Locking gimbal design, Help needed please.

Hello all,

I've been developing a locking gimbal system for a few months now and I'm in desperate need of some software to make my gimbal work fully.

The basic idea for the gimbal is for a second person to be able to control the camera pan and tilt whilst it is stabilized by the APM but remaining very lightweight and also not having any obstructions in view whilst 360 Degree panning.

My all up weight with the tricopter is 1250g. thats 800g for the tri, 200g for the gimbal and accessories and 250g for the camera. 

Ive done some flight tests but i have had to hand launch due to the lack of software to make the locking mechanism work. The gimbal works ok but still needs a bit of fine tuning which I'm concentrating on at the moment.(all work in progress)

What I'm after is the two roll servos (that are plugged into separate roll channels) to go to a neutral position and then go to a retract position (opposite to each other) to lock and unlock the gimbal. The tilt servos need to just go to a neutral position. This function could be triggered by a simple rc input or possible auto trigger somehow. If any one is willing to help out with the  software I would be happy to share any drawings etc of my design or possibly make a gimbal or two. (the design and function is still in progress though so no guarantee of functionality just yet)

Sorry for bad video quality!

https://www.youtube.com/watch?v=FvnCta23gu8&feature=youtu.be 

3691035911?profile=original

Cheers

Alex

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

Join diydrones

Email me when people reply –

Replies

  • Oh and this in GCS_Mavlink.

    #if CAMERA == ENABLED

        case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:

        {

            camera.configure_msg(msg);

            break;

        }

        case MAVLINK_MSG_ID_DIGICAM_CONTROL:

        {

            camera.control_msg(msg);

            break;

        }

    #endif // CAMERA == ENABLED

    #if MOUNT == ENABLED

        case MAVLINK_MSG_ID_MOUNT_CONFIGURE:

        {

            camera_mount.configure_msg(msg);

            break;

        }

        case MAVLINK_MSG_ID_MOUNT_CONTROL:

        {

            camera_mount.control_msg(msg);

            break;

        }

        case MAVLINK_MSG_ID_MOUNT_STATUS:

        {

            camera_mount.status_msg(msg);

            break;

        }

    #endif // MOUNT == ENABLED

  • All I can seem to find about the Mount message is here in commands_Logic.pde

     

    #if MOUNT == ENABLED

        case MAV_CMD_DO_MOUNT_CONFIGURE:                    // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|

            camera_mount.configure_cmd();

            break;

        case MAV_CMD_DO_MOUNT_CONTROL:                      // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|

            camera_mount.control_cmd();

            break;

    #endif

        default:

            // do nothing with unrecognized MAVLink messages

            break;

        }

    }

    There is something to do with channel 7 for shutter control. Don't know if this can maybe be adapted to work somehow?

     

     

    // do_take_picture - take a picture with the camera library

    static void do_take_picture()

    {

    #if CAMERA == ENABLED

        camera.trigger_pic();

        if (g.log_bitmask & MASK_LOG_CAMERA) {

            Log_Write_Camera();

        }

    #endif

    }

    Regards

     

    Alex

  • Hi Søren, the gimbal has the undercarriage attached to it so the legs don't get in the shot when it is panned around. When it is on the floor the apm keeps the gimbal flat which is great but say you came to land, when the motors stop keeping the tricopter from staying level it will fall to the floor. So the universal joint locks by moving the servos to a certain position stopping this From happening. I need the retract functions to work with an rc input and not a mavlink message. Very frustrating!
  • Hi, what do you mean with locking? Mechanically preventing it from moving (why would you want to do that)? Or tracking something, "locking" on to it?

    It's servos and not brushless, right?

    Regards

    Soren

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @a1k0n: @DanielChiaJH @diyrobocars @circuitlaunch Here's my car's view of that race. About 8.4 second lap times for laps 2 and 3... both…
12 hours ago
DIY Robocars via Twitter
RT @DanielChiaJH: Great racing against @a1k0n today at @diyrobocars! Pretty cool to both break sun-9s at the track today I think I got very…
Sunday
DIY Robocars via Twitter
Broadcasting the @circuitlaunch race live now at https://m.twitch.tv/diyrobocars Races begin around 2:00pm PT
Saturday
DIY Robocars via Twitter
RT @a1k0n: ran a huge number of hyperparameter tuning experiments yesterday; now I can train a new policy, far with better quality, in 15 m…
Saturday
DIY Robocars via Twitter
RT @a1k0n: Did I get rid of hand-tuned parameters? Yes. Am I still hand-tuning more parameters? Also yes. I have a few knobs to address the…
Sep 26
DIY Robocars via Twitter
RT @a1k0n: I'm not going to spoil it, but (after charging the battery) this works way better than it has any right to. The car is now faste…
Sep 26
DIY Robocars via Twitter
RT @a1k0n: Decided to just see what happens if I run the sim-trained neural net on the car, with some safety rails around max throttle slew…
Sep 26
DIY Robocars via Twitter
Sep 24
DIY Robocars via Twitter
RT @SmallpixelCar: @a1k0n @diyrobocars I learned from this. This is my speed profile. Looks like I am too conservative on the right side of…
Sep 24
DIY Robocars via Twitter
RT @a1k0n: @SmallpixelCar @diyrobocars Dot color is speed; brighter is faster. Yeah, it has less room to explore in the tighter part, and t…
Sep 24
DIY Robocars via Twitter
RT @a1k0n: I'm gonna try to do proper offline reinforcement learning for @diyrobocars and throw away all my manual parameter tuning for the…
Sep 23
DIY Robocars via Twitter
RT @circuitlaunch: DIY Robocars & Brazilian BBQ - Sat 10/1. Our track combines hairpin curves with an intersection for max danger. Take tha…
Sep 22
DIY Robocars via Twitter
RT @SmallpixelCar: Had an great test today on @RAMS_RC_Club track. However the car starts to drift at 40mph. Some experts recommended to ch…
Sep 11
DIY Robocars via Twitter
RT @gclue_akira: 世界最速 チームtamiyaのaiカー https://t.co/1Qq2zOeftG
Sep 10
DIY Robocars via Twitter
RT @DanielChiaJH: Always a good time working on my @diyrobocars car at @circuitlaunch. Still got some work to do if I’m to beat @a1k0n howe…
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: My new speed profile for @RAMS_RC_Club track https://t.co/RtLb7TcgIJ
Sep 10
More…