Gimbal Code Questions

Can anyone point me where to dig into the gimbal code?  I am considering building a small gimbal for my FPV quad (see this thread for reference), and would like to use the built in gimbal controls on the APM.  However, the way that this simple gimbal works, servo mixing would be required since both servos are used for both axes.  I think that it would simply be a change in the math on the servo output - I really wouldn't need to modified how the gimbal control laws operate.

So, in sum, where should I started looking and tweaking?  I haven't been able to find anything in the source, but I am somewhat  novice in changing this code.



You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


This reply was deleted.