Hi Everyone,
I have recently fitted a gimbal & camera to my Quadcopter (APM 2.5/2.9.1) with a video link. It was just a cheap chinese one similar to this: http://www.ebay.com.au/itm/261102207365?ssPageName=STRK:MEWAX:IT&_trksid=p3984.m1438.l2649
While it is working, the gimbal does "shake" or "jitter" when the quad is powered up. I can control the camera tilt with CH 6 on the Tx just fine but the jitter is very annoying and obviously is effecting the video quality.
I have the tilt servo connected to A11 and do not have the pan servo connected at all. Apart from this , the quad flies really well with stab, loiter, auto, RTL all performing extremely well. While in the air, the gimbal does adjust it's angle automatically to compensate for copter tilt but still jitters constantly!
Config dump below, thanks for any help you can offer as it's driving me crazy! ;-)
Les
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FW Ver: 120
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Radio
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CH1: 1117 | 1907
CH2: 1117 | 1907
CH3: 1101 | 1908
CH4: 1117 | 1907
CH5: 1215 | 1757
CH6: 1102 | 1908
CH7: 1103 | 1122
Frame
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Quad frame
X mode
Batt Mon:
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volts and cur
Sonar
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enabled
Type: 2 (0=XL, 1=LV, 2=XLL, 3=HRLV)
Flight modes
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Pos 0: STABILIZE, Simple: ON
Pos 1: LOITER, Simple: ON
Pos 2: AUTO, Simple: ON
Pos 3: CIRCLE, Simple: ON
Pos 4: STABILIZE, Simple: ON
Pos 5: RTL, Simple: ON
INS
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G_off: 0.00, 0.00, 0.00
A_off: 0.14, 1.06, 0.61 A_scale: 1.00, 1.00, 1.00
Compass
----------------------------------------
enabled
Mag Dec: 12.0321
Mag off: 12.1626, 68.6066, 152.7863
OptFlow
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disabled
SYSID_SW_MREV: 120
SYSID_SW_TYPE: 10
SYSID_THISMAV: 1
SYSID_MYGCS: 255
SERIAL3_BAUD: 57
TELEM_DELAY: 0
RTL_ALT: 0
SONAR_ENABLE: 1
SONAR_TYPE: 2
BATT_MONITOR: 4
FS_BATT_ENABLE: 1
VOLT_DIVIDER: 10.000000
AMP_PER_VOLT: 18.001801
INPUT_VOLTS: 5.000000
BATT_CAPACITY: 5000
MAG_ENABLE: 1
FLOW_ENABLE: 0
LOW_VOLT: 9.600000
SUPER_SIMPLE: 0
RTL_ALT_FINAL: 0
TILT: 54
BATT_VOLT_PIN: 13
BATT_CURR_PIN: 12
RSSI_PIN: -1
THR_ACC_ENABLE: 1
YAW_OVR_BEHAVE: 0
WP_TOTAL: 10
WP_INDEX: 0
WP_RADIUS: 2
CIRCLE_RADIUS: 10
WP_SPEED_MAX: 500
XTRK_GAIN_SC: 0.200000
XTRK_MIN_DIST: 15
RTL_LOIT_TIME: 0
LAND_SPEED: 80
AUTO_VELZ_MIN: -150
AUTO_VELZ_MAX: 150
PILOT_VELZ_MAX: 250
THR_MIN: 130
THR_MAX: 1000
FS_THR_ENABLE: 1
FS_THR_VALUE: 975
TRIM_THROTTLE: 606
THR_MID: 500
FLTMODE1: 0
FLTMODE2: 5
FLTMODE3: 3
FLTMODE4: 7
FLTMODE5: 0
FLTMODE6: 6
SIMPLE: 63
LOG_BITMASK: 382
TOY_RATE: 1
ESC: 0
TUNE: 0
TUNE_LOW: 0
TUNE_HIGH: 1000
FRAME: 1
CH7_OPT: 0
AUTO_SLEW: 30
RC1_MIN: 1117
RC1_TRIM: 1512
RC1_MAX: 1907
RC1_REV: 1
RC1_DZ: 30
RC2_MIN: 1117
RC2_TRIM: 1515
RC2_MAX: 1907
RC2_REV: 1
RC2_DZ: 30
RC3_MIN: 1101
RC3_TRIM: 1113
RC3_MAX: 1908
RC3_REV: 1
RC3_DZ: 30
RC4_MIN: 1117
RC4_TRIM: 1509
RC4_MAX: 1907
RC4_REV: 1
RC4_DZ: 40
RC5_MIN: 1215
RC5_TRIM: 1216
RC5_MAX: 1757
RC5_REV: 1
RC5_DZ: 0
RC5_FUNCTION: 0
RC6_MIN: 1102
RC6_TRIM: 1117
RC6_MAX: 1908
RC6_REV: 1
RC6_DZ: 0
RC6_FUNCTION: 0
RC7_MIN: 1103
RC7_TRIM: 1117
RC7_MAX: 1122
RC7_REV: 1
RC7_DZ: 0
RC7_FUNCTION: 0
RC8_MIN: 1498
RC8_TRIM: 1499
RC8_MAX: 1499
RC8_REV: 1
RC8_DZ: 0
RC8_FUNCTION: 0
RC10_MIN: 1110
RC10_TRIM: 1500
RC10_MAX: 1910
RC10_REV: -1
RC10_DZ: 0
RC10_FUNCTION: 0
RC11_MIN: 1500
RC11_TRIM: 1500
RC11_MAX: 2050
RC11_REV: 1
RC11_DZ: 0
RC11_FUNCTION: 7
RC_SPEED: 490
ACRO_P: 4.500000
AXIS_ENABLE: 1
ACRO_BAL_ROLL: 200
ACRO_BAL_PITCH: 200
ACRO_TRAINER: 1
LED_MODE: 1
RATE_RLL_P: 0.135000
RATE_RLL_I: 0.100000
RATE_RLL_D: 0.004000
RATE_RLL_IMAX: 500
RATE_PIT_P: 0.135000
RATE_PIT_I: 0.100000
RATE_PIT_D: 0.004000
RATE_PIT_IMAX: 500
RATE_YAW_P: 0.250000
RATE_YAW_I: 0.015000
RATE_YAW_D: 0.000000
RATE_YAW_IMAX: 800
LOITER_LAT_P: 5.000000
LOITER_LAT_I: 0.040000
LOITER_LAT_D: 0.400000
LOITER_LAT_IMAX: 3000
LOITER_LON_P: 5.000000
LOITER_LON_I: 0.040000
LOITER_LON_D: 0.400000
LOITER_LON_IMAX: 3000
NAV_LAT_P: 2.400000
NAV_LAT_I: 0.170000
NAV_LAT_D: 0.000000
NAV_LAT_IMAX: 1800
NAV_LON_P: 2.400000
NAV_LON_I: 0.170000
NAV_LON_D: 0.000000
NAV_LON_IMAX: 1800
THR_RATE_P: 6.000000
THR_RATE_I: 0.000000
THR_RATE_D: 0.200000
THR_RATE_IMAX: 300
THR_ACCEL_P: 0.750000
THR_ACCEL_I: 1.500000
THR_ACCEL_D: 0.000000
THR_ACCEL_IMAX: 500
OF_RLL_P: 2.500000
OF_RLL_I: 0.500000
OF_RLL_D: 0.120000
OF_RLL_IMAX: 100
OF_PIT_P: 2.500000
OF_PIT_I: 0.500000
OF_PIT_D: 0.120000
OF_PIT_IMAX: 100
STB_RLL_P: 4.500000
STB_RLL_I: 0.000000
STB_RLL_IMAX: 800
STB_PIT_P: 4.500000
STB_PIT_I: 0.000000
STB_PIT_IMAX: 800
STB_YAW_P: 4.500000
STB_YAW_I: 0.000000
STB_YAW_IMAX: 800
THR_ALT_P: 2.000000
THR_ALT_I: 0.000000
THR_ALT_IMAX: 300
HLD_LAT_P: 0.200000
HLD_LAT_I: 0.000000
HLD_LAT_IMAX: 3000
HLD_LON_P: 0.200000
HLD_LON_I: 0.000000
HLD_LON_IMAX: 3000
CAM_TRIGG_TYPE: 0
CAM_DURATION: 10
CAM_SERVO_ON: 1300
CAM_SERVO_OFF: 1100
COMPASS_OFS_X: 12.162646
COMPASS_OFS_Y: 68.606598
COMPASS_OFS_Z: 152.786350
COMPASS_DEC: 0.210000
COMPASS_LEARN: 1
COMPASS_USE: 1
COMPASS_AUTODEC: 1
INS_PRODUCT_ID: 88
INS_ACCSCAL_X: 1.000000
INS_ACCSCAL_Y: 1.000000
INS_ACCSCAL_Z: 1.000000
INS_ACCOFFS_X: 0.137594
INS_ACCOFFS_Y: 1.057428
INS_ACCOFFS_Z: 0.608051
INS_GYROFFS_X: 0.000000
INS_GYROFFS_Y: 0.000000
INS_GYROFFS_Z: 0.000000
INS_MPU6K_FILTER: 0
INAV_ACORR_X: -75.975616
INAV_ACORR_Y: -89.323303
INAV_ACORR_Z: 0.200786
INAV_TC_XY: 3.000000
INAV_TC_Z: 5.000000
SR0_RAW_SENS: 0
SR0_EXT_STAT: 0
SR0_RC_CHAN: 0
SR0_RAW_CTRL: 0
SR0_POSITION: 0
SR0_EXTRA1: 0
SR0_EXTRA2: 0
SR0_EXTRA3: 0
SR0_PARAMS: 4
SR3_RAW_SENS: 0
SR3_EXT_STAT: 0
SR3_RC_CHAN: 0
SR3_RAW_CTRL: 0
SR3_POSITION: 0
SR3_EXTRA1: 0
SR3_EXTRA2: 0
SR3_EXTRA3: 0
SR3_PARAMS: 0
AHRS_GPS_GAIN: 1.000000
AHRS_GPS_USE: 1
AHRS_YAW_P: 0.100000
AHRS_RP_P: 0.100000
AHRS_WIND_MAX: 0
AHRS_BARO_USE: 0
AHRS_TRIM_X: 0.000000
AHRS_TRIM_Y: 0.000000
AHRS_TRIM_Z: 0.000000
MNT_MODE: 3
MNT_RETRACT_X: 0.000000
MNT_RETRACT_Y: 0.000000
MNT_RETRACT_Z: 0.000000
MNT_NEUTRAL_X: 0.000000
MNT_NEUTRAL_Y: 0.000000
MNT_NEUTRAL_Z: 0.000000
MNT_CONTROL_X: 0.000000
MNT_CONTROL_Y: 0.000000
MNT_CONTROL_Z: 0.000000
MNT_STAB_ROLL: 0
MNT_STAB_TILT: 1
MNT_STAB_PAN: 0
MNT_RC_IN_ROLL: 0
MNT_ANGMIN_ROL: -4500
MNT_ANGMAX_ROL: 4500
MNT_RC_IN_TILT: 6
MNT_ANGMIN_TIL: -4500
MNT_ANGMAX_TIL: 4500
MNT_RC_IN_PAN: 0
MNT_ANGMIN_PAN: -4500
MNT_ANGMAX_PAN: 4500
MNT_JSTICK_SPD: 0
LIM_ENABLED: 0
LIM_REQUIRED: 0
LIM_DEBUG: 0
LIM_SAFETIME: 0
LIM_CHANNEL: 0
LIM_RECMODE: 0
LIM_GPSLCK_ON: 1
LIM_GPSLCK_REQ: 1
LIM_FNC_ON: 1
LIM_FNC_REQ: 1
LIM_FNC_SMPL: 1
LIM_FNC_RAD: 800
LIM_FNC_TOT: 0
LIM_ALT_ON: 1
LIM_ALT_REQ: 0
LIM_ALT_MIN: 0
LIM_ALT_MAX: 150
MOT_TB_RATIO: 1.000000
MOT_TCRV_ENABLE: 1
MOT_TCRV_MIDPCT: 52
MOT_TCRV_MAXPCT: 93
setup]
Replies
Hi Guys,
Problem turned out to be induced interference on one or more of the cables. After trying quite a few routes, have finally found one where the gimbal doesn't "jitter" any more.
Hope this helps others....
Les
after power the APM, go in Mission Planner and try to disable the 2 gimbal servos (there are 2 checkbox). wait 2 sec and enable again.
it works on my case, it not more jitter after re-enable (is like an reset).
also try to twist servo wires or to add ferrite ring on each. do that step by step:
1)disable-enable 2)twist servo wires 3)add ferrite
I'm not going to much help here. I too have servos that appear to be searching. It happens on both servos. I did find that when I rewired the servo lines using the bec power and ground going to pin 7 on the output the search did improve slightly. Other than that it is frustrating. I tried different servos and that didn't help either. I too am using a10 & 11 for the servos.