# Gimbal commands

Source: https://forum.modalai.com/topic/365/gimbal-commands
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-07-29 18:48:19 UTC by Daniel Ryu
Replies: 2 · Views: 538

## Daniel Ryu · 2021-07-29 18:48:19 UTC

I have a m500 that I bought a while back with a gimbal attached, and am currently in the process of creating a protocol that allows the gimbal to be autonomously controlled. So far, my current progress consists of making the gimbal recognized as a mavlink device, and propagating mavlink commands through the autopilot. 

However, I have been unable to find the commands that make the gimbal move. For instance, when the gimbal is given a signal from the RC controller, it can rotate and tilt (https://www.youtube.com/watch?v=eYr8nyFid0E&ab_channel=ModalAI). What are the commands that move the gimbal, and what PX4 parameters, if any, need to be set?

## Reply by Daniel Ryu · 2021-07-29 18:54:19 UTC

Additionally, what commands are used for the gimbal to automatically stabilize upon drone startup?

## Reply by modaltb (ModalAI staff) · 2021-07-29 19:43:23 UTC

@Daniel-Ryu , here's a possibility: https://docs.modalai.com/voxl-m500-gimbal-user-guide/#mavsdk-behavior-with-mavlink

This gimbal is fairly simple, the stabilization occurs on bootup automatically only.