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alexmos
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Discussions
Comments
358
Anyone used the VN-200 IMU?
We tested only VN100 and VN200. I can't confirm VN110, but if it has a similar protocol and differs only in hardware, - yes it is supported, too.
Comment by
alexmos
May 2019
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Anyone used the VN-200 IMU?
Hello, I received reports that it works perfectly (tested on a plane). Also, VN100 that does not have GPS, works much better than regular IMU in applications like driving a car.
Comment by
alexmos
May 2019
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Follow mode in Angle Control
BTW, if you need remote control together with the Follow mode, do not use mode with setpoints (mode_angle or mode_speed), use MODE_RC instead, which is compatible with the Follow mode. This way you can get remote control fluently mixed with the foll…
Comment by
alexmos
May 2019
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Follow mode in Angle Control
Hello, With the CONTROL_MODE_ANLGE you pass target angle where gimbal should point (setpoint). Follow mode is another concurrent source of setpoint, so only one can work at a time. If you mean different control for different axes, now it can be don…
Comment by
alexmos
May 2019
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LS-FOG-01AB - IMU sensor
Hello, No, we did not try FOG sensor and as I know, nobody tried. It is not possible to connect it to our board - analog models needs external ADC, digital model need to add a support in firmware. Because of a very high price, we are not planning …
Comment by
alexmos
May 2019
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No error on heading vector error gauge in magnetometer calibration
Hello, The crucial parameter is "Hardware" - "Heading correction factor". Check that it is set to non-zero. The recommended value is 50-70.
Comment by
alexmos
May 2019
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Motor_out vs Motor_power vs Balance_error?
Hello, Balance_error is low-pass filtered (smoothed), motor_out shows instant output to the motor and may be very noisy. Also, balance_error is scaled to +-512 range regardless of the other settings (but motor_out maybe scaled too, don't re…
Comment by
alexmos
May 2019
permalink
BAUD Rate and GUI, 2.68b7
Helo, GUI use auto-detection of baud rates, so it needs some time to switch to new rate. Then it remembers last used rate and next time connects quickly. You can disable auto-detection and set an expected rate in the GUI, File - Settings.
Comment by
alexmos
May 2019
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Command ID 37?
Hello, It is command to start testing of system response. Because this command is usable only in the GUI, we did not documented it. Regards, Aleksey.
Comment by
alexmos
May 2019
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Servo mode implementation
Hello! This mode is implemented in the CAN_DRV, but currently, it is not implemented in the firmware of the main gimbal controller, i,e, you can not control driver in servo mode directly. The only single application that is implemented at this mome…
Comment by
alexmos
May 2019
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Weird behavior and undocumented commands
Hello. To reset gmbal controller, send CMD_RESET=114. It should always work, unless you have frozen serial communication. Example: http://ybex.com/d/m3jn0ps7p54ojzs566svl8r4tk4ae8gp3rc3beev.html If restarting app helps, it may mean that problem i…
Comment by
alexmos
April 2019
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Need some help in improving gimbal stability
Hello, Using encoders will not give a big profit. Installing the 2nd IMU on the frame can help a bit (if not installed already). But the most important are the following: 1) very soft vibration dampers to isolate vibrations as much as possible 2) …
Comment by
alexmos
April 2019
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How to locate the accelerometer
Hi, You do not need to fix IMU on a gimbal to perform calibration. You need just to connect it by cable to allow to communicate, then start doing calibration. Also you can try to cool down the whole gimbal to the required temperature (in winter it…
Comment by
alexmos
April 2019
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Fiber Optic Gyro?
Hello! Regarding electronics, it is not hard to connect this FOG to CAN_IMU module - it has free UART port and can be used as an interface to this gyro. You need to add only RS422-to-TTL converter to get 3.3V logic level on Rx and Tx, and +9V from …
Comment by
alexmos
April 2019
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System analysis tool: plant response with/without encoders enabled
1) First of all, I advise to upgradeto version 2.68b7 (both firmware and GUI) - the Bode plot was slightly rewritten there. Prior to this, it was error in phase, as I remember. 2) The response with encoders should not differ much from response w/o…
Comment by
alexmos
March 2019
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Non-liearities correction calibration does not work
Glad that it works now. It is very important to have free run of motor to calibrate non-linearities and low mass linked to it, because the range of forces that non-linearities produce, are pretty small. If you have bad balance or friction in the sy…
Comment by
alexmos
March 2019
permalink
System analysis tool: questions about .csv file
1. Units are gyroscope rate units (2000/32767 deg/sec). We estimating system response, out/in, so consider them as relative units. 2. Time step is 800 us 3. I don't remember exactly, most probably they are parameters of the test (a type of s…
Comment by
alexmos
March 2019
permalink
Resetting Tilt Angle by touching a button without interfering by hands
Okay, so for your task is better to use menu button to run script. or extra button linked to virtual RC channel to change adjustable variable directly to switch Follow mode on/off. Second option is a combination of "Service" - "Extra…
Comment by
alexmos
March 2019
permalink
Resetting Tilt Angle by touching a button without interfering by hands
1) From a script, you can use SET_ADJ_VAR command. There is adjustable variable that controls the follow mode: FOLLOW_YAW_PITCH "Follow mode by all axes: 0 - off, 1 – Follow YAW 2* - Follow YAW, PITCH and optionally ROLL" More info you…
Comment by
alexmos
March 2019
permalink
Non-liearities correction calibration does not work
Hello! Does gimbal works in the "encodedr" mode? It means that encoders are enabled, functional and calibrated for offset and el.field offset. The "motor power" indicator is near zero.
Comment by
alexmos
March 2019
permalink
Resetting Tilt Angle by touching a button without interfering by hands
Hello! As I understand, all you need to solve this task, is to turn the follow mode ON and OFF. As an example, gimbal is working with follow mode enabled (ON). Then you need to adjust home point. You switch ingto "Lock" mode (i,e, turn …
Comment by
alexmos
March 2019
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encoder 5048a read the values with serial api with arduino
Hello! There is no such ready-to-use example, but you can modify any existing example where Serial API commands are parsed. You have to send command CMD_GET_ANGLES_EXT or CMD_REALTIME_DATA_CUSTOM and parse response. To encode and decode commands, …
Comment by
alexmos
January 2019
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Explaining bode plot
I can recommend to search tutorials where there are keywords "control theory", "bode plot", "PID controller". Yes, the units are most often for the rate of rotation. You do not see it because direction changes from 5 t…
Comment by
alexmos
January 2019
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Explaining bode plot
This data are input and output of a system. You can use any tool for any kind of analysis. Bode plot is just one method among many others. The commonly used tools are Matlab, Octave. but you need some specific skills to work with them. Regards, …
Comment by
alexmos
January 2019
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Single axis gimbal setup using encoder
Hello, No, feedback from an encoder is not supported. You always need IMU to make the SimpleBGC32 system working. What you are talking is "servo drive" mode over speed or position, that is implemented in most of industry BLDC controllers…
Comment by
alexmos
January 2019
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Explaining bode plot
Each signal can be considered as a sum of harmonic signals (sinusoidal). If you send pure harmonic signal with the 10Hz frequency on input, you can expect an amplitude and phase response on the output that exactly matches with the Bode plot at 10 H…
Comment by
alexmos
January 2019
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Explaining bode plot
The output of a gyroscope sensor is measured in "rotation rate" units. The input of PID is the same (remember it is closed loop controller), so in this case units matches and we can use amplitude and phase response directly. If we analyz…
Comment by
alexmos
January 2019
permalink
Explaining bode plot
Hello, Bode plot analysis is indeed not an easy to explain. It's required to understand the basics of control theory. In basecam controllers, it is used to analyze several systems, comparing it's input and output like it is stated in t…
Comment by
alexmos
January 2019
permalink
external IMU chapter 18 & 19 of manual
This article describes a number of parameters you need to configure in Ardupilot to control MavLink-enabled gimbal: http://ardupilot.org/copter/docs/common-storm32-gimbal.html#common-storm32-gimbal (article is for Storm32 gimbal, but all Ardupilot…
Comment by
alexmos
January 2019
permalink
mavlink
Hi, Set the MNT_TYPE = 4 (MavLink) in the MissionPlanner.
Comment by
alexmos
January 2019
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alexmos
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