After combining my retracts from my previous blog post and my conversion plate to turn the 2-axis into a 3-axis gimbal

then also adding a mounting plate for the Storm32 BCG controller, further testing and setup goes great so far

Also did some tests using the spektrum sat option for the second operator to control the gimbal movements remotely (with possible future retract control also)

further settings to be done to fix the tilt upward issue I'm having yet

Goodluckbuy v1.31 Board:

HC-06 Bluetooth Module (supports auto bluetooth tool in gimbal gui):

Gimbal Frame

2-axis to 3-axis conversion plate:

Gimbal yaw motor:

Gimbal Roll & Pan Motors:

Controller Mounting plate: (Part from this:

Current firmware: (v0.65e)

Storm32 Wiki:

Storm32 Main Site:

For anyone not familiar with the Storm32 controller the GUI gives you setup wizards for setup of motors, imu, Bluetooth and advanced settings to control Mavlink options for future development use with arducopter and such

Views: 21380

Comment by Randy on March 3, 2015 at 5:19pm

Looking good.  We've been working with OlliW and have added a SToRM32 gimbal library into master (so it will go out with AC3.3) this will mean you can plug the SToRM32 gimbal into the Pixhawk's serial port.  So far we only have the do-mount-control messages working which means we're only using mavlink to send the target angles to the gimbal but it opens the door to a lot more communication that we couldn't do via PWM.  Things like easing the set-up for the user and passing down acceleration corrections so the gimbal angles remain accurate even during more aggressive maneuvers.

Comment by Charles lakins on March 3, 2015 at 6:16pm

Yeah I heard that Randy something to look forward as more dev goes, maybe some POI stuff I would imagine also

Comment by Jolyon Saunders on March 4, 2015 at 12:12pm
Looking good! I'm also in the process of building my gimbal after reading about integration with arducopter. Storm32 is looking to be a very good BGC option for users in the future.
Comment by Charles lakins on March 6, 2015 at 5:26pm

New firmware update - 66e

Release Notes:
* Pwm Out: Pin RC-1 can be configured as PWM output. The PWM signal can be broadly adjusted, including a speed limit setting. This should allow fancy things. The output signal can be tied to any of the inputs (PWM, summ PPM, spektrum, sBus, joystick, keys & buttons), as well as be remote controlled via the Mavlink RC commands. A corresponding command has also been added to the Motion Control scripts, see the example servo-pano-example2.mcs.
* A SetParameter() function is added to the Motion Control, which allows to adjust all gimbal parameters, see the example servo-pano-example2.mcs.
* The connection mechanism of the GUI has been improved. It should be more reliable now.
* The mavlink command set has been substantially extended, .
* Some bugs were removed, and further little improvements made, for details see the Revision file.

more details here:

PWM feature working to control my retracts

I made a patch male/female cable using the bec for power to the servo/retracts and the signal to RC-1(Uart1-TX) and it controls the servo using channel 6 on my spektrum sat,
under [functions tab] "pwm-out control" set to Virtual-6
also on [setup tab] I have "pwm out configuration" set to: 1520 us 55 Hz

Video test

Comment by Randy on March 21, 2015 at 10:21pm

The video above is of my SToRM32 gimbal (ver 0.67e) on a 3DR IRIS with Pixhawk running ArduCopter 3.3-dev which can use the do-mount-control mission command and the new MAVLink interface that OlliW has added to the gimbal firmware to do more completely autonomous filming.  It's not a fantastic video and my copter has some yaw oscillation but still I think it demonstrates some new controls we haven't had before in copter.

ArduCopter 3.3-rc1 (release candidate #1) will go out in about a week or so and I hope people give it a try with the SToRM32 gimbal.  There's a new arducopter wiki page here with connection details.

I'm pretty excited about it actually.  I hope some of the gimbal manufacturers will, in the future, sell ready-to-fly 3-axis gimbals including the SToRM32 with the DF13 6-pin connector pre-soldered.  I don't have any inside information, that's just my hope.

Comment by Charles lakins on March 22, 2015 at 6:15am

Great Stuff Randy ,Nice wiki instructions too btw :)

it would be nice to see sellers offer a complete gimbal that uses the storm32

Comment by Charles lakins on March 22, 2015 at 6:28am

My last video link I posted using the retracts

Comment by Charles lakins on April 16, 2015 at 12:10pm

i plan on incorporating one of these when they ship

paired with a bluetooth and teensy to make a remote controller for it

Comment by Charles lakins on May 9, 2015 at 9:19am

More Storm32 & Pixhawk Integration:

More info:

Comment by Kyomo Jung on May 21, 2015 at 4:51am

Wonderful job Charles and some questions

1) In case you control gimbal by TX, what about controlling copter? Is it switchable between controlling gimbal and copter?

2) In integration with Pixhawk, my understanding is that 2nd IMU is not needed because Pixhawk can take over?

   If not, what's the benefit from integration with Pixhawk?

3) Is there any further information on BetaCopter? I couldn't get any clue about what it is...

Thanks in advance Charles ^^


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