STorM32-Link

The information on this page refers to firmware v2.35e and higher.

The STorM32-Link refers to a communication link between the STorM32 gimbal controller and a drone's flight controller, in order to achieve advanced functions which otherwise would not be possible.

The primary goal of the STorM32-Link is too overcome two general and hard-to-tackle issues with 3-axis gimbals, namely the drifting of the yaw axis in the hold mode and the tilting of the horizon in high-g flight maneuvers. The respective mechanisms are called Yaw Drift Compensation and Horizon Drift Compensation, and both are available for T-STorM32 gimbals since firmware v2.35e, as demonstrated by the videos below. However, the STorM32-Link can also be used to achieve other innovative features in the future, such as novel yaw pan modes or automatic recalibration at startup.

The same physical connection used for the STorM32-Link is also used for exchanging the conventional serial commands, for controlling e.g. the tilt and pan of the camera, described in the articles Serial Communication or Uavcan. However, although the same bus is shared, this communication must not be considered part of the STorM32-Link (it's like TCP and UDP, they both share the same link, but TCP is not UDP and vice versa).

A comment on history, and why STorM32-Link is a T-STorM32 feature: The STorM32-Link has probably the most colorful development history. Originally conceived early 2015, at a time when neither BaseCam/AlexMos nor Greemsy had such a feature, it never really took off besides being partially available since then (see STorM32-Link). The game changed with the introduction of T-STorM32, since the more accurate data on the gimbal joint angles available with encoders help significantly in implementing the goals. Therefore, the STorM32-Link features have been made available only for T-STorM32.