Hi,

I have built a two axis gimbal Pan (yaw) Tilt (pitch) using 32 bit controller for mounting in belly mount configuration for a glider aircraft. Stabilization is perfectly working for both axis and I am controlling position using PWM inputs.

What I am trying to achieve is to constantly look at a target when the aircraft is loitering (circling) the target at 300m radius. Issue I am facing is due to constant change in aircraft heading yaw axis rotates off the target.

Is it feasible to keep the yaw at a constant offset with reference to aircraft heading? Like yaw always pointing to center of the loiter circle..

Does it need additional hardware? (like encoder/magnetometer..) Or any settings in software?

Thanks
Mrutyunjay Hegde