Hello!
I have connected my pixhawk via Serial 4 to the SToRM32 Gimbal controller.
My wishes is to control the gimbal via RC inputs.
My RC transmitter transmits a little twitchy signals and they differ about 10 PWM every sec.
Can I somewhere adjust the RC deadband for CH6 and CH7(gimbal tilt and jaw) so that the pixhawk doesnt send altered signals until the PWM has changed, for example 20 PWM?
Replies
Because the pixhawk is sending an angle request, making the DZ work probably wouldn't do what you're looking for. It would only reduce the jitter when the RC input is very close to the middle position. I think what you're looking for is for us to filter the output to remove the twitches or perhaps ignore changes on the input unless they're bigger than some size (sort of a moving dead zone).
What's the effect on the SToRM32 gimbal when it receives slightly different outputs?
If you have a dataflash log I'd like to see it to see the amount of jitter on the RC input.
Thanks so much for answering Randy!
The effect on the SToRM32 gimbal is shown in the video. No input from the joystick is done.
I will perform a dataflash log later today and will get back to you.
Hampus,
Ok, that's a fair bit of movement there. I haven't seen that myself but let's see what the logs say.
EDIT: Something went wrong in the last measurement, and I have redone it. Now the signal jitter and the gimbal movement actually make sense together.
Please Randy, take a look at the log and tell me if I can in any way program so that we get a dead zone between the fluctuating values.
2015-10-08 22-35-44 61.bin.log
Nevermind, I just ordered a new reliable 2.4GHZ transmitter and receiver
Hampus,
As you've found, there's quite a bit of noise on channels 6 and 7. It's a bit odd that just these two channels are noisy. Ch6 in particular moves 25 points from min to max with fairly regular spikes of about 15pwm. Ch7 is moving about 20 pts.
It looks like the mount is setup so that Ch6 controls pan (aka yaw) which has a range of movement of a full 360 degrees. That means the pwm jitter causes 6 degrees of movement.
Ch7 controls tilt which is setup for 180degrees of movement so the pwm jiter cause 4 degrees of movement.
Anyway, a better TX/RX will hopefully help. Reducing the range of movement of the gimbal would also help I suspect.
I have similar problems. The RC deadband for the corresponding channel do not work
Exactly, changing the DZ parameter under RC6 and RC7 to 20 PWM doesn't seem to make a difference.