Manually Setting the IMU Orientation - Revision history

OlliW at 20:39, 10 January 2015

2015-01-10T20:39:04Z

← Older revision		Revision as of 22:39, 10 January 2015
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	As the motors are (hopefully) disabled still, you can move the camera by hand. The following behavior must be observed:		As the motors are (hopefully) disabled still, you can move the camera by hand. The following behavior must be observed:

	* When you tilt the camera downwards (~~lense~~ points to the ground), the Pitch value has to get more positive (the red line in the middle panel of the Data Display has to move upwards).		* When you tilt the camera downwards (lens points to the ground), the Pitch value has to get more positive (the red line in the middle panel of the Data Display has to move upwards).

	* When you roll the camera like in flying a right turn (clockwise when standing behind the camera), the Roll value has to get more positive (the green line in the middle panel of the Data Display has to move upwards).		* When you roll the camera like in flying a right turn (clockwise when standing behind the camera), the Roll value has to get more positive (the green line in the middle panel of the Data Display has to move upwards).

OlliW at 09:23, 9 January 2015

2015-01-09T09:23:29Z

← Older revision		Revision as of 11:23, 9 January 2015
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	Since v0.56 the GUI offers the {{GUI\|Configure Gimbal Tool}}, which allows you to set the IMU ~~oriantation~~ of both the camera and 2nd IMU very easily. On this ~~page~~ the method is described to set, and check, the correct IMU ~~oriantation~~(s) manually.		Since v0.56 the GUI offers the {{GUI\|Configure Gimbal Tool}}, which allows you to set the IMU orientation of both the camera and 2nd IMU very easily. You should preferably use this method. Here the method is described to set and/or check the correct IMU orientation(s) manually.

	It is of outmost importance to set the IMU orientation(s) correctly, else the controller has no chance to work correctly. So, please double and triple check that you got the IMU setting right!		It is of outmost importance to set the IMU orientation(s) correctly, else the controller has no chance to work correctly. So, please double and triple check that you got the IMU setting right!

OlliW: /* Determining the IMU Orientation */

2015-01-09T09:18:05Z

Determining the IMU Orientation

← Older revision		Revision as of 11:18, 9 January 2015
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	== Determining the IMU Orientation ==		== Determining the IMU Orientation ==

	First ensure that all motors are ~~shut off~~ to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the ~~lense~~, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.		First ensure that all motors are disabled or disconnected to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lens, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.

	The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.		The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.

	~~With selecting~~ the fields {{GUI\|z axis points}} and {{GUI\|x axis points}} the IMU orientation index, here no. 15, ~~is determined~~ and ~~written~~ into the {{PARAMNAME\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.		Selecting the fields {{GUI\|z axis points}} and {{GUI\|x axis points}} determines the IMU orientation index, here no. 15, and writes it into the {{PARAMNAME\|Imu Orientation}} parameter field located in the left top corner in the {{GUI\|Gimbal Configuration}} tab.

	To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.		To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.
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	[[File:3imuorientation.JPG\|480px]]		[[File:3imuorientation.JPG\|480px]]

	== Checking the IMU Orientation ==		== Checking the IMU Orientation ==

OlliW at 17:31, 8 January 2015

2015-01-08T17:31:36Z

← Older revision		Revision as of 19:31, 8 January 2015
Line 9:		Line 9:
	== Determining the IMU Orientation ==		== Determining the IMU Orientation ==

	First ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{~~PARAMNAME~~\|z axis points}} and {{~~PARAMNAME~~\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.		First ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.

	The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{~~PARAMNAME~~\|z axis points}} {{~~PARAMVALUE~~\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{~~PARAMNAME~~\|x axis points}} {{~~PARAMVALUE~~\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.		The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.

	With selecting the fields {{~~PARAMNAME~~\|z axis points}} and {{~~PARAMNAME~~\|x axis points}} the IMU orientation index, here no. 15, is determined and written into the {{PARAMNAME\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.		With selecting the fields {{GUI\|z axis points}} and {{GUI\|x axis points}} the IMU orientation index, here no. 15, is determined and written into the {{PARAMNAME\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.

	To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.		To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.

OlliW at 17:28, 8 January 2015

2015-01-08T17:28:02Z

← Older revision		Revision as of 19:28, 8 January 2015
Line 9:		Line 9:
	== Determining the IMU Orientation ==		== Determining the IMU Orientation ==

	First ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{~~GUI~~\|z axis points}} and {{~~GUI~~\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.		First ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{PARAMNAME\|z axis points}} and {{PARAMNAME\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.

	The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{~~GUI~~\|z axis points}} {{~~GUIPARAM~~\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{~~GUI~~\|x axis points}} {{~~GUIPARAM~~\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.		The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{PARAMNAME\|z axis points}} {{PARAMVALUE\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{PARAMNAME\|x axis points}} {{PARAMVALUE\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.

	With selecting the fields {{~~GUI~~\|z axis points}} and {{~~GUI~~\|x axis points}} the IMU orientation index, here no. 15, is determined and written into the {{~~GUI~~\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.		With selecting the fields {{PARAMNAME\|z axis points}} and {{PARAMNAME\|x axis points}} the IMU orientation index, here no. 15, is determined and written into the {{PARAMNAME\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.

	To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.		To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.
Line 27:		Line 27:
	As the motors are (hopefully) disabled still, you can move the camera by hand. The following behavior must be observed:		As the motors are (hopefully) disabled still, you can move the camera by hand. The following behavior must be observed:

	* When you tilt the camera downwards (~~lens~~ points to the ground), the Pitch value has to get more positive (the red line in the middle panel of the Data Display has to move upwards).		* When you tilt the camera downwards (lense points to the ground), the Pitch value has to get more positive (the red line in the middle panel of the Data Display has to move upwards).

	* When you roll the camera like in flying a right turn (clockwise when standing behind the camera), the Roll value has to get more positive (the green line in the middle panel of the Data Display has to move upwards).		* When you roll the camera like in flying a right turn (clockwise when standing behind the camera), the Roll value has to get more positive (the green line in the middle panel of the Data Display has to move upwards).

OlliW at 15:40, 8 January 2015

2015-01-08T15:40:09Z

← Older revision		Revision as of 17:40, 8 January 2015
Line 1:		Line 1:
	Since v0.56 the ~~STorM32 firmware and~~ GUI offers the {{GUI\|Configure Gimbal Tool}}, which allows you to set the IMU oriantation of both the camera and 2nd IMU very easily. On this page the method is described to set, and check, the correct IMU oriantation(s) manually.		Since v0.56 the GUI offers the {{GUI\|Configure Gimbal Tool}}, which allows you to set the IMU oriantation of both the camera and 2nd IMU very easily. On this page the method is described to set, and check, the correct IMU oriantation(s) manually.

	It is of outmost importance to set the IMU orientation(s) correctly, else the controller has no chance to work correctly. So, please double and triple check that you got the IMU ~~stetting~~ right!		It is of outmost importance to set the IMU orientation(s) correctly, else the controller has no chance to work correctly. So, please double and triple check that you got the IMU setting right!

	The procedure is identical for ~~both~~ the camera and 2nd IMU. The description is for the camera IMU; it is straight-forwardly ~~carryied~~ over to 2nd IMU.		The procedure is identical for the camera and 2nd IMU. The description is for the camera IMU; it is straight-forwardly carried over to the 2nd IMU.

	__TOC__		__TOC__
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	== Determining the IMU Orientation ==		== Determining the IMU Orientation ==

	~~The first thing is to~~ ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module~~, there~~ is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). ~~Now~~ hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer for setting the IMU orientation are where its z axis and x arrow point to.		First ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.

	The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.		The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.

	~~To send these setting to the board click on~~ the {{GUI\|~~Write~~}} ~~button. In order to make the changes permanent, the menu option~~ {{GUI\|~~Store to EEPROM~~}} ~~can be used~~. ~~Alternatively~~, ~~click on the check box next to~~ the {{GUI\|~~Write~~}} ~~button, which causes~~ the ~~button label to change to~~ {{GUI\|~~Write+Store~~}}~~, and hit the button. Both methods are fine~~.		With selecting the fields {{GUI\|z axis points}} and {{GUI\|x axis points}} the IMU orientation index, here no. 15, is determined and written into the {{GUI\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.

	~~Please note that~~ the ~~fields~~ {{GUI\|~~z axis points~~}} ~~and~~ {{GUI\|~~x axis points~~}} ~~are for your support only~~. ~~Their purpose is~~ to ~~simplify the setting of the IMU orientation index, here no. 15, and writing it into~~ the {{GUI\|~~Imu Orientation~~}} ~~parameter field located in the left top corner on~~ the {{GUI\|~~Gimbal Configuration~~}} ~~tab~~.		To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.

	[[File:Storm32-wiki-gimbal-configuration-imu-orientation-01.jpg\|480px]]		[[File:Storm32-wiki-gimbal-configuration-imu-orientation-01.jpg\|480px]]
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	== Checking the IMU Orientation ==		== Checking the IMU Orientation ==

	In order to ensure a correct IMU orientation you should test it. Write the setting to the controller (temporarily or into the EEPROM) and then click on the {{GUI\|Data Display}} button. This ~~will open~~ a realtime monitor window. In the top you can see the current Pitch, Roll, and Yaw angles once you did click on {{GUI\|Start}} in the window.		In order to ensure a correct IMU orientation you should test it. Write the setting to the controller (temporarily or into the EEPROM) and then click on the {{GUI\|Data Display}} button. This opens a realtime monitor window. In the top you can see the current Pitch, Roll, and Yaw angles once you did click on {{GUI\|Start}} in the window.

	As the motors are (hopefully) disabled still, you can move the camera by hand. The following behavior must be observed:		As the motors are (hopefully) disabled still, you can move the camera by hand. The following behavior must be observed:
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	If you do not observe that, then go back and repeat the IMU orientation setting.		If you do not observe that, then go back and repeat the IMU orientation setting.

	{{COMMENT\|When checking the setting for the 2nd IMU, don't forget to click the respective checkbox in the Data Display}}.		{{COMMENT\|When checking the setting for the 2nd IMU don't forget to click the respective checkbox in the Data Display}}.

	[[File:9datadisplay.png\|480px]]		[[File:9datadisplay.png\|480px]]
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	== Appendix ==		== Appendix ==

	In case your IMU board has no arrow printed on it or you are uncertain, when you can also use the white dot in one of the corners on the IMU chip (MPU6050) to determine the orientation. In the diagram below the axes and their orientation in relationship to the dot are shown.		In case your IMU board has no arrow printed on it or you are uncertain, when you can also use the white dot in one of the corners on the IMU chip (MPU6050) to determine the orientation. In the diagram below the axes and their orientation in relationship to the dot are shown as sketch and for some examples.

	As said before, the z axis comes out of the top surface of the chip and the x axis points away from the dot. Check the chip labels, the x axis runs in the reading direction of the labeling.		As said before, the z axis comes out of the top surface of the chip and the x axis points away from the dot. Check the chip labels, the x axis runs in the reading direction of the labeling.

	~~The diagram below provides some examples of the IMU orientation.~~

	[[File:Storm32-wiki-imu-orientation-and-modules-01.jpg\|600px]]		[[File:Storm32-wiki-imu-orientation-and-modules-01.jpg\|600px]]

OlliW at 12:57, 8 January 2015

2015-01-08T12:57:05Z

← Older revision		Revision as of 14:57, 8 January 2015
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	The procedure is identical for both the camera and 2nd IMU. The description is for the camera IMU; it is straight-forwardly carryied over to 2nd IMU.		The procedure is identical for both the camera and 2nd IMU. The description is for the camera IMU; it is straight-forwardly carryied over to 2nd IMU.

			__TOC__

	== Determining the IMU Orientation ==		== Determining the IMU Orientation ==

OlliW at 12:55, 8 January 2015

2015-01-08T12:55:44Z

← Older revision		Revision as of 14:55, 8 January 2015
Line 5:		Line 5:
	The procedure is identical for both the camera and 2nd IMU. The description is for the camera IMU; it is straight-forwardly carryied over to 2nd IMU.		The procedure is identical for both the camera and 2nd IMU. The description is for the camera IMU; it is straight-forwardly carryied over to 2nd IMU.

	=== Determining the IMU Orientation ===		== Determining the IMU Orientation ==

	The first thing is to ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module, there is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Now hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer for setting the IMU orientation are where its z axis and x arrow point to.		The first thing is to ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module, there is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Now hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer for setting the IMU orientation are where its z axis and x arrow point to.
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	[[File:3imuorientation.JPG\|480px]]		[[File:3imuorientation.JPG\|480px]]

	=== Checking the IMU Orientation ===		== Checking the IMU Orientation ==

	In order to ensure a correct IMU orientation you should test it. Write the setting to the controller (temporarily or into the EEPROM) and then click on the {{GUI\|Data Display}} button. This will open a realtime monitor window. In the top you can see the current Pitch, Roll, and Yaw angles once you did click on {{GUI\|Start}} in the window.		In order to ensure a correct IMU orientation you should test it. Write the setting to the controller (temporarily or into the EEPROM) and then click on the {{GUI\|Data Display}} button. This will open a realtime monitor window. In the top you can see the current Pitch, Roll, and Yaw angles once you did click on {{GUI\|Start}} in the window.
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	[[File:9datadisplay.png\|480px]]		[[File:9datadisplay.png\|480px]]

	=== Appendix ===		== Appendix ==

	In case your IMU board has no arrow printed on it or you are uncertain, when you can also use the white dot in one of the corners on the IMU chip (MPU6050) to determine the orientation. In the diagram below the axes and their orientation in relationship to the dot are shown.		In case your IMU board has no arrow printed on it or you are uncertain, when you can also use the white dot in one of the corners on the IMU chip (MPU6050) to determine the orientation. In the diagram below the axes and their orientation in relationship to the dot are shown.

OlliW at 12:53, 8 January 2015

2015-01-08T12:53:07Z

← Older revision		Revision as of 14:53, 8 January 2015
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	[[File:3imuorientation.JPG\|480px]]		[[File:3imuorientation.JPG\|480px]]


	=== Checking the IMU Orientation ===		=== Checking the IMU Orientation ===

OlliW at 12:52, 8 January 2015

2015-01-08T12:52:47Z

← Older revision		Revision as of 14:52, 8 January 2015
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	=== Determining the IMU Orientation ===		=== Determining the IMU Orientation ===

	The first thing is to ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module, there is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Appendix]] below). Now hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer for setting the IMU orientation are where its z axis and x arrow point to.		The first thing is to ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module, there is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Now hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer for setting the IMU orientation are where its z axis and x arrow point to.

	The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.		The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.
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	If you do not observe that, then go back and repeat the IMU orientation setting.		If you do not observe that, then go back and repeat the IMU orientation setting.

	{{~~Comment~~\|~~For cheking~~ the setting for the 2nd IMU, don't forget to ~~check~~ the respective checkbox in the Data Display}}.		{{COMMENT\|When checking the setting for the 2nd IMU, don't forget to click the respective checkbox in the Data Display}}.

	[[File:9datadisplay.png\|480px]]		[[File:9datadisplay.png\|480px]]
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	The diagram below provides some examples of the IMU orientation.		The diagram below provides some examples of the IMU orientation.

	[[File:~~5IMUorientation~~.~~JPG~~\|600px]]		[[File:Storm32-wiki-imu-orientation-and-modules-01.jpg\|600px]]

← Older revision		Revision as of 19:31, 8 January 2015
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	== Determining the IMU Orientation ==		== Determining the IMU Orientation ==

	First ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{~~PARAMNAME~~\|z axis points}} and {{~~PARAMNAME~~\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.		First ensure that all motors are shut off to avoid any motor movements. Then investigate your IMU board/module. There is usually an arrow printed on it for the x axis. If not, you may use the little dot marker on the IMU chip as reference (see the [[Manually_Setting_the_IMU_Orientation#Appendix\|Appendix]] below). Next, hold the gimbal and camera in front of you, as if you would be taking a picture. {{GUIPARAM\|Up}} refers to the top of the camera, {{GUIPARAM\|forward}} to its front with the lense, and {{GUIPARAM\|right}} to the right-hand side of the camera. Finally, go to the {{GUI\|Gimbal Configuration}} tab. In the bottom you find the fields {{GUI\|z axis points}} and {{GUI\|x axis points}}. The questions to answer now for setting the IMU orientation are where its z axis and x arrow point to.

	The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{~~PARAMNAME~~\|z axis points}} {{~~PARAMVALUE~~\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{~~PARAMNAME~~\|x axis points}} {{~~PARAMVALUE~~\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.		The IMU's z axis points outwards of the surface of the IMU chip, i.e., comes straight out of the IMU board. In the example below, as the IMU board is mounted upside down, it points downwards the camera, so in the GUI you specify that the {{GUI\|z axis points}} {{GUIPARAM\|down}}. For the x axis we use the printed arrow on the IMU board. In the example below it is pointing in the camera's forward (shooting) direction, hence in the GUI you set that the {{GUI\|x axis points}} {{GUIPARAM\|forward}}. The little graphic on the right displays your setting, i.e., the IMU's x-y-z axes with respect to the camera's up-right-forward orientations.

	With selecting the fields {{~~PARAMNAME~~\|z axis points}} and {{~~PARAMNAME~~\|x axis points}} the IMU orientation index, here no. 15, is determined and written into the {{PARAMNAME\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.		With selecting the fields {{GUI\|z axis points}} and {{GUI\|x axis points}} the IMU orientation index, here no. 15, is determined and written into the {{PARAMNAME\|Imu Orientation}} parameter field located in the left top corner on the {{GUI\|Gimbal Configuration}} tab.

	To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.		To send the setting to the board click on the {{GUI\|Write}} button. In order to make the changes permanent, the menu option {{GUI\|Store to EEPROM}} can be used. Alternatively, click on the check box next to the {{GUI\|Write}} button, which causes the button label to change to {{GUI\|Write+Store}}, and hit the button. Both methods are fine.