SimpleBGC Software User Manual
Contents
1. D value that is too high can cause high frequency oscillations particularly when the IMU sensor Is exposed to vibrations o The lI value changes the speed at which the gimbal moves to incoming RC commands and to move the gimbal back to neutral Low values result in a slow and smooth reaction to RC commands and to getting back to neutral Increase this value to speed up the movement e Limit Accelerations this option lets to limit angular accelerations in case of hard RC or Serial control useful to prevents jerks or skipped steps smoother camera control less impact on the multirotor s frame The less is value the smoother is camera rotation under control e POWER maximum voltage supplied to the motors 0 255 where 255 means full battery voltage Choose this parameter according to your motor characteristics Basic tuning o Motors should not get too hot Motor temperatures of over 80C will cause permanent damage to motor magnets o A Power value that is too low will not provide enough force for the motor to move the gimbal and stabilize the camera adequately A low power value will be most noticeable in windy conditions when the gimbal is not well balanced or if the gimbal suffers from mechanical friction Slowly lower the Power parameter to find its optimal value Find the lowest value that still provides good stabilization and adequate holding torque o Raising the power equals raising the P value of PID settin2. SPEED adjust the speed of the camera rotation in the follow mode Don t set big values that motors can not handle if motor does not produce enough torque it will skip steps and synchronization will be broken In this case acceleration limiter may help to have big speed but do not miss steps Operation in the Follow Mode At system startup in the follow mode keep the frame horizontally and manually adjust the camera to the horizontal position and adjust it s heading Camera easily jumps between the magnetic poles and when left near desired position it will stick to home position automatically Gently rotate and tilt the frame Turns within 45 will control the speed of the camera from 0 to 100 Camera rotates in accordance with the SPEED settings until it s angles are not equal the frame s angles or until given restrictions will be achieved If the camera moves unpredictably perhaps its the wrong direction of rotation of the motors and you need to change the Reverse flag in the Basic tab To achieve the smooth motion increase the LPF parameter in the RC tab increase Expo curve and decrease the SPEED and the Acceleration limits For more dynamic control change these settings in the opposite direction In case of failure of stabilization due to external disturbances the camera can completely lose synchronization with the frame In this case it is necessary to return it to the proper position by hands IT IS VERY IMPOR
3. and calibrate external flight controller see EXT FC GAIN settings After calibration you can setup the percentage values for ROLL and PITCH axis so the camera will follow frame inclinations Follow PITCH ROLL this mode is dedicated to hand held systems FC connection is not required In this mode the position of the outer frame by PITCH and ROLL is estimated from the motor s magnetic field This means that if motor skips steps position will be estimated incorrectly and operator should correct camera by hands returning it to proper position You should use this mode carefully for FPV flying because if the camera misses its initial direction there is no chance to return it back automatically l ROLL axis mode o Follow ROLL start deg Set the angle in degrees of the camera PITCH ing up or down where the ROLL axis enters follow mode Below this angle ROLL is in lock mode locked to the ground jm soft transition o Follow ROLL mix deg Set the range in degrees of the camera PITCH ing where the ROLL axis is gradually switched from the lock mode to follow mode see picture F follow frame Hint to completely disable follow for ROLL set these values to 90 0 To permanently enable follow for ROLL regardless of the camera PITCH ing set values to 0 0 Follow YAW the same as above except it can be enabled only for YAW axis For example you can lock camera by ROLL and PITCH a
4. ka rJ Limit accelerations AUTO External FC Gain sensor ROLL l Axis TOP 2 7 RIGHT PITCH FJ Skip Gyro calibration at startup AUTO CALIB ACC CALIB GYRO gt CALIB AC CALIB GYR 0 42 0 47 USE DEFAULTS MOTORS ON OFF WRITE Cycle time l2C errors AE 39 88 0 04 gt Parameters successfully loaded from board The GUI contains different functional blocks 1 Configuration block in the central part of the window organized by tab e Basic Basic gimbal stabilization settings Adjusting these settings is usually adequate to achieve good camera stabilization e Advanced More precise tuning options e RC Settings settings to control the gimbal roll pitch yaw orientation with RC inputs e Follow Mode settings related to special mode of the camera control e Menu Button Specify the behavior of the MENU button located on the controller board or mounted externally e Real time Data real time sensor data monitoring This screen is extremely helpful in tuning your gimbal performance Firmware Update Firmware and GUI software versions and update options Connection COM port selection and connection status Profile Profile selection loading re naming and saving Control Panel graphic visualization of gimbal orientation angles in three axes e Black arrows are displaying the angles blue arrows are a 10x time magnification to provide higher precision Red marks show target angles t
5. mode Sensor o Gyro LPF adjust filtering gyro data It s not recommended to set values different than 0 because it will make adjusting PID controller harder You can experiment with this o Gyro high sensitivity Increase gyro sensitivity twice Use this option for big sized DSLR cameras in case if your PID settings are close to upper limits but stabilization still not good Increasing gyro sensitivity equals to multiplying P and D values by 2 o 12C Pullups Enable turns ON built in I2C pull up resistors for SDA and SCL lines Use function on only if sensor doesn t work properly i e there are too many 12C errors WARNING Built in pull ups can make sensor work better but voltage levels exceed its limits and sensor may be damaged in very rare cases Service tab Menu Button If you ve connected menu button to BTN connector on the controller you can assign different actions to it Available actions Use profile 1 3 loads selected profile Calibrate ACC accelerometer calibration works the same as button in the GUI Calibrate Gyro gyroscope calibration Swap RC PITCH ROLL temporary swap RC inputs from PITCH to ROLL In most cases only one PITCH channel is enough to control a camera in 2 axis systems Before a flight you can assign control from pitch channel to roll and make a camera precisely leveled Activating 2013 Basecamelectronics 9 this function again swaps channels back and saves roll
6. value if the value is not correct in the GUI e External FC Gain Gain value for matching the gimbal data from your flight controller optional For better stabilization and utilization of some additional features the knowledge about the frame inclination angles is required SimpleBGC IMU doesn t provide such information Most of FC have servo outs for connecting gimbals This outs should be connected to SimpleBGC controller through EXT ROLL and EXT_PITCH inputs o Activate gimbal outs in FC and set range limits for angles you generally fly for example 30 degrees of frame inclination should equals full servo range about 1000 2000 o Deactivate all filters and smoothing of FC gimbal settings if present o Inthe RC settings tab make sure that inputs EXT ROLL EXT_PITCH doesn t used to control gimbal i e are not chosen as source for any other RC control task o In REALTIME DATA tab check availability of EXT FC ROLL EXT FC_PITCH signals and make sure they are split to axes correctly Frame roll angle tilting should cause EXT FC ROLL change in approximately 900 2100 range The same is for pitch o Connect power supply and setup stabilization as described above tune POWER INVERT PID o Push AUTO button in FLIGHT CONTROL GAIN group and smoothly incline copter frame to different directions by all axes for 10 30 seconds o Push AUTO button again to complete calibration Calibration will stop automatically after some time
7. will be loaded into the GUI You can re load the current board parameters anytime by clicking the READ button e After adjusting parameters in the GUI you should write them to the controller board by clicking the WRITE button Only the current profile parameters will be saved to the board To return to the default settings push the RESET TO DEFAULTS button e To choose a different profile with different settings select it from the list of profiles located in the upper right corner of the GUI window You can store different settings as three different profiles onto the controller board You can switch profiles saved on the board by choosing the profile in the GUI or by pressing the MENU button on the controller board Remember that some settings are common for all profiles and can not be saved on a per profile basis Parameters such as sensor orientation hardware configuration RC inputs and motors outs are the same across all profiles 2013 Basecamelectronics 2 GUI Blocks SimpleBGC GUI v2 40 b File Language View Help Connection Profile COM27 isconnec Profile3 Rename Board version 1 0 Firmware 2 40 b Load Save httovwww simplebge com Advanced R Settings Service Follow mode Realtime Data Firmware upgrade ig PID Controller Motor Configuration POWER INVERT NUM POLES ROLL 3 p 2 ROLL 200 5 sol r ii W L PITCH 30 EY 1 PITCH 459 E My E FA 1 65 2 64 YAW 95 55 YAW 200 rj
8. TANT to keep the frame horizontally because at this point the frame s zero angles are calibrated You can switch between modes on the fly by activating different profiles Camera will keep their position between modes Advanced tab e AHRS options influencing camera angle determination accuracy o Gyro trust The higher is value the more trust to the gyro data compared with the accelerometer data when estimating angles It can reduce errors caused by accelerations during moving but also decreases gyro drift compensation resulting in horizon drift in time For smooth flying it is recommended to set low values 40 80 which will give more stable horizon for longer time For aggressive flying it s better to set higher values 100 150 o Accelerations compensation enable it to use a physical model of multirotor to compensate accelerations during flight This option works only when external FC is connected and calibrated 2013 Basecamelectronics 8 Serial port speed changes baud rate used for serial communication Decrease it when using over the air serial adapters that can t work on maximum speed The GUI can auto detect the baud rate configured in the board PWM Frequency sets the PWM frequency used to drive motors by power stage Two modes are available Low Frequency in audible range and High Frequency outside audible range In the high frequency mode it is necessary to increase the POWER setting a bit Moto
9. VA Basecam SimpleBGC Software User Manual Board ver 1 0 Firmware ver 2 4 GUI ver 2 4 2013 Basecamelectronics Connection to PC To connect the main conitroller board equipped with an FTDI interface to a PC you will need a USB to serial converter and a suitable software driver For board versions with integrated USB interface you will need a miniUSB cable For a USB connection you ll need to install the appropriate software driver Depending on your controller the FTDI chip driver might be http www ftdichip com Drivers VCP htm or for the CP2102 chip use http www silabs com products mcu pages usbtouartbridgevcpdrivers aspx In both cases after you install the driver and connecting the board a new virtual COM port will be created You will need to choose this COM port in the SimleBGC software GUI to initiate the connection UN 23512C FC_ROLL PITCH ROLL LA 2u e E The GUI starts in the English version of the user interface To change the interface language choose one in the language menu and restart the program Follow these steps to connect your main controller board to the GUI software e Connect the FTDI adapter cable with the right polarity Black wire usually is the ground wire or use mini USB cable in case of USB port is present on board e Start the GUI select correct COM port from the list and click Connect After the connection is established all board settings and profiles
10. d on what axis the problem is and lower D value Low frequency oscillations Feedback self exitating as a result of high D parameter or high P Lower P increase D GUI cannot connect to board Wrong COM port selected GUI and firmware versions doesn t match Try different COM ports Upload the latest firmware and download matching GUI version 2013 Basecamelectronics 14
11. execute some actions You can configure 2 or 3 position switch on your RC for specified channel and assign it to CMD channel Its range is split in the 3 sections LOW MID HIGH When changing the position of your RC switch signal jumps from one section to another and assigned command is executed The full list of available commands is described in the section MENU BUTTON of this manual o FC ROLL FC_PITCH used to enter signal from an external flight controller See External FC gain section for details RC Mix you can mix 2 inputs together before applying to any of ROLL PITCH or YAW axis It lets to control the camera from the 2 sources joystick and RC for example You can adjust the proportion of the mix from 0 to 100 ANGLE MODE RC stick will control the camera angle directly The full RC range will cause a camera to go from min to max angles as specified above If RC stick doesn t move camera stands still The speed of rotation depends on the SPEED setting and the acceleration limiter setting SPEED MODE RC stick will control the rotation speed If stick is centered camera stands still if stick is deflected camera starts to rotate but does not exceed min max range Speed is slightly decreased near min max borders Speed of rotation is proportional to stick angle and the SPEED setting RC control inversion is allowed in both of control modes MIN ANGLE MAX ANGLE range of the angles controlled fr
12. gs If you raise the POWER value you should re tune your PID values as well e Additional power that will be add to the main power in case of big error caused by missed steps It helps to return camera to the normal position If main power additional power is greater than 255 the result is limited to 255 e INVERT reverse motor rotation direction It s extremely important to choose the correct motor rotation direction to not damage your gimbal To determine the correct direction set the P I and D values to 0 and the POWER values to 80 or higher if your motors don t produce enough force to hold move the camera Level the camera tray horizontally and click the AUTO button in the Motor configuration settings The gimbal will make small movement to determine correct motor rotation direction Wait for the calibration procedure to complete Then re set your PID values and tune your Power values 2013 Basecamelectronics 4 e NUM POLES Number of motor poles This value needs to be equal to the number of magnets in your motor s bell During the auto calibration process described above this value is automatically detected However this value is sometimes not correctly determined during the auto calibration process and will need to be verified and possibly corrected manually Most brushless gimbal motors are built with 14 poles or magnets and utilize a DLRK winding scheme Count your motor magnets and enter this
13. hat gimbal should keep e Thin blue lines shows the maximum peak deflection from the central neutral point e Blue digits show peak deflection amplitude Using these numbers stabilization quality can be estimated 2013 Basecamelectronics 3 e Vertical red bars to the right of the scales show actual power level from 0 to 100 5 READ WRITE RESET TO DEFAULTS buttons and button to toggle motors state 6 Atthe bottom of the screen tips status or error messages in red color are displayed Overall cycle time and I2C error count is also displayed 7 Battery voltage indicator with warning sector Basic Settings Note Before tuning your controller install the camera into the gimbal firmly and ensure your gimbal s center of gravity is leveled as much as possible e P I D PID regulation parameters for all axes o P describes the power of disturbance response Higher values means a stronger response reaction to external disturbance Raise this value until the stabilization quality of fast disturbances will be adequate If the P value is too high oscillations of the axis will start to be present These oscillations will get worse if there are vibrations that reach the IMU sensor board f oscillations occur raise the D parameter by 1 or 2 units and then try to raise the P value again o D The D value reduces the reaction speed This value helps to remove low frequency oscillations A
14. lt settings for selected type NOTE you can add the voltage sensor to old boards in DIY way by soldering a voltage divider 33k 10k 33k goes to the battery 10k goes to the GND and common point goes to the pin 19 of the 328p MCU if this pin is grounded de solder it first Buzzer On some boards there is an output to the buzzer It is used to buzz on some events Events are configured turned ON or OFF in the GUI You can connect an active buzzer only which has an internal sound generator working from 5 12V currents below 40mA check this Digikey product search for example NOTE you can connect the buzzer to old boards in DIY way by soldering its wire to the pin 32 of the 328p MCU and wire to the GND Realtime Data tab In this tab you can see raw sensor data stream and logical RC input levels e ACC X Y Z accelerometer data e GYRO _X Y Z gyroscope data Helps to determine quality of P and D settings Disturb gimbal by hand and see trace If it looks like sine wave D setting is too low and gimbal tends to low frequency oscillations If some noise is always present even without any disturbance D setting is too high and gimbal tends to high frequency self excitation e ERR_ROLL PITCH YAW stabilization error graph Same as peak indicators on the control panel and shows maximum deflection angle Each graph can be turned on or off scale can be adjusted for Y axis You can pause the data transmi
15. movement adjust the I term setting for PITCH in the Basic tab Try the SPEED mode and feel difference with the ANGLE mode Connect and tune remaining axes the same way as required 2013 Basecamelectronics 12 6 Testing gimbal in real conditions Connect controller to the GUI and turn ON multirotor motors holding it above your head Check the vibrations on the camera by using Realtime Data tab ACC raw data Try to decrease the level of vibrations using soft dampers NOTE Brushless motors versus traditional servos provide faster reaction but less torque That s why it s hard for them to fight against wind and air flows from props If you are developing multirotor frame by yourself try to avoid this influences for example lengthen arms a bit or tilt motors away from center or place camera above props in case of H frame Also keep in mind that when copter moves with high speed an air flow is deflected and can affect the gimbal Status LED There are 2 LEDs onboard Red led lights when power is connected Green blue LED signals actual state of the system e LED is off pause before calibration to take hands off or to level gimbal e LED blinks slowly Calibration in action Freeze gimbal during this process e LED blinks fast system error stabilization cannot be performed To check error description connect to GUI e LED is on normal operation mode e LED is on but blinks irregularly 2C errors a
16. n assign hardware RC inputs to virtual control channels There are 4 hardware inputs provided on the board for RC Radio control connections which you can assign to control any of three channels one for each axes and one command channel If control for an axis is not needed leave the option at no input RC ROLL pin mode set this mode to Normal if you want to use PWM or Analog signal Set to Sum PPM if you want to use SumPPM signal from the receiver SumPPM is a PWM format modification in which every channel transmits sequentially through one cable If your receiver has SumPPM signal out connect it to RC_ROLL input Read your receiver instructions to be sure it has SumPPM out Mode of operation you can choose one of three input signal formats o PWM Pulse Width Modulation Most widespread RC output input signal type o Analog analog input voltage from 0 to 5 volts For example joystick variable resistor provides such signal Each RC port has Signal 5V and GND pins Connect Signal to center contact of variable resistor 5V and GND to side contacts Also you need to solder or close jumper on different board versions to supply RC port with 5V Normally it is not closed because RC may have its own power supply o VIRT_CH_XX Incase of RC_ROLL pin mode is set to Sum PPM you can chose one of the eight RC channels Control channels o ROLL PITCH YAW controls the position of the camera o CMD allows to
17. ncrease POWER parameter 2013 Basecamelectronics 13 POWER is not high enough During fast YAW rotating camera deflects by ROLL and then slowly gets to horizon Bad accelerometer calibration Sensor is not in parallel with motor axes Make advanced ACC calibration by 6 positions Align sensor with motor axes During fast motion with acceleration camera deflects and then slowly gets to horizon This is normal effect of accelerations Try to increase Gyro Trust in Advanced tab YAW arrow slowly spins in the GUI Slow drift is normal less than 1 degree minute It s because of gyro drifts in time Pay attention to sensor Immobility during gyro calibration Re calibrate gyro Camera slowly drifts by any or all axes just after power on Bad gyro calibration Re calibrate gyro Clicks and crunch are heard during work LED is synchronously blinking 12C errors present Errors are possible if sensor wires are too long or motors outs affects sensor by capacitive linkage Shorter sensor wires Lower pullup resistors value on the sensor board Install spike LC filter on motor outs make 2 3 turns of motor cable through ferrite coil Instal spike LC filter on sensor wires the same as motor filter Replace sensor with version with LLC High frequency oscillations Feedback self exitating as a result of high D parameter Check the graphs to understan
18. nds Try to immobilize sensor Camera as hard as you can in first seconds after powering on while signal LED is blinking After powering on you have 3 seconds to freeze gimbal before calibration starts If you activated option Skip gyro calibration at startup gyro is not calibrated every time and controller start working immediately after powering up Be careful and recalibrate gyro manually if you will notice something wrong with IMU angles Calibrating Accelerometer You must perform ACC calibration only once but it s recommended to recalibrate it from time to time or when the temperature significantly changes e Simple calibration mode set sensor horizontally and press CALIB ACC in the GUI or menu button if it s assigned LED will blink for 3 seconds Try not to move sensor during calibration At this step no matter how camera is leveled You are calibrating the sensor not the camera e Advanced mode recommended perform calibration in simple mode as above Then turn sensor in order that each side of sensor looks up 6 positions at all including base one Fix the sensor in each position press CALIB ACC button in the GUI and wait about 3 4 seconds while LED if flashing The order does not matter but the base position always goes first because the simple calibration cancels a result of advanced calibration You have not to press WRITE button calibration data is written automatically after each step NOTE Precise acceler
19. om RC or in Follow mode To inverse the control set higher value first and lower value second For example if you want to configure a camera to go from leveled position to down position set 0 90 or 90 0 to inverse LPF Control signal filtering The higher is value the smoother is reaction to the stick commands This filter cuts fast stick movements but adds some delay 2013 Basecamelectronics 6 Follow Mode There is a special control mode when the camera follows for a tilting of the outer frame but eliminates small frame jerking Several modes of operation are possible Disabled camera is locked to ground and may be rotated only from RC o Estimate frame angles from motors it use magnetic field for rough estimation of frame tilting Helps to increase the range of the frame angles where the gimbal s operation is stable To proper operation in this mode it is strictly required to calibrate Offset setting see below Like with the Follow mode its not recommended to use this option in flight its dedicated for hand held systems only Follow Flight Controller camera is controlled from RC together with the mixed signal from an external flight controller FC Almost every FC has servo outputs to drive a gimbal It feeds the information about the frame angles to this outputs in the PWM format that all servos understand SimpleBGC can get this information and use it to control a camera It is necessary to connect
20. ometer calibration is a very important for horizon holding during dynamic flying or YAW rotation 2013 Basecamelectronics 11 Z A Z Adi Z X X j Ze gt ZO X 4 Tuning basic settings Connect the main power supply Set POWER according to the motor configuration see recommendations above Auto detect number of poles and motors direction Adjust PID controller To check stabilization quality use peak indicator in control panel Incline the frame by small angles and try to minimize peak values by increasing P I and D to its maximum You may use gyro data from Realtime Data tab to estimate stabilization quality too At this time it is possible to get 1 degree mistake otherwise 2 3 degrees is a good result to 5 Connecting and configuring RC Connect one of the free receiver s channels to RC_PITCH input preserving right polarity In the RC Settings tab Set SORGE PWM Assign RC_PITCH input to PITCH axis Leave all other axes and CMD as no input For PITCH axis set MIN ANGLE 90 MAX ANGLE 90 ANGLE MODE checked LPF 5 SPEED 10 not used in angle mode Connect the battery to the main controller and receiver and check that RC_PITCH input receives data in the Realtime Data tab slider should be blue filled and reflects to stick movement Now you can control the camera from your RC transmitter from 90 to 90 degrees If you are not satisfied with the speed of
21. position in the static memory e Swap RC YAW ROLL like the previous e Set tilt angles by hand motors will be turned off after that you can take the camera in hands and fix it in the new position for a few seconds Controller will save and hold the new position This function may be useful to correct camera position before flight if there is no RC control connected e Motors toggle Motors ON Motors OFF commands to change the state of the motors e Reset controller Battery Monitoring On some latest board versions there is a voltage sensor installed to monitor the main battery voltage It is used to apply voltage drop compensation PID becomes stable during whole battery life cycle and to make low voltage alarms and do the motor cut off when the battery becomes discharged e Calibrate adjust the rate of internal multiplier to make measured voltage more precise You need a multimeter to measure the real voltage than enter this value in the calibration dialog e Low voltage alarm set the threshold to make alarm when the voltage drops below it e Low voltage stop motors set the threshold to stop motors when the voltage drops below it e Compensate voltage drop set this option to automatically increase the POWER parameter which controls the output power goes to the motors when the battery loose voltage due to discharge process e Set defaults for select the battery type to fill the fields above with the defau
22. ppears Also additional LEDs may present to signal serial communication on RX and TX line Connecting YAW expansion board Main board contains only two motor drivers and can stabilize two axes Extension board allows to get Stabilization for all three axes It s connected with I2C and gets commands from main board No extra sensor is needed Connection diagram http www simplebgc com files v10 SimpleBGC_connection_diagram pdf To activate 3 axis go to Advanced Motor outputs and set YAW YAW ext board NOTE The expansion board needs extra power supply to operate When you are tuning gimbal connected to PC It can t get power supply from FTDI or USB and therefore may not be recognized by the main board Status LED on expansion board shows current mode of operation e LED is OFF power supply is not connected or short circuit protection in action or current overload detected protection strategy turn motors off for 1 second e LED is ON power supply connected but no I2C commands received e LED is ON and blinking normal operation mode Possible problems and solutions Problem Possible causes Solutions Motors don t spin power supply is not connected Check all connections Supply polarity inverted Set POWER between 50 200 POWER set to 0 Camera is trying to align but falls back Camera not balanced Balance camera It s an error in motor windings or one Check motor winding phase is broken I
23. r outputs you can assign hardware motor outs for any of stabilization axes For example you can use second controller for YAW stabilization and set it up this way ROLL disabled PITCH disabled YAW ROLL_ OUT and connect a YAW motor to hardware ROLL OUT Connection diagram http www simplebgc com files v10 SimpleBGC_connection_diagram_2x pdf With a single controller you can stabilize and control any of two axes With 3 axis expansion board is connected you can stabilize and control all three axes Connection diagram hitp www simplebgc com files v10 SimpleBGC_connection_diagram pdf RC Sub Trim allows to correct transmitter inaccuracy o ROLL PITCH YAW trim central point trimming Central point here is PWM 1500 It s better to trim it in transmitter But in case of it is not possible when using joystick for example you can use AUTO function in the GUI Just place stick in center and press AUTO button Actual data becomes new center point Press WRITE button to apply settings o Deadband adjusts a dead band around neutral point There s no control while RC signal is inside this range This feature works only in SPEED mode and helps to achieve better control by eliminating jitters of stick around neutral point o Expo curve adjusts the curvature of an exponential function that allows to get precise control from RC in the range of the small values but rough and strong control near endpoints Works only in SPEED
24. ssion at any time 2013 Basecamelectronics 10 Setup step by step sequence 1 Adjusting the mechanics Mount the camera on the tray and balance the gimbal in all three axes Stabilization quality is hardly connected to the balance quality To check your balance pick your turned off gimbal in hands Make fast motions along all axes trying to catch resonance point and swing the gimbal If it is hard to do gimbal is balanced correctly NOTE With good balance and low friction It s possible to scale down power consumption and keep good quality of stabilization If you rewound motors by yourself it s recommended to check winding Remove motors from gimbal connect them to controller and set parameters P 0 0 1 D 0 for each axis and set enough POWER Connect main power supply Motors should spin smoothly while rolling the sensor Little jitter is normal due to magnetic force between rotor and stator cogging effect Pay great attention to sensor installation Its axes must be parallel with motor axes Pay attention to mechanical links They must be a VERY RIGID and backlash free Sensor provides feedback data for stabilization and even any little freedom or flexibility will cause delays and low frequency resonances This can result in difficult PID setting and unstable work in real conditions frame vibrations wind etc 2 Calibrating the sensor Gyro is calibrated every time you turn controller on and lasts about 4 seco
25. too New gains will be written into EEPROM and shown in the GUI NOTE You may skip this step and leave zero values at initial setup e Sensor Specify your IMU sensor board s orientation and position on the gimbal For a standard IMU sensor installation look at the gimbal from behind just like the camera will view out from the gimbal Viewing the gimbal in this way the UP and Right direction will match the Z and X axis You can place the IMU sensor in any direction keeping its sides always parallel to the motor axis be very accurate here it is a very important to precisely align the sensor and mount it firmly Configure your IMU orientation in the GUI The correct configuration should result in the following Camera pitches forward the PITCH arrow spins clockwise in the GUI Camera rolls right ROLL arrow spins clockwise in the GUI Camera yaws clockwise YAW arrow spins clockwise o Skip Gyro calibration at startup With this option the board starts working immediately after powering it on using the saved calibration data from last gyroscope calibration call 2013 Basecamelectronics 5 However stored calibration data may become inaccurate over time or during temperature changes We recommend you to re calibrate your gyro from time to time to ensure the best performance RC Settings tab RC Input Mapping here you ca
26. xis by selecting Disabled option but still control camera by YAW by enabling Follow YAW option There are additional settings to tune follow mode Deadband degrees you can set the range where the rotation of an outer frame does not affect the camera It helps to skip small jerks when you operate gimbal by hands Expo curve you can specify the strength of the control when outer frame declines from neutral position For example when the expo curve is enabled i e is not flat small or medium declination of an outer frame will cause very fine control even if l term is configured high But the strength of control exponentially grows when angles of declination becomes close to 60 degrees It gives a big freedom in camera operation from fine and smooth control to very fast movements OFFSET it is a very important to properly configure the initial position of the motor s magnetic poles because all further calculations use this information For YAW axis it allows to fine adjust a camera heading relative to a frame heading For PITCH and ROLL axis there is an option to calibrate offset automatically To do this power on system hold frame leveled and press AUTO button Don t forget to write setting when finished If the camera after power on is not leveled you need to adjust the offset setting 2013 Basecamelectronics T Y PN rA e
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