When developing the LeViteZer gimbal I have noted that solid frame is really important for the gimbal to work in all positions. A solid frame makes it possible to use vide range of PID/Power settings without vibrations, despite of the gimbal position.

I have put much effort to this and currently the LeViteZer gimbal can operate in any* position even with the 8 bit board. the only problem is when passing +/-180 pitch but this comes from the SW limits.



So was there a point on this post, well it is coming.

When the frame was not super solid (and it was already very solid) it always started vibrating at some angles and lost control easily. I am using 5D with 24-105 f4 objective and ND filter and lens hood, so there is lot of inertia on pitch axis, especially when using 105 mm.

I was just realising that maybe the vibrations where partially because the inertia of the gimbal axis change when pitching the gimbal up or down. Pitching the gimbal up 90 degrees and the yaw becomes roll and roll becomes yaw, but they have been PID tuned in flat position and now the inertias are different. (the same kind of inertia sifting happens when the gimbal is flat and camera pitched down 90 degrees)

What I would propose is kind of dynamic PID tuning. The Roll and Yaw PID values would be tuned in gimbal flat and gimbal 90 degrees up. The SW would then interpolate between these positions during the operation.

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*(almost any position roll up to +-80 degrees, after that yaw and pitch are starting to be on same axis)