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APM 2.5 (2.7.1) Gimbal Servo twitch a lot!

Hi guys, first time I try the camera gimbal stuff (yeah I am overdue but fixed camera was fine until now)

I am trying to follow the wiki instructions, the new MP screen for the config seems simple enough...

http://code.google.com/p/arducopter/wiki/AC2_Camera

My issue is that when all connected to port 10 and 11 on APM2.5 the servos twitch constantly. With or without CH6 connected to make the camera pitch (yes Ch6 assigned to a rotary switch and MP Radio config redone) How do you guys have it configured for regular 9g servos (analog)?

I tried to play with the min / max and angle but not fun. The gimbal roll and pitch when the frame is moved but there is constant jitters (very fast and a lot) on the entire gimbal. Also when I have CH 6 connected it will not stabilize camera pitch anymore, it will be only manual on control.  Very strange.... I was expecting to be able to "take over" with CH6 then give back control to the APM to stabilize. 

Anyhow, please help me (it's for a customer, not even for me!) 

Dany

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Replies

  • Developer

    Ok, i've heard a little about these types of problems so it would be good ot get to the bottom of them.

     

    So jitters must be caused by one of a few things:

       1. analog servos can't handle the high update rate.  Probably only applicable if you've got your camera servos attached to the 5~8 pins on the back of the APM2 because those run at 490hz while 10 and 11 on the side of the APM2 run at 50hz (I believe).  This doesn't sound like the case in your situation 'cuz you're using 10/11.

       2. pwm output to the servos is just moving around too much and we need to filter it.  We've got this AP_Filter library that makes it quite easy to add standard filters to stuff.  If I knock up a slightly modified version of the latest code you know how to download it from git?

       3. something else unforseen! :-)

    Re CH6....that's weird..it should mix together your input from ch6 to the stabilize output from the apm2.  I'm sure I tested that before the 2.7.3 release...Can you check that your MNT_MODE is 3?

    By the way, the mission planner's gimbal screen has been updated so we should probably try to do the set-up through that screen.  If it doesn't work I'm sure michael Oborne will fix it for us in a heartbeat.  I will retest it again with the trunk code shortly.

  • Hi,   

    Having the same problem here. I'm om APM 2.5 (2.7.3 tri). When i select input ch in MP (CH6,7 or 8) i get small random jitters. If i try to connect my Rx to the APM input ch, the whole mount goes haywire randomly changing positions. I have also gone through the camera wiki, and all my settings look good. 

    Another problem is when trying to setup 3-axis. I enable PAN in the MP and the roll and pitch seem to be switched. Roll becomes pitch and vice versa?

    Any help would be greatly appreciated

    -Henrik 

    params follow

    #NOTE: 23-09-2012 00:26:40 Frame : tri
    ACRO_P,4.5
    AHRS_GPS_GAIN,0
    AHRS_GPS_USE,1
    AHRS_RP_P,0.1
    AHRS_YAW_P,0.1
    ALT_HOLD_RTL,1500
    AMP_PER_VOLT,27.32
    APPROACH_ALT,200
    AUTO_LAND,5000
    AUTO_SLEW,30
    AXIS_ENABLE,0
    AXIS_P,0.02
    BATT_CAPACITY,3000
    BATT_MONITOR,4
    CAM_TRIGG_TYPE,0
    CH7_OPT,0
    COMPASS_AUTODEC,1
    COMPASS_DEC,0.035
    COMPASS_LEARN,0
    COMPASS_OFS_X,1.817
    COMPASS_OFS_Y,59.158
    COMPASS_OFS_Z,56.291
    COMPASS_USE,1
    ESC,0
    FLOW_ENABLE,0
    FLTMODE1,0
    FLTMODE2,0
    FLTMODE3,2
    FLTMODE4,0
    FLTMODE5,0
    FLTMODE6,5
    FRAME,0
    HLD_LAT_I,0
    HLD_LAT_IMAX,3000
    HLD_LAT_P,0.2
    HLD_LON_I,0
    HLD_LON_IMAX,3000
    HLD_LON_P,0.2
    IMU_PRODUCT_ID,88
    INPUT_VOLTS,4.64
    LED_MODE,9
    LIM_ALT_MAX,0
    LIM_ALT_MIN,0
    LIM_ALT_ON,0
    LIM_ALT_REQ,0
    LIM_CHANNEL,0
    LIM_DEBUG,0
    LIM_ENABLED,0
    LIM_FNC_ON,0
    LIM_FNC_RAD,0
    LIM_FNC_REQ,0
    LIM_FNC_SMPL,0
    LIM_FNC_TOT,0
    LIM_GPSLCK_ON,0
    LIM_GPSLCK_REQ,0
    LIM_RECMODE,0
    LIM_REQUIRED,0
    LIM_SAFETIME,0
    LOG_BITMASK,382
    LOG_LASTFILE,0
    LOITER_LAT_D,0.4
    LOITER_LAT_I,0.08
    LOITER_LAT_IMAX,3000
    LOITER_LAT_P,2.45
    LOITER_LON_D,0.4
    LOITER_LON_I,0.08
    LOITER_LON_IMAX,3000
    LOITER_LON_P,2.45
    LOW_VOLT,9.6
    MAG_ENABLE,1
    MNT_ANGMAX_PAN,4500
    MNT_ANGMAX_ROL,4500
    MNT_ANGMAX_TIL,4500
    MNT_ANGMIN_PAN,-4500
    MNT_ANGMIN_ROL,-4500
    MNT_ANGMIN_TIL,-4500
    MNT_CONTROL_X,0
    MNT_CONTROL_Y,0
    MNT_CONTROL_Z,0
    MNT_JSTICK_SPD,0
    MNT_MODE,3
    MNT_NEUTRAL_X,0
    MNT_NEUTRAL_Y,0
    MNT_NEUTRAL_Z,0
    MNT_RC_IN_PAN,0
    MNT_RC_IN_ROLL,0
    MNT_RC_IN_TILT,0
    MNT_RETRACT_X,0
    MNT_RETRACT_Y,0
    MNT_RETRACT_Z,0
    MNT_STAB_PAN,1
    MNT_STAB_ROLL,1
    MNT_STAB_TILT,1
    MOT_TB_RATIO,1
    NAV_LAT_D,0
    NAV_LAT_I,0.17
    NAV_LAT_IMAX,1800
    NAV_LAT_P,2.4
    NAV_LON_D,0
    NAV_LON_I,0.17
    NAV_LON_IMAX,1800
    NAV_LON_P,2.4
    OF_PIT_D,0.12
    OF_PIT_I,3.2
    OF_PIT_IMAX,400
    OF_PIT_P,2.5
    OF_RLL_D,0.12
    OF_RLL_I,3.2
    OF_RLL_IMAX,400
    OF_RLL_P,2.5
    RATE_PIT_D,0.004
    RATE_PIT_I,0
    RATE_PIT_IMAX,500
    RATE_PIT_P,0.14
    RATE_RLL_D,0.004
    RATE_RLL_I,0
    RATE_RLL_IMAX,500
    RATE_RLL_P,0.14
    RATE_YAW_D,0
    RATE_YAW_I,0.02
    RATE_YAW_IMAX,800
    RATE_YAW_P,0.25
    RC_SPEED,490
    RC1_DZ,30
    RC1_MAX,1979
    RC1_MIN,975
    RC1_REV,1
    RC1_TRIM,1484
    RC10_DZ,0
    RC10_FUNCTION,8
    RC10_MAX,2000
    RC10_MIN,1000
    RC10_REV,1
    RC10_TRIM,1500
    RC11_DZ,0
    RC11_FUNCTION,7
    RC11_MAX,2000
    RC11_MIN,1000
    RC11_REV,-1
    RC11_TRIM,1500
    RC2_DZ,30
    RC2_MAX,1979
    RC2_MIN,975
    RC2_REV,-1
    RC2_TRIM,1476
    RC3_DZ,30
    RC3_MAX,1980
    RC3_MIN,977
    RC3_REV,1
    RC3_TRIM,981
    RC4_DZ,40
    RC4_MAX,1977
    RC4_MIN,991
    RC4_REV,1
    RC4_TRIM,1471
    RC5_DZ,0
    RC5_FUNCTION,0
    RC5_MAX,2200
    RC5_MIN,800
    RC5_REV,1
    RC5_TRIM,1478
    RC6_DZ,0
    RC6_FUNCTION,0
    RC6_MAX,1498
    RC6_MIN,1497
    RC6_REV,1
    RC6_TRIM,1498
    RC7_DZ,0
    RC7_FUNCTION,0
    RC7_MAX,2000
    RC7_MIN,1000
    RC7_REV,1
    RC7_TRIM,1498
    RC8_DZ,0
    RC8_FUNCTION,6
    RC8_MAX,2000
    RC8_MIN,1000
    RC8_REV,1
    RC8_TRIM,1498
    SERIAL3_BAUD,57
    SIMPLE,0
    SONAR_ENABLE,0
    SONAR_TYPE,0
    SR0_EXT_STAT,0
    SR0_EXTRA1,0
    SR0_EXTRA2,0
    SR0_EXTRA3,0
    SR0_PARAMS,50
    SR0_POSITION,0
    SR0_RAW_CTRL,0
    SR0_RAW_SENS,0
    SR0_RC_CHAN,0
    SR3_EXT_STAT,0
    SR3_EXTRA1,0
    SR3_EXTRA2,0
    SR3_EXTRA3,0
    SR3_PARAMS,0
    SR3_POSITION,0
    SR3_RAW_CTRL,0
    SR3_RAW_SENS,0
    SR3_RC_CHAN,0
    STAB_D,0
    STAB_D_S,0.5
    STB_PIT_I,0.05
    STB_PIT_IMAX,800
    STB_PIT_P,4.5
    STB_RLL_I,0.05
    STB_RLL_IMAX,800
    STB_RLL_P,4.5
    STB_YAW_I,0.02
    STB_YAW_IMAX,800
    STB_YAW_P,7
    SUPER_SIMPLE,0
    SYSID_MYGCS,255
    SYSID_SW_MREV,119
    SYSID_SW_TYPE,10
    SYSID_THISMAV,1
    TELEM_DELAY,0
    THR_ALT_I,0.04
    THR_ALT_IMAX,300
    THR_ALT_P,0.25
    THR_FAILSAFE,0
    THR_FS_ACTION,2
    THR_FS_VALUE,975
    THR_MAX,1000
    THR_MIN,130
    THR_RATE_D,0
    THR_RATE_I,0.03
    THR_RATE_IMAX,300
    THR_RATE_P,0.3
    TILT,54
    TOY_RATE,1
    TRIM_THROTTLE,269
    TUNE,0
    TUNE_HIGH,1000
    TUNE_LOW,0
    VOLT_DIVIDER,15.701
    WP_INDEX,0
    WP_LOITER_RAD,10
    WP_MODE,0
    WP_MUST_INDEX,0
    WP_RADIUS,2
    WP_SPEED_MAX,500
    WP_TOTAL,11
    XTRK_GAIN_SC,0.2

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