Hi,
The gimbal is having trouble stabilizing the camera. And I'm seeing the gimbal twitch a bit when it move (via ch 6) when the Hexacopter is stationary. The gimbal is currently running on ch 10 + 11. (50 hz) on APM 2.5. Pls see attached video.
I've tried to connect to ch 7+8 (490hz) per the wiki but I'm unable to get it to work at all. Just random twitching. No auto stabilization or control from input ch 6.
The servos are Emax ES08MD, pls see attached spec sheet.
1) What's the best way to improve the performance of the gimbal? Switch to ch 7+8, and if so how can I successfully connect? New servos? More tuning?
Here are my APM settings:
| ACRO_BAL_PITCH | 200 |
| ACRO_BAL_ROLL | 200 |
| ACRO_P | 4.5 |
| ACRO_TRAINER | 1 |
| AHRS_BARO_USE | 0 |
| AHRS_GPS_GAIN | 0 |
| AHRS_GPS_USE | 1 |
| AHRS_RP_P | 0.1 |
| AHRS_TRIM_X | -0.036 |
| AHRS_TRIM_Y | 0.006 |
| AHRS_TRIM_Z | 0 |
| AHRS_WIND_MAX | 0 |
| AHRS_YAW_P | 0.1 |
| AMP_PER_VOLT | 18.002 |
| AUTO_SLEW | 30 |
| AUTO_VELZ_MAX | 125 |
| AUTO_VELZ_MIN | -125 |
| AXIS_ENABLE | 1 |
| BATT_CAPACITY | 4000 |
| BATT_CURR_PIN | 12 |
| BATT_MONITOR | 4 |
| BATT_VOLT_PIN | 13 |
| CAM_DURATION | 10 |
| CAM_SERVO_OFF | 1100 |
| CAM_SERVO_ON | 1300 |
| CAM_TRIGG_TYPE | 0 |
| CH7_OPT | 5 |
| CIRCLE_RADIUS | 10 |
| COMPASS_AUTODEC | 1 |
| COMPASS_DEC | 0.2 |
| COMPASS_LEARN | 1 |
| COMPASS_OFS_X | 28.326 |
| COMPASS_OFS_Y | 46.976 |
| COMPASS_OFS_Z | -216.288 |
| COMPASS_USE | 1 |
| ESC | 0 |
| FLOW_ENABLE | 0 |
| FLTMODE1 | 5 |
| FLTMODE2 | 0 |
| FLTMODE3 | 0 |
| FLTMODE4 | 9 |
| FLTMODE5 | 0 |
| FLTMODE6 | 0 |
| FRAME | 1 |
| FS_BATT_ENABLE | 1 |
| FS_THR_ENABLE | 1 |
| FS_THR_VALUE | 975 |
| 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 |
| INAV_ACORR_X | -92.283 |
| INAV_ACORR_Y | -83.291 |
| INAV_ACORR_Z | 2.758 |
| INAV_TC_XY | 3 |
| INAV_TC_Z | 7 |
| INPUT_VOLTS | 5 |
| INS_ACCOFFS_X | -0.12 |
| INS_ACCOFFS_Y | 0.332 |
| INS_ACCOFFS_Z | 0.329 |
| INS_ACCSCAL_X | 1.004 |
| INS_ACCSCAL_Y | 1.004 |
| INS_ACCSCAL_Z | 0.988 |
| INS_GYROFFS_X | -0.008 |
| INS_GYROFFS_Y | 0.004 |
| INS_GYROFFS_Z | 0.003 |
| INS_MPU6K_FILTER | 0 |
| INS_PRODUCT_ID | 88 |
| LAND_SPEED | 50 |
| 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 |
| LOITER_LAT_D | 0.4 |
| LOITER_LAT_I | 0.04 |
| LOITER_LAT_IMAX | 3000 |
| LOITER_LAT_P | 5 |
| LOITER_LON_D | 0.4 |
| LOITER_LON_I | 0.04 |
| LOITER_LON_IMAX | 3000 |
| LOITER_LON_P | 5 |
| LOW_VOLT | 13.5 |
| MAG_ENABLE | 1 |
| MNT_ANGMAX_PAN | 4500 |
| MNT_ANGMAX_ROL | 2000 |
| MNT_ANGMAX_TIL | 2000 |
| MNT_ANGMIN_PAN | -4500 |
| MNT_ANGMIN_ROL | -2000 |
| MNT_ANGMIN_TIL | -2000 |
| 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 | 6 |
| MNT_RETRACT_X | 0 |
| MNT_RETRACT_Y | 0 |
| MNT_RETRACT_Z | 0 |
| MNT_STAB_PAN | 0 |
| MNT_STAB_ROLL | 1 |
| MNT_STAB_TILT | 1 |
| MOT_TB_RATIO | 1 |
| MOT_TCRV_ENABLE | 1 |
| MOT_TCRV_MAXPCT | 93 |
| MOT_TCRV_MIDPCT | 52 |
| 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 | 0.5 |
| OF_PIT_IMAX | 100 |
| OF_PIT_P | 2.5 |
| OF_RLL_D | 0.12 |
| OF_RLL_I | 0.5 |
| OF_RLL_IMAX | 100 |
| OF_RLL_P | 2.5 |
| PILOT_VELZ_MAX | 250 |
| RATE_PIT_D | 0.004 |
| RATE_PIT_I | 0.1 |
| RATE_PIT_IMAX | 500 |
| RATE_PIT_P | 0.15 |
| RATE_RLL_D | 0.004 |
| RATE_RLL_I | 0.1 |
| RATE_RLL_IMAX | 500 |
| RATE_RLL_P | 0.15 |
| RATE_YAW_D | 0 |
| RATE_YAW_I | 0.015 |
| RATE_YAW_IMAX | 800 |
| RATE_YAW_P | 0.25 |
| RC_SPEED | 490 |
| RC1_DZ | 30 |
| RC1_MAX | 1919 |
| RC1_MIN | 1126 |
| RC1_REV | 1 |
| RC1_TRIM | 1525 |
| RC10_DZ | 0 |
| RC10_FUNCTION | 7 |
| RC10_MAX | 2200 |
| RC10_MIN | 1000 |
| RC10_REV | 1 |
| RC10_TRIM | 1500 |
| RC11_DZ | 0 |
| RC11_FUNCTION | 8 |
| RC11_MAX | 2200 |
| RC11_MIN | 1100 |
| RC11_REV | -1 |
| RC11_TRIM | 1500 |
| RC2_DZ | 30 |
| RC2_MAX | 1914 |
| RC2_MIN | 1121 |
| RC2_REV | 1 |
| RC2_TRIM | 1521 |
| RC3_DZ | 30 |
| RC3_MAX | 1914 |
| RC3_MIN | 1003 |
| RC3_REV | 1 |
| RC3_TRIM | 1004 |
| RC4_DZ | 40 |
| RC4_MAX | 1915 |
| RC4_MIN | 1123 |
| RC4_REV | 1 |
| RC4_TRIM | 1517 |
| RC5_DZ | 0 |
| RC5_FUNCTION | 0 |
| RC5_MAX | 1914 |
| RC5_MIN | 1120 |
| RC5_REV | 1 |
| RC5_TRIM | 1508 |
| RC6_DZ | 0 |
| RC6_FUNCTION | 0 |
| RC6_MAX | 1914 |
| RC6_MIN | 1120 |
| RC6_REV | 1 |
| RC6_TRIM | 1449 |
| RC7_DZ | 0 |
| RC7_FUNCTION | 0 |
| RC7_MAX | 1914 |
| RC7_MIN | 1113 |
| RC7_REV | 1 |
| RC7_TRIM | 1521 |
| RC8_DZ | 0 |
| RC8_FUNCTION | 0 |
| RC8_MAX | 1499 |
| RC8_MIN | 1498 |
| RC8_REV | 1 |
| RC8_TRIM | 1499 |
| RSSI_PIN | -1 |
| RTL_ALT | 315 |
| RTL_ALT_FINAL | 200 |
| RTL_LOIT_TIME | 5000 |
| SERIAL3_BAUD | 57 |
| SIMPLE | 0 |
| SONAR_ENABLE | 1 |
| SONAR_TYPE | 0 |
| SR0_EXT_STAT | 2 |
| SR0_EXTRA1 | 10 |
| SR0_EXTRA2 | 10 |
| SR0_EXTRA3 | 2 |
| SR0_PARAMS | 50 |
| SR0_POSITION | 3 |
| SR0_RAW_CTRL | 0 |
| SR0_RAW_SENS | 2 |
| SR0_RC_CHAN | 2 |
| 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 |
| STB_PIT_I | 0 |
| STB_PIT_IMAX | 800 |
| STB_PIT_P | 4.5 |
| STB_RLL_I | 0 |
| STB_RLL_IMAX | 800 |
| STB_RLL_P | 4.5 |
| STB_YAW_I | 0 |
| STB_YAW_IMAX | 800 |
| STB_YAW_P | 4.5 |
| SUPER_SIMPLE | 0 |
| SYSID_MYGCS | 255 |
| SYSID_SW_MREV | 120 |
| SYSID_SW_TYPE | 10 |
| SYSID_THISMAV | 1 |
| TELEM_DELAY | 0 |
| THR_ACC_ENABLE | 1 |
| THR_ACCEL_D | 0 |
| THR_ACCEL_I | 1.5 |
| THR_ACCEL_IMAX | 500 |
| THR_ACCEL_P | 0.75 |
| THR_ALT_I | 0 |
| THR_ALT_IMAX | 300 |
| THR_ALT_P | 2 |
| THR_MAX | 1000 |
| THR_MID | 500 |
| THR_MIN | 130 |
| THR_RATE_D | 0.2 |
| THR_RATE_I | 0 |
| THR_RATE_IMAX | 300 |
| THR_RATE_P | 6 |
| TILT | 54 |
| TOY_RATE | 1 |
| TRIM_THROTTLE | 366 |
| TUNE | 0 |
| TUNE_HIGH | 1000 |
| TUNE_LOW | 0 |
| VOLT_DIVIDER | 10 |
| WP_INDEX | 0 |
| WP_RADIUS | 2 |
| WP_SPEED_MAX | 500 |
| WP_TOTAL | 6 |
| XTRK_GAIN_SC | 0.2 |
| XTRK_MIN_DIST | 15 |
| YAW_OVR_BEHAVE | 0 Thanks! Jeffrey |
Replies
Thanks to this post I solved my pan/tilt/camera shutter problem, it woks. I was mistaken between Analogic line (A0 to A11) and the outpout line. Can you take a look at my picture and tell me if everything is OK, specially my - and + connection ?
Thank you
Jeffrey,
I had the same problem for the longest time, and as Andrew mentions below, make sure to use the RC7&8 outputs (490 hz) from the same row as the engine output, not the analog (A0 - A12) side outputs (50hz).
You might also want to ramp down the output rate if your digital servos can't handle that rate via the RC_SPEED parameter. On this note, I don;t know if by changing that value it also affects motor output rates...I know it does but is there an advers effect by doing so?
I wish the docs would be clearer on this.
I recently had a similar issue which turned out to be power related. When I powered the APM board and gimbal servers using a separate lipo from the brushless motors the glitch or twitching stopped. I suspect noise from the motor ESC's was causing interference to the servos.
You could also try using a ferret ring on the APM power source.
When you say you're trying CH7+CH8, do you mean the output pins (same pin row as the engine output signals), not A7+A8 (confusingly, in the same row as CH10+CH11)?