Hi everyone,After spending almost my entire Sunday trying to get this work, I finally thought that asking here might be wise...Here is my problem:I can't get to control my tarot gimbal tilt from my RC through the Pixhawk.I think the Pixhawk is running the latest apm version (I updated it a month ago).I've found two different wiring instructions.- Here, using 3 cables: http://3drobotics.com/wp-content/uploads/2014/02/Tarot-gimbal-kit-quady6x8.pdf- Here, with 2 cables: http://copter.ardupilot.com/wiki/common-tarot-gimbal/None would work for me.With the 3 wires option, the gimbal turns and locks facing up/left.With the 2 wires option, the gimbal behaves like it's working independently (i.e. stabilizes nicely, keeping the camera straight, but now way to command it).I checked in APM PLANNER, RC calibration, the knob (pot) I want to use seems correctly mixed to channel 6 and I can see the gauge moving on the calibration page.So it seems that it is not something on the RC side or the Rx.Btw, I use a turnigy 9x flashed with the er9x firmware. The receiver is a FrSky D8r-II plus flashed with the XP firmware to get PPM.I also followed the wiki instructions to configure the gimbal in the mission planner.I uploaded the 3dr settings to the gimbal with the tarot flashing software.And the gimbal is running the 1.4 firmware.So please, can anyone help me find where I'm messing up?And as a starting point: is it a 2 or 3 cables wiring needed to the pixhawk?Many thanks for your help,Mathieu
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Verified that Signal (AUX 1 / RC9 on the Pixhawk) and ground are in the right places, and that I'm connected to the minus and "T" pins on the Tarot.
Verified correct configuration on Tarot (V1.5, Tarot Mount, Standard Receiver, Stick Position Mode)
Verified calibration on radio input channel (RC7) - channel mapping and limits.
Verified Camera Gimbal settings in APM
The "blinking blue light" indicates a connection on the Tarot, and it stabilizes fine. I'm actually able to successfully change the tilt on the gimbal if I change the Min/Max Servo limits or the angle limits (although I can't exactly determine the correlation).
However, I can't get it to respond to the AUX2 knob on my Spektrum DX7s controller.
If I connect to the port on the Tarot, I'm able to see a change in RC input.
I've even tried the other AUX outs on the PIXHAWK, adjusting the appriate settings in APM, and verifying that it is indeed talking to the right channel.
Perhaps something is fried? Errant APM parameter not set right?
Hi Chris,
Make sure you calibrated the gimbal sensor in the Tarot software (back of the camera mount laid on a flat surface, camera facing up) and see if it works.
I think this is what unlocked everything for me.
So far as I can tell, this is all that needs to be done. You can "enable motors" to see it point straight and level, and perhaps you may need to "save settings to flash" after done.
I - I've performed the calibration a few times over having it set up. Camera on its back, pointing at the sky and as "level" as I can make it. After the calibration is looks like its reading zeros on pitch/tilt/roll when the camera is pointing straight ahead. Unfortunately that doesn't "unlock" anything for me.
As for servos, I don't have one to connect to it, but I know that the pixhawk is outputting *SOMETHING* as I'm able to move it to different AUX channels and verify that it's talking to something. As I mentioned, I can change the pixhawk settings and get it to move around consistently, but I just can't get the RC6 or RC7 channels from the AUX1 or AUX2 channels of my Spektrum DX7s to do that through the Pixhawk. I know the channel is working and calibrated. Just no joy.
Still out of ideas.
Chris Lewicki > Chris LewickiJune 22, 2014 at 8:12pm
Solved!
It turns out if you've ever clicked on "Point Camera Here" in APM Planner, it will do something like a "Do-Set-ROI" which changes the value of the parameter MNT_MODE = 2 (MavLink_targeting), with the result being that it will forever ignore the inputs coming from the radio.
Setting MNT_MODE = 3 (RC_targeting) lets it listen to the radio again.
Perhaps I'm using APM Planner incorrectly, but this is probably in need of an interface improvement. Also, it would be good if this behavior were mentioned on the Ardupilot "Tarot Gimbal" page and other pages on interfacing to Gimbals.
I also think that calibrating the interface could be documented better. Probably will start a new thread for that.
I'd make ultra-sure you've got the wire pinouts correct. You might need to use Mission Planner to gain access to the BRD_PWM_COUNT which could have possibility defaulted to something non-usable. I don't think RELAY_PIN matters, but RCx_FUNCTION will when you confirm the "blinking blue light" for connectivity, and need to pass through the RC commanding.
Replies
Hello all:
I had the same problem using an Alexmos type gimball and finally got the following solution:
- Connected Main Out nº6 (section 3)
with gimball
- Set SERVO6_FUNCTION to 1 RC PASSTHU ( http://ardupilot.org/copter/docs/parameters.html#servo6-parameters )
Be sure to power the Pixhawk with battery when testing (not through USB)
I'm having similar problems controlling tilt on my Tarot-2D, and at a loss of what to try next.
Here's what I've done so far:
The "blinking blue light" indicates a connection on the Tarot, and it stabilizes fine. I'm actually able to successfully change the tilt on the gimbal if I change the Min/Max Servo limits or the angle limits (although I can't exactly determine the correlation).
However, I can't get it to respond to the AUX2 knob on my Spektrum DX7s controller.
If I connect to the port on the Tarot, I'm able to see a change in RC input.
I've even tried the other AUX outs on the PIXHAWK, adjusting the appriate settings in APM, and verifying that it is indeed talking to the right channel.
Perhaps something is fried? Errant APM parameter not set right?
At a loss of what to try next.
Make sure you calibrated the gimbal sensor in the Tarot software (back of the camera mount laid on a flat surface, camera facing up) and see if it works.
I think this is what unlocked everything for me.
Good luck!
Keep us posted :)
Mathieu
So far as I can tell, this is all that needs to be done. You can "enable motors" to see it point straight and level, and perhaps you may need to "save settings to flash" after done.
Mine does level and track horizon without the wires hooking it to the Pixhawk.
If I connect it to the pixhawk, I can crudely adjust it by changing the Gimbal parameters, but alas not with the AUX knob yet.
Spektrum DX7s
I - I've performed the calibration a few times over having it set up. Camera on its back, pointing at the sky and as "level" as I can make it. After the calibration is looks like its reading zeros on pitch/tilt/roll when the camera is pointing straight ahead. Unfortunately that doesn't "unlock" anything for me.
As for servos, I don't have one to connect to it, but I know that the pixhawk is outputting *SOMETHING* as I'm able to move it to different AUX channels and verify that it's talking to something. As I mentioned, I can change the pixhawk settings and get it to move around consistently, but I just can't get the RC6 or RC7 channels from the AUX1 or AUX2 channels of my Spektrum DX7s to do that through the Pixhawk. I know the channel is working and calibrated. Just no joy.
Still out of ideas.
Solved!
It turns out if you've ever clicked on "Point Camera Here" in APM Planner, it will do something like a "Do-Set-ROI" which changes the value of the parameter MNT_MODE = 2 (MavLink_targeting), with the result being that it will forever ignore the inputs coming from the radio.
Setting MNT_MODE = 3 (RC_targeting) lets it listen to the radio again.
Perhaps I'm using APM Planner incorrectly, but this is probably in need of an interface improvement. Also, it would be good if this behavior were mentioned on the Ardupilot "Tarot Gimbal" page and other pages on interfacing to Gimbals.
I also think that calibrating the interface could be documented better. Probably will start a new thread for that.
It's not clear if you're using the Tarot gimbal controller or not.
Two things I was reminded of when upgrading to AC3.2-rc6
I'd make ultra-sure you've got the wire pinouts correct. You might need to use Mission Planner to gain access to the BRD_PWM_COUNT which could have possibility defaulted to something non-usable. I don't think RELAY_PIN matters, but RCx_FUNCTION will when you confirm the "blinking blue light" for connectivity, and need to pass through the RC commanding.
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