Hi All,
I finally got the solution to the 'frustrating' gimbal lock that I was facing for quite some time with the use of APM board while building my camera mount for a closed loop stabilization. The problem happened on the 2-axis camera mount using Pitch and Yaw as its two axis. When the pitch turned to 90 degrees, the mount was 'really' unstable on its yaw axis, with thinking of silly workarounds!
Bill Premerlani came to the rescue giving many solutions, and the easiest of them was to use the board's roll instead of its pitch and align it with the camera mount's pitch axis computations. Duh, it can be that simple, but sometimes simplest solutions are the best ones ;) The result is 'everything' resolved. This was also proved mathematically.
Btw, gimbal lock with this configuration cannot be prevented completely with Euler angles, though this scenario will never happen for a 2-axis mount, until the UAV holding (helicopter) it 'tilts' down vertically.
Thanks again, Bill!
Best regards,
Shyam
Replies
Hi Shyam,
Nice work. Thanks for the kinds words and thanks for giving me an interesting problem to work on.
I agree, the simplest solutions are the best solutions, though sometimes they are hard to find.
Best regards,
Bill Premelrani