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Encoder angle limits do not work
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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?
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Hello,
Please, make a video with your problem, upload to Youtube and place link here.
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There you go.
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. -
ANother video with a real camera presenting a roll-limits shaking
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