+- Set :ref:`MNT1_TYPE <MNT1_TYPE>` = 9 (Scripting) to enable the mount/gimbal scripting driver
+- Reboot the autopilot
+- Download mount-djirs2-driver.lua (`from here <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Scripting/drivers>`__) and copy it to the autopilot's SD card in the APM/scripts directory and reboot the autopilot
+- Optionally set DJIR_DEBUG to 1 to display parsing and errors stats at 5sec.  Set to 2 to display gimbal angles
+
+Testing
+=======
+
+See :ref:`Gimbal / Mount Controls <common-mount-targeting>` for details on how to control the gimbal

common/source/docs/common-master-features.rst

@@ -15,7 +15,7 @@ This lists features or changes merged in master and build in the "latest" firmwa
     Trajectory Based Precision Aerobatics Scripting (replaces old page) <common-scripted-aerobatics-4.4>
     [/site]
     Temperature Sensors <common-temperature-sensor>
-    SIYI ZR10 and A8 gimbals <common-siyi-zr10-gimbal>
+    DJI RS2 and RS3-Pro gimbals <common-djirs2-gimbal>
     Other wiki changes <common-future-wiki-changes>