Upgrading Jumper T20S to AG01 Gimbals: A Challenge Worth the Effort?

by Oscar
Installing Ag01 Gimbals In The Jumper T20s Radio Calibration

I’ve had a bit of a love-hate relationship with the stock gimbals on the Jumper T20S radio. They do get the job done but they also deserve an upgrade. The T20S has room for full-size gimbals, and the AG01s seemed like they could fit.

Some of the links on this page are affiliate links. I receive a commission (at no extra cost to you) if you make a purchase after clicking on one of these affiliate links. This helps support the free content for the community on this website. Please read our Affiliate Link Policy for more information.

To learn more about radio check out my buyer’s guide: https://oscarliang.com/radio-transmitter/

This DIY hack is inspired by becky9’s guide on Thingiverse.

Benefits of the AG01 Gimbals

Whether or not the AG01 gimbal is worth its $130 price tag, is up for debate, but in my personal experience there’s no denying that they do feel superior than the stock gimbals that come with the TX16S, Boxer as well as the T20S. Here’s why I’m excited to bring them to my radio:

  • Smoothness in movement
  • Enhanced precision
  • Having M4 stick ends, offering a more solid grip compared to the T20S’s smaller M3 stick ends

What Do You Need?

Get the T20S Radio from:

Get the AG01 Gimbals from:

For this upgrade, there are a few specific items you’ll need to ensure a smooth installation process.

JST 1.25mm 4-pin and 6-pin connectors, get them from AliExpress in pairs so you don’t need to worry about male or female: https://s.click.aliexpress.com/e/_Ddd1txp

Installing Ag01 Gimbals In The Jumper T20s Radio Buy Jst 1.25 4 Pin 6 Pin

M2.3 Self-tapping screws, get them from AliExpress: https://s.click.aliexpress.com/e/_Dm5SVVz

While the original suggestion was for 16mm screws, I found them excessively long and difficult to drive in completely. I recommend 14mm screws for an easier fit. An assortment kit with various lengths would be ideal actually, giving you options to find the perfect fit.

Installing Ag01 Gimbals In The Jumper T20s Radio Buy M2.3 Self Tapping Screws

3D printed spacers: https://www.thingiverse.com/thing:6202025

These are are crucial if you want to avoid permanent alterations to your T20S by removing the plastic pins inside the housing. These spacers not only maintain the integrity of the radio but also lower the gimbals by about 5mm. This allows you to make the stick longer, which consequently making the stick travel longer and giving you more precise control.

Installing Ag01 Gimbals In The Jumper T20s Radio 3d Print Spacers

Additionally, you’ll need a rotary tool to cut the corners of the AG01 Gimbals. This is what I used, Greenworks 8V rotary tool. This tool is also handy for any necessary modification within the radio’s plastic housing: https://oscarliang.com/greenworks-8v/

Greenworks 8v Rotary Tool Grinding Drilling Polishing Cutting Unbox

Installation Steps

Gimbal Wiring

Before diving into the hardware, it’s important to address the wiring connections.

The T20S gimbals have 4 wires, signals for the two axes, plus power and ground. The AG01, however, comes with 6 wires due to the duplication of power and ground wires.

Installing Ag01 Gimbals In The Jumper T20s Radio Adapter Cable 6 Pin To 4 Pin

You can simply solder the duplicated power and ground wires together when connecting to the T20S. Personally I prefer to use an adapter—it simplifies the connection without modifying the AG01’s original harness, allowing you to use these gimbals in other radios in the future.

Note that the T20S gimbal wires color code doesn’t make sense, follow Becky9’s wiring diagram (or the one below) instead.

See the following diagram for the wiring of the adapter.

Installing Ag01 Gimbals In The Jumper T20s Radio Adapter Cable

Cutting AG01 Corners

The most challenging part of this upgrade is perhpas cutting the AG01’s corners. See the yellow dashed lines in the following picture.

Crafted from sturdy 4mm thick aluminum alloy, it’s a formidable task. Because I only have a small rotary tool and a miniature disc blade, it took me over 20 minutes to trim each corner. And don’t worry, the modification doesn’t compromise the gimbals’ compatibility with other radios.

Installing Ag01 Gimbals In The Jumper T20s Radio Cut Corners Rotary Tool

Swapping Gimbals

To remove the original T20 gimbals, you’ll unscrew four screws per gimbal.

Installing Ag01 Gimbals In The Jumper T20s Radio Remove Original Insert Spacers

I am using 14mm M2.3 self tapping screws with these spacers.

Installing Ag01 Gimbals In The Jumper T20s Radio Screw Length

As you can see, you need to trim the AG01’s corner because the T20S’s PCB obstructs a direct fit (as circled below).

Installing Ag01 Gimbals In The Jumper T20s Radio Cut Corners

Connect the gimbals using the adapters we made earlier.

Installing Ag01 Gimbals In The Jumper T20s Radio Jst 1.25 Adapter Cable 6 Pin To 4 Pin

Potential Issues

Not sure if this will happen to eveyrone, but a couple of hurdles did come up for me during the gimbal upgrade.

Firstly, the left slider scraped against the throttle stick tension bars screws. Changing those screws to button head fixed that.

Installing Ag01 Gimbals In The Jumper T20s Radio Slider Scraping Screws

Second issue was the gimbal arms brushing against the back housing due to the 5mm drop from the spacers. I had to shave off some plastic from the inner side of the housing.

Pro tip: apply a little hand cream on the tips of the gimbal arms can reveal exactly where the removal of the plastic was needed (as circled below).

Installing Ag01 Gimbals In The Jumper T20s Radio Arms Scraping Back Housing Check

Here’s the end result, the gimbals finally can move smoothly without touching the back housing.

Installing Ag01 Gimbals In The Jumper T20s Radio Arms Scraping Back Housing File Remove Plastic


Once the gimbals are functioning smoothly, it’s time to reattach the back housing.

Installing Ag01 Gimbals In The Jumper T20s Radio


Post-installation, calibration is key. You can access the calibration settings in the “Hardware” page, reached by long-pressing the Menu button and cycling through with the Page button.

Installing Ag01 Gimbals In The Jumper T20s Radio Calibration


And there you have it—the AG01 gimbals are now be part of your T20S!

If you encounter any questions feel free to reach out in the comments. For insights into how I’ve setup my T20S, check out my comprehensive guide: https://oscarliang.com/setup-jumper-t20s-radio/

Leave a Comment

By using this form, you agree with the storage and handling of your data by this website. Note that all comments are held for moderation before appearing.


Cecil 24th May 2024 - 5:52 pm

I have the T20s v2 and AG01 gimbals are unresponsive. No moment registering from gimbals at all. Followed everything in the guide with the wiring being slightly different. Any Help greatly appreciated.

Seven Tray 23rd May 2024 - 3:27 pm

Hey I have followed your tutorial and I finally have everything powered up but now the gimbals won’t calibrate and not show responsive on the screen. I do have the t20s if that makes a difference.

Oscar 23rd May 2024 - 3:33 pm

That probably suggest the gimbals are not connected correctly to the T20S, can you double check?

Seven Tray 26th May 2024 - 5:20 pm

I did double check I got one working and the other is just non responsive not moving on either axis .

Oscar 28th May 2024 - 4:10 pm

swap the two gimbals and see? If the same gimbal doesn’t work then it’s a faulty gimbal (or bad cable).

Seven Tray 1st June 2024 - 4:40 pm

Yup I change the gimbal it’s works on both sides calibrates and everything.

Konrad 20th May 2024 - 8:43 am

So i changed the front facia of my T20 to the new flat one (same as T20 V2) at the same time I did this upgrade, I can confirm this guide needs to be slightly revised for the T20 V2. :)
The self tapping screws needs to be even shorter, probably like 12mm length (on one spot maybe even 10mm), I had to cut each manually (which worked quite well actually).
The 3D-printed spacer needs to be modified (or one can simply cut off the small plastic reinforcements for the pins).
I didn’t have to shave anything off the back housing.

The wiring diagram in this guide is a bit off too (I think the colors is switched, don’t remember now), fortunately the wiring diagram on thingiverse is spot on: https://www.thingiverse.com/thing:6202025

Other than that, this guide is perfect! :)

georgi 3rd May 2024 - 11:55 am

Amazing! Bravo!
Very interesting radio and the company Jumper deserve respect. Their approach is much more innovative and creative than the other company… You should of pick the yellow and blue color scheme by Pyrodrone to tease Kabab who particularly dislike Jumper ;)))

Oleksandr 13th April 2024 - 1:32 pm

Hey, thank you so much for your content!

Curious if you tried to add LED’s there too, will that affect spacing? would you even need it anyway? Or buying front shell with LED round things would work as spacers replacement and also for led installation?

Oscar 14th April 2024 - 12:05 pm

Get the new housing that’s designed for installing LED rings (link in the last part of this article)

Ray 4th February 2024 - 12:26 pm

Also curious, where did you acquire the connectors for the adapter? Not looking to chop the connectors myself, aswell.

Oscar 5th February 2024 - 4:32 pm

I made them myself, links are in this section: https://oscarliang.com/install-ag01-t20s/#What-Do-You-Need

Ray 4th February 2024 - 12:24 pm

I can only assume… That you could pop in “stock” boxer or TX series gimbals, that someone has laying around after upgrading to AG-01 gimbals. That would be an extremely cost effective upgrade as well it seems. I’m going to go ahead and purchase a T20 with hall effects and hold out for AG-01s or “stock” RM gimbals now. Thanks!

Brian 17th December 2023 - 3:18 am

If you reduce the thickness of the 5mm spacer to 4mm, do you think the back housing will need to be shaved?

Oscar 17th December 2023 - 4:58 am

maybe not, but I am not entirely sure. But again, the plastic pins in the front housing will be too long and will need to be shortened somehow.
if you want to avoid shaving the back housing, then maybe you want to consider not using the spacers.

dr00minFPV 30th November 2023 - 8:06 pm

Wow, I am edging towards doing this, I will have to have a feel of my mate’s AG01’s again and really think about it.

Thank you for doing this!

ErlandLie 8th November 2023 - 5:20 am

This is absolutely an experience expert advice ^_^
At indonesia, aliexpress has been banned to to government regulation, shopee too, it means,
We as fpv hobbiest, cannot buy any_thing from chine or overseas, too bad… not everything available in indonesia, and now even worst after this premature policy….

Luis Agustín 5th November 2023 - 2:19 pm

Is it possible to make this conversion to an FrSky X18?? I’m aware that mounting holes doesn’t match, but I’m sure it might be possible to make an spacer with different holes able to fix the gimbals. I’m more worried if the hall sensors will work with the X18 main board.