> For the complete documentation index, see [llms.txt](https://docs.theseus.us/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.theseus.us/cyclops/autopilot-integration/ardupilot/optional-features/nadir-camera-over-fpv.md).

# Nadir camera over FPV

{% hint style="warning" %}
This feature only works on custom, experimental builds of Cyclops
{% endhint %}

You can plug the Raspberry Pi 5's J7 pins into the Matek and configure it to switch between the front facing and nadir camera views. This requires you to have the same setup from [MAVLink OSD with Matek H743](/cyclops/autopilot-integration/ardupilot/optional-features/mavlink-osd-with-matek-h743.md).

Update this parameter on the Cube Orange+:

| Parameter     | Value | Purpose                                           |
| ------------- | ----: | ------------------------------------------------- |
| `SR2_RC_CHAN` |  `10` | Sends RC information for VTXcamera view switching |

Then update this on the matek:

| Parameter        | Value | Purpose                                             |
| ---------------- | ----: | --------------------------------------------------- |
| `OSD_REM_CAM_CH` |   `7` | Which RCchannel to look at for the camera switching |

The Pi will send analog composite video on J7, and the Matek will read the RC switched and update the displayed camera feed, C1 or C2, depending on if the switch is high or low.