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Objects that it grips onto should be metal or have\n+the included `thin steel target square <http://nicadrone.com/index.php?id_product=15&controller=product>`__\n+attached to them.\n+\n+The device accepts a standard PWM servo input or UAVCAN and uses a 5V power\n+supply.  Significant amounts of power are only required for about about 1\n+second when it first grips or releases the cargo.\n+\n+`See demo **Video** of the product here <https://youtu.be/ggvm-GQxwaY>`__!\n+\n+Usefull links\n+=============\n+`Documenation <https://docs.zubax.com/opengrab_epm_v3>`__\n+\n+`PCB / Schematic <https://upverter.com/ctech4285/b9557d6903c36f55/OpenGrab-EPM-V3R4B/>`__  ***Revision is printed on PCB\n+\n+`Source code <https://github.com/Zubax/opengrab_epm_v3>`__\n+\n+`Store <http://NicaDrone.com>`__\n+\n+\n+Connecting to a Pixhawk via UAVCAN\n+==================================\n+\n+.. image:: ../../../images/OpenGrabEPMV3_2.jpg\n+    :target: ../_images/OpenGrabEPMV3_2.jpg\n+\n+\n+Notes:\n+\n+- When Vin of the EPM drops below 5V the EPM will go into low power mode. Slowing down switching to prevent crashing the power rail\n+- When Vin drops below 4.5V the green status LED will blink fast indicating an error condition\n+- The Pixhwak power rail voltage is <<5V\n+- External powering of the EPM is recommended see image above\n+- EPM UAVCAN cable set is required. `Clickmate -> DF13 <http://nicadrone.com/index.php?id_product=69&controller=product>`__\n+- UAVCAN requires termination, terminator included in UAVCAN cable set\n+\n+\n+Firmware setup\n+==============\n+\n+1.       Download APM firmware `here: <https://files.zubax.com/3rdparty/APM/uavcan_epm/>`__\n+2.       Upload custom firmware via Mission Planner or QGC\n+ \n+***A pull request has been issued to include the changes in the next APM release. This documentation will be update when the request has been accepted. If this annoys you please write a comment `here <https://github.com/ArduPilot/ardupilot/pull/4361>`__\n+\n+Parameter setup\n+===============\n+\n+1.       Set BRD_CAN_ENABLE = 2 ( Enabled support for dynamic node ID allocation and firmware update.)\n+\n+Save and restart the board. \n+After about 5 seconds the RED CAN LED on the EPM will start blinking. Indicating that CAN frames are being received\n+\n+.. image:: ../../../images/OpenGrabEPMV3_3.jpg\n+    :target: ../_images/OpenGrabEPMV3_3.jpg\n+    \n+2.       set CH7_OPT: Channel 7 option = 19 (EPM) (Channel 7 - 12 maybe used) \n+\n+\n+.. image:: ../../../images/OpenGrabEPMV3_4.jpg\n+    :target: ../_images/OpenGrabEPMV3_4.jpg\n+    \n+All done, The EPM can be controlled via channal 7 or auto Mission or MAVLink command   \n+\n+\n+Connecting to a Pixhawk via PWM header\n+======================================\n+\n+Connect the EPM to the Pixhawk the same as a :ref:`servo <common-servo>`.\n+\n+.. image:: ../../../images/OpenGrabEPMV3_5.jpg\n+    :target: ../_images/OpenGrabEPMV3_5.jpg\n+\n+\n+\n+Parameter setup \n+===============\n+\n+\n+Set CH7_OPT: Channel 7 option = 19 (EPM) (Channel 7 - 12 maybe used) \n+\n+.. image:: ../../../images/OpenGrabEPMV3_6.jpg\n+    :target: ../_images/OpenGrabEPMV3_6.jpg\n+    \n+    \n+All done, The EPM can be controlled via channal 7 or auto Mission or MAVLink command     \n+\n+\n+\n+\n+Auto 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