# Gremsy Gimbal w/Sony A7

## Supported Gimbals 

Currently, we support the following Gimbals from Gremsy 

* [Pixy U](https://gremsy.com/products/pixy-u) 
* [S1V3](https://gremsy.com/products/gremsy-s1v3) 
* [T3V3](https://gremsy.com/products/gremsy-t3v3) 
* [Pixy PE](https://gremsy.com/pixy-pe-spec)
* [T3 PE](https://gremsy.com/gremsy-t3-pe-spec)

## Sony Alpha a7R IV

<figure><img src="https://721100047-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FPGMrULovSCSAisV8bLg3%2Fuploads%2FSOOT4MRAMNmO9LiayvfS%2FSony%20A7%20R4.jpg?alt=media&#x26;token=e4dd8365-e4e3-48a2-9bad-d24a4d43d325" alt=""><figcaption></figcaption></figure>

## Preparation

To utilize the Sony a7R IV camera with Skynode, you must first enable the PC Remote Function feature on the camera.

1. Turn on the Sony a7R and open the Settings menu (Press **MENU** button):\
   &#x20;<img src="https://721100047-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FPGMrULovSCSAisV8bLg3%2Fuploads%2FG2hpNsWpWorEgjsixspn%2FSony%20a7R%20Rear%20-%20Marked.jpg?alt=media&#x26;token=785f00c7-f463-4eb0-b00c-4a0837bc69f1" alt="" data-size="original">&#x20;
2. Navigate to the *Network1* tab and open *PC Remote Function*.\
   &#x20;<img src="https://721100047-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FPGMrULovSCSAisV8bLg3%2Fuploads%2Fhd8CDIbVHCDvbDg7wAex%2Fsony_a7r_menu_pc_remote.jpg?alt=media&#x26;token=0f80d02d-b90c-4212-9c35-0a2c9cfbd4fc" alt="" data-size="original">&#x20;
3. Set *PC Remote* to **On** and make sure *PC Remote Cnct Method* is set to **USB.** \
   &#x20;<img src="https://721100047-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FPGMrULovSCSAisV8bLg3%2Fuploads%2F2WH857dfQIgWcqaDkctD%2Fsony_a7r_menu_pc_remote_on.jpg?alt=media&#x26;token=c2b3170e-ed3e-42cd-ba42-94dc4e683c61" alt="" data-size="original">&#x20;
4. Exit the dialog by pressing the **MENU** button.&#x20;

Still under "Controls", select "Mavlink", this time select YES when prompted to enable MAVLink input

<figure><img src="broken-reference" alt=""><figcaption></figcaption></figure>

Power on Skynode, connect to it via USB-C and change the following parameters using [Auterion Mission Control's Advanced mode](https://docs.camflite.com/payload/broken-reference)

1. `MAV_2_CONFIG` = 401 (PPB)
2. `MAV_2_MODE` = 10 (Gimbal)&#x20;
3. `SER_PPB_BAUD` = 115200&#x20;
4. `MAV_2_FORWARD` = 1&#x20;
5. `MAV_S_FORWARD` = 1&#x20;
6. `MNT_MODE_IN` = 4 (MAVLink Gimbal v2)
7. reboot
8. refresh parameters or restart AMC
9. `MNT_MODE_OUT` = 2 (MAVLink Gimbal v2)