I have: Three motors with calibrated encoders. Firmware ver.: 2.63 b0, board ver.:3,6
After I calibrated everything and camera started to stabilize I have set limits to roll and pitch. I was expecting camera to stop movement after it reaches the limit but instead of smooth stop camera started twitching back and forth along the movement axis. This twitching happens when I keep tilting my gimbal after the motor hit its limit. When I stop and tilt gimbal back everything is fine.
Can anyone suggest what is the problem here and how to make angle limits work properly?
The camera that had this problem was already shipped with angle limits turned off, but I was able to repeat the same problem on a testing equipment. It looks messy af, but it does the trick.
Another thign. It appears that this problem is absent if I have Adaptive PID gains turned off. But once I turn them on the camera starts twitching upon reacing angle limits again.
On that video twitches can be seen at: 0:18 0:23 0:25 - 0:30 0:35 - and so on A pitch twitch at 0:50, 0:55 You can see how the camera slowly returns to its stabilized position after twitch. If no twithc happened though, it reacts to change a;most instantly.
We have released 2.68b0 (b1) that fixes one error releated to the software limits. Please try this version. Anyway, software limits may work pretty hard - it is normal, because system applies very sharp signal to move camera away from the limit.