I have a Marcia pro handheld Gimbal with encoders on the roll and the pitch axis. yaw has no encoder. Hardware is a 32 Bit AlexMos controller, Software is 2.66 b2 (Encoder)
I can setup the roll and pitch axis perfect. But Yaw has some jitter/vibration. It happens when I move the cam out of position then the gimbal starts tiny vibrations. The frequency of this vibrations is higher the higher the P value is. Whe I go very low with P (1 or 2) the stabilization is very bad.
When I let the cam go, it moves back to the original position without vibration. Is it a normal behavior or can I tweak this out? (The other axes (with encoder) dont have this behavoir when moved out of position)
Maybe something mechanically not good, maybe yaw not balanced, maybe basic setup not performed, motors inverted wrong etc. and you need to tune also other parameters than P for good result. ofthen auto tuning provides good results, dry autotuning yaw only.
Thanks for the answer. Auto tuning of PID gives quite high values of PID but stabilization is good. The vibration is than with quite high frequency. When I move the yaw axis it feels like it tries to act against and then it stops and tries again. The fequency of this is proportional to the P value. Any idea? Is there a noverflow in the control value??