Bounty offered a ArduIMU+ V3 camera gimbal stabilizer
I haven't been able to find a descent standalone camera gimbal stabilizer so I am offering a bounty/reward for the FIRST person who is able to provide me with working source code for a ArduIMU+ v3 camera gimbal stabilizer. I know that arducopter and arduplane code includes camera stabilization code, so hopefully it won't be too hard of an ask.
One condition is that the code will be made open source for everyone to use.
I will pay $100 USD for code that meets all the mandatory requirements, and bonus $ for desirables. This offer/bounty/reward is open until 30 March or until someone claims it.
[EDIT: extended to 11 May or until the bounty is successfully claimed]
Mandatory requirements:
2 x channel PWM in and out to control the camera gimbals roll and pitch using a standard R/C RX and servos
Stabilize the camera gimbal to maintain a level attitude/bank angle
Real time R/C channel or serial CLI configuration of servo endpoint and gain/PID
Settings stored in NVRAM
Desirable requirements
Pan/Yaw stabilization and control on a 3rd PWM channel +$25
PPM R/C input option +$10
"3D" mode, where the attitude/bank/yaw angle is held when the R/C stick is at neutral +$50
Working source code by 10 March 2012 +$50
Ability to tell the unit to keep pointing at point/region of interest such as a GPS coodinate/altitude $50
Comments are closed for this blog post
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Moderator Comment by Hai Tran on May 27, 2012 at 8:31am -
Has anyone (besides the writers of the code) been able to confirm that there is a working ArduIMU Camera Gimbal stabiliser? I personally have been busy and haven't had a chance to try yet.
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Comment by Greg Fletcher on June 3, 2012 at 11:44pm -
OK , here is a working version. It has a nice cli. Set your speed to 34800 and hit enter after start up. Needs a few details and testing finished. I need to get some sleep. You can play with it and calibrate with out servos hooked up.
latest version here
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Comment by Greg Fletcher on June 5, 2012 at 9:54pm
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OK, there was a bug in the last version with the servo limits saving to eeprom. It has been fixed. New gimbal code for the imu3 here. I will put a wiki on how to set servo limits. It's easy. It takes rc input(ppm/pwm) and has 3 pwm outputs. It can output ppm to as it was born from my head tracker that I wrote for this board. Try the cli. Set the ardu serial monitor to 38400 and type "set up".
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Comment by Andreas Kielb on June 6, 2012 at 12:13am -
Hi, my name is Andreas. I'm new here and must say this is a fascinating discussion. I downloaded both code versions and compiled them. I ordered my ArduIMU board yesterday so it will take a few days before I can start testing. Which pinout on the Ardu IMU do you use, Greg? Is it the same Michael Oborne used?
Are the servo outputs for a closed loop system with potentiometer feedback and the imu placed outside of the gimbal or is there also a slew mode possible with the imu placed on the camera axis as its own feedback system telling the motors which direction to turn?
Thanks a lot!
Andreas
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Comment by Greg Fletcher on June 6, 2012 at 8:03pm
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Andreas, The pins are not the same at all. I have updated the wiki with a pin chart.
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Comment by Greg Fletcher on June 12, 2012 at 7:58pm
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To any potential testers!!!!!!!!!!!!!!! Check the wiki again. I had the pitch and poll pins revesed. Thanks to Torg's graphic it has been sorted out. Go by the wiki.
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Comment by Torg on June 13, 2012 at 12:43am -
ok, check this, if its right I'll do a better looking scheme.
and I've done an experiment for the "branding" of this great project, did you like?
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Comment by Denny Rowland on June 13, 2012 at 2:03am -
Yes I think its great
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Comment by Denny Rowland on June 13, 2012 at 2:25am
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This may not be the best place to post this but it has some relevance to the application of ARDUORBIT.
I have been playing with AMP-2 as a stand alone camera gimbal stabiliser in various positional experiments. I ended up with it in the normal flight control position so that it would have some relevance to the normal gimbal output usage. What I have discovered is that to obtain the best performance in terms of response time I needed a lot of gain. I have no idea what the registry is set to regarding the sensitivity output but from the gyro/accel. but the trick to getting the best possible accuracy is to have the gimbal configered to only move about ten degrees for the full servo rotation of 120 deg. This creates a inner axis type of movement which is very accurate. Obviously you need more pitch movement than ten degrees so the camera is moved as a separate axis that does not need a second stabilizing. this is done with a small continuos rotation servo operating in slew mode. In the following video I tested a number of FC gimbal outputs including AMP-2 they were roughly the same with AMP-2 being the best. https://vimeo.com/43932932 Now to start work with the ArduORBIT as a stand alone device.
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Comment by Denny Rowland on June 13, 2012 at 2:54am
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In that video I set out to prove that you can get good results without spending a fortune on the latest DJI Zenmouse etc. The weak link is of course the GoPro which is very prone to jellow effect from rolling shutter artifacts. everything used is home made.
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