Quick Start Guide - Revision history

OlliW: /* Calibration */

2015-09-17T22:11:10Z

Calibration

← Older revision		Revision as of 00:11, 18 September 2015
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	== Calibration ==		== Calibration ==
	The accelerometers within the IMU modules need to be calibrated for optimal performance. See		The accelerometers within the IMU modules need to be calibrated for optimal performance. See [[Calibration]].

	== Basic Controller Configuration ==		== Basic Controller Configuration ==

OlliW at 22:08, 17 September 2015

2015-09-17T22:08:21Z

@@ Line 29: / Line 29: @@
 == Calibration ==
-The accelerometers within the IMU modules need to be calibrated for optimal performance (the gyros would also, but that's currently beyond reach). Several calibration techniques are available, and two are implemented in the STorM32 project, these are the "1-point" and "6-point" calibrations.
+The accelerometers within the IMU modules need to be calibrated for optimal performance. See
 == Basic Controller Configuration ==

OlliW: /* Steps I */

2015-02-23T22:47:57Z

Steps I

← Older revision		Revision as of 00:47, 24 February 2015
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	=== Steps I ===		=== Steps I ===
	The camera and 2nd IMU orientations and number of motor poles are adjusted, and the motor direction parameters set to {{PARAMVALUE\|auto}} in order to find correct rotation directions ~~in [{GUI\|Steps II}}~~.		The camera and 2nd IMU orientations and number of motor poles are adjusted, and the motor direction parameters set to {{PARAMVALUE\|auto}} in order to find correct rotation directions later on.

	Just follow the instructions in the {{GUI\|Configure Gimbal Tool}} step by step:		Just follow the instructions in the {{GUI\|Configure Gimbal Tool}} step by step:
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	* It will guide you through a simple procedure which determines the Imu and Imu2 orientations.		* It will guide you through a simple procedure which determines the Imu and Imu2 orientations.
	* It will then ask you to enter the number of poles of your motors. The number of poles for your motors should be available in the motor data sheets. For example, a 12N14P motor has 14 poles. The number of poles corresponds to the number of magnets, which you can be seen on the inner side of the motor bell. So, if in doubt you can quite easily determine the number of poles by simply counting the number of magnets.		* It will then ask you to enter the number of poles of your motors. The number of poles for your motors should be available in the motor data sheets. For example, a 12N14P motor has 14 poles. The number of poles corresponds to the number of magnets, which you can be seen on the inner side of the motor bell. So, if in doubt you can quite easily determine the number of poles by simply counting the number of magnets.
	* Finally, it will set the motor direction parameters to {{PARAMVALUE\|auto}}.		* Finally, it will set the motor direction parameters to {{PARAMVALUE\|auto}}.

	=== Steps II ===		=== Steps II ===

OlliW: /* Basic Controller Configuration */

2015-02-23T22:46:46Z

Basic Controller Configuration

← Older revision		Revision as of 00:46, 24 February 2015
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	* Startup Motor Positions		* Startup Motor Positions

	Some of ~~the~~ parameters should be adjusted "before" the motors are activated, some can only be adjusted with the motors enabled. Hence, the individual steps are grouped into {{GUI\|Steps I}} and {{GUI\|Steps II}} in the {{GUI\|Configure Gimbal Tool}}. In between a battery needs to be connected to power the motors and the gimbal is restarted. Finally, in the {{GUI\|Finish}} steps, the motors are enabled and the determined values stored permanently to the STorM32 board.		Some of these parameters should be adjusted "before" the motors are activated, some can only be adjusted with the motors enabled. Hence, the individual steps are grouped into {{GUI\|Steps I}} and {{GUI\|Steps II}} in the {{GUI\|Configure Gimbal Tool}}. In between a battery needs to be connected to power the motors and the gimbal is restarted. Finally, in the {{GUI\|Finish}} steps, the motors are enabled and the determined values stored permanently to the STorM32 board.

	All ~~these parameters~~ can be most easily ~~adjusted~~ by using the {{GUI\|Configure Gimbal Tool}} option, which is started by clicking on the respective button under the {{GUI\|Gimbal Configuration}} tab in the GUI. Just follow the instructions step by step.		All this can be most easily done by using the {{GUI\|Configure Gimbal Tool}} option, which is started by clicking on the respective button under the {{GUI\|Gimbal Configuration}} tab in the GUI. Just follow the instructions step by step.

	=== Steps I ===		=== Steps I ===

OlliW: /* Basic Controller Configuration */

2015-02-23T22:46:11Z

Basic Controller Configuration

← Older revision		Revision as of 00:46, 24 February 2015
Line 85:		Line 85:
	* Motor Directions		* Motor Directions
	* Startup Motor Positions		* Startup Motor Positions

			Some of the parameters should be adjusted "before" the motors are activated, some can only be adjusted with the motors enabled. Hence, the individual steps are grouped into {{GUI\|Steps I}} and {{GUI\|Steps II}} in the {{GUI\|Configure Gimbal Tool}}. In between a battery needs to be connected to power the motors and the gimbal is restarted. Finally, in the {{GUI\|Finish}} steps, the motors are enabled and the determined values stored permanently to the STorM32 board.

	All these parameters can be most easily adjusted by using the {{GUI\|Configure Gimbal Tool}} option, which is started by clicking on the respective button under the {{GUI\|Gimbal Configuration}} tab in the GUI. Just follow the instructions step by step.		All these parameters can be most easily adjusted by using the {{GUI\|Configure Gimbal Tool}} option, which is started by clicking on the respective button under the {{GUI\|Gimbal Configuration}} tab in the GUI. Just follow the instructions step by step.

	Some of the parameters should be adjusted "before" the motors are activated, some can only be adjusted with the motors enabled. Hence, the individual steps are grouped into {{GUI\|Steps I}} and {{GUI\|Steps II}} in the {{GUI\|Configure Gimbal Tool}}. In between a battery needs to be connected to power the motors and the gimbal is restarted. Finally, in the {{GUI\|Finish}} steps, the motors are enabled and the determined values stored permanently to the STorM32 board.

	=== Steps I ===		=== Steps I ===

OlliW: /* Basic Controller Configuration */

2015-02-23T22:44:58Z

Basic Controller Configuration

← Older revision		Revision as of 00:44, 24 February 2015
Line 72:		Line 72:

	== Basic Controller Configuration ==		== Basic Controller Configuration ==
	The algorithms used in the STorM32 controller need to know some aspects of your gimbal in order to work correctly. If any of this information is incorrect, the controller will misbehave. Unfortunately, an incorrect setup will not always immediately reveal itself, but will lead to ~~missbehaviour~~ at a later stage, e.g. when a new function is activated, and therefore you might not associate it with the earlier faulty setup. So, please accept the following statement:		The algorithms used in the STorM32 controller need to know some aspects of your gimbal in order to work correctly. If any of this information is incorrect, the controller will misbehave. Unfortunately, an incorrect setup will not always immediately reveal itself, but will lead to misbehavior at a later stage, e.g. when a new function is activated, and therefore you might not associate it with the earlier faulty setup. So, please accept the following statement:

	Just because a setting seems to work correctly doesn't mean that it is correct!		Just because a setting seems to work correctly doesn't mean that it is correct!

OlliW: /* Calibration */

2015-02-23T22:44:20Z

Calibration

← Older revision		Revision as of 00:44, 24 February 2015
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	Save your calibration data to a file!		Save your calibration data to a file!

	Ideally save it from within the {{GUI\|Acc Calibration}} dialog window, as this stores the most detailed information. Consider also, posting your calibration files in the rcgroups thread, so that the firmware author and others can enhance their knowledge and hopefully develop better calibration schemes.		Ideally save it from within the {{GUI\|Acc Calibration}} dialog window, as this stores the most detailed information. Consider also posting your calibration files in the rcgroups thread, so that the firmware author and others can enhance their knowledge and hopefully develop better calibration schemes.

	== Basic Controller Configuration ==		== Basic Controller Configuration ==

OlliW: /* Calibration */

2015-02-23T22:43:11Z

Calibration

← Older revision		Revision as of 00:43, 24 February 2015
Line 55:		Line 55:
	* The calibration of the 2nd IMU becomes more important as the motor pole count increases (e.g. 14 pole versus 22 pole).		* The calibration of the 2nd IMU becomes more important as the motor pole count increases (e.g. 14 pole versus 22 pole).

	Even though, for the reasons mentioned previously, a clear cut calibration recipe cannot currently be offered, ~~although~~ there are some recommendations in place:		Even though, for the reasons mentioned previously, a clear cut calibration recipe cannot currently be offered, there are some recommendations in place:

	'''Current Recommendations:'''		'''Current Recommendations:'''

OlliW at 22:26, 23 February 2015

2015-02-23T22:26:28Z

← Older revision		Revision as of 00:26, 24 February 2015
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	<span style="font-size:88%">''by OlliW~~, with edits by Bruce356~~, descriptions refer to firmware v0.56</span>''		<span style="font-size:88%">''by OlliW, descriptions refer to firmware v0.57e and later</span>''

	On this page, I will briefly describe the initial steps which are required to set up the STorM32-BGC to function correctly.		On this page, I will briefly describe the initial steps which are required to set up the STorM32-BGC to function correctly. Since firmware v0.57e this has become extremely simple.

	'''Ultra-Quick Start Guide:'''		'''Ultra-Quick Start Guide:'''
	* Use the {{GUI\|Calibrate Acc}} tab to calibrate the imus.		* Use the {{GUI\|Calibrate Acc}} tab to calibrate the imus.
	* Use the {{GUI\|Configure Gimbal Tool}} to set the {{PARAMNAME\|Imu Orientation}}, {{PARAMNAME\|Imu2 Orientation}}, ~~and~~ {{PARAMNAME\|Motor Poles}} ~~parameters correctly~~, ~~and to set the~~ {{PARAMNAME\|Motor Direction}} ~~parameters to {{PARAMVALUE\|auto}}.~~		* Use the {{GUI\|Configure Gimbal Tool}} to set the {{PARAMNAME\|Imu Orientation}}, {{PARAMNAME\|Imu2 Orientation}}, {{PARAMNAME\|Motor Poles}}, {{PARAMNAME\|Motor Direction}}, and {{PARAMNAME\|Startup Motor Pos}} parameters correctly, as well as to enable the motors and store the settings permanently.
	* Use the {{GUI\|Get Current Motor Directions}} option to set the {{PARAMNAME\|Motor Direction}} parameters.
	* Use the {{GUI\|Get Current Pitch and ~~Roll Motor Positions}} option to set the~~ {{PARAMNAME\|Startup Motor Pos}} parameters ~~for pitch~~ and ~~roll.~~
	* Use the {{GUI\|Adjust Yaw Startup Motor Pos Parameter Tool}} to align the ~~yaw axis to point forward at startup~~.

	Below a somewhat less quick "Quick Start Guide" follows. It tells you what you need to know and what to do.		Below a somewhat less quick "Quick Start Guide" follows. It tells you what you need to know and what to do.
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	The parameters we are talking about are those mainly contained under the {{GUI\|Gimbal Configuration}} tab in the GUI:		The parameters we are talking about are those mainly contained under the {{GUI\|Gimbal Configuration}} tab in the GUI:

	* Imu Orientation (= camera IMU)		* Imu Orientation (= camera IMU)
	* Imu2 Orientation (= 2nd IMU)		* Imu2 Orientation (= 2nd IMU)
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	* Motor Directions		* Motor Directions
	* Startup Motor Positions		* Startup Motor Positions
	~~Some of these should be adjusted "before" the motors are activated, some can only be adjusted with the motors enabled.~~

	~~=== Before~~ the motors are enabled ~~for~~ the ~~first time~~ ===		All these parameters can be most easily adjusted by using the {{GUI\|Configure Gimbal Tool}} option, which is started by clicking on the respective button under the {{GUI\|Gimbal Configuration}} tab in the GUI. Just follow the instructions step by step.
	The camera and 2nd IMU orientations and number of motor poles ~~should be~~ adjusted ~~before the motors are activated~~, and the motor direction ~~settings, initially~~ set to {{PARAMVALUE\|auto}} in order to find correct rotation directions.
			Some of the parameters should be adjusted "before" the motors are activated, some can only be adjusted with the motors enabled. Hence, the individual steps are grouped into {{GUI\|Steps I}} and {{GUI\|Steps II}} in the {{GUI\|Configure Gimbal Tool}}. In between a battery needs to be connected to power the motors and the gimbal is restarted. Finally, in the {{GUI\|Finish}} steps, the motors are enabled and the determined values stored permanently to the STorM32 board.

			=== Steps I ===
			The camera and 2nd IMU orientations and number of motor poles are adjusted, and the motor direction parameters set to {{PARAMVALUE\|auto}} in order to find correct rotation directions in [{GUI\|Steps II}}.

	~~This is most easily done by using~~ the {{GUI\|Configure Gimbal Tool}} ~~option (accessible under the {{GUI\|Gimbal Configuration}} tab in the GUI), which is started by clicking on the respective button. Just follow the instructions~~ step by step:		Just follow the instructions in the {{GUI\|Configure Gimbal Tool}} step by step:

	* It will guide you through a simple procedure which determines the Imu and Imu2 orientations.		* It will guide you through a simple procedure which determines the Imu and Imu2 orientations.
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	* Finally, it will set the motor direction parameters to {{PARAMVALUE\|auto}}.		* Finally, it will set the motor direction parameters to {{PARAMVALUE\|auto}}.

	=== ~~After motors have been enabled for the first time~~ ===		=== Steps II ===
	With the camera and 2nd IMU orientations, and motor poles set correctly, and the motor directions set to {{PARAMVALUE\|auto}}, ~~one~~ can ~~enable~~ the ~~motors (~~all motors!) and ~~start~~ the gimbal. The controller should go through the initialization steps and level the camera (green led blinks), and then reach the "Normal" state (green led continuously On). ~~Note:~~ You can ~~see what is happening~~ by ~~initiating and starting~~ the {{GUI\|~~Data Display~~}}. Once the "Normal" state is reached the Motor Direction and the Startup Motor Pos parameters ~~can be set using~~ the {{GUI\|~~Tools~~}} ~~menu:~~		With the camera and 2nd IMU orientations, and motor poles set correctly, and the motor directions set to {{PARAMVALUE\|auto}} in the previous steps, the motor directions and startup motor positions can be determined in the next steps.

			For that, all motors will be enabled and the gimbal restarted. For this to work the controller needs to be connected to a battery; don't worry, the {{GUI\|Configure Gimbal Tool}} will check and tell you when to connect a battery. The controller should go through the initialization steps and level the camera (green led blinks), and then reach the "Normal" state (a beep occurs, and the green led goes continuously on). You can follow this also by the status messages in the {{GUI\|Configure Gimbal Tool}}. Once the "Normal" state is reached, the motor directions and startup motor positions can be determined.

			Just follow the instructions in the {{GUI\|Configure Gimbal Tool}} step by step:
			* It will copy the automatically determined motor directions into the Motor Direction fields.
			* It will then copy the current pitch and roll motor positions into the Pitch and Roll Startup Motor Pos parameter fields.
			* Finally it will ask you to align the yaw axis such that the camera points to the forward position using the various buttons. Don't worry that the alignment is undone, when going to the next step, this is normal as the adjustment becomes effective after the next re-start of the STorM32 controller.

			{{COMMENT\|In rare cases it may happen that these steps fail, since the gimbal starts to freak out when the "Normal" state is reached. This happens when the (default) PID parameters are grossly wrong for your gimbal. In that case skip the {{GUI\|Steps II}} steps and proceed to the {{GUI\|Finish}} steps, do a coarse PID tuning, and when repeat.}}

			=== Finish ===
			With all relevant parameters determined, the motors can be permanently enabled and the parameter values permanently stored in the STorM32 board.

	* Click on the {{GUI\|~~Tools}} menu tab and execute the {{GUI\|Get Current Motor Directions}} option. This will copy the auto determined motor directions into the Motor Direction fields.~~		In the {{GUI\|Configure Gimbal Tool}} just hit the {{GUI\|Ok}} button to finish the configuration.
	* Click on the {{GUI\|Tools}} menu tab and execute the {{GUI\|Get Current Pitch and Roll Motor Positions}} option. This will copy the current pitch and roll motor positions into the Pitch and Roll Startup Motor Pos parameter fields.
	* Click on the {{GUI\|Tools}} ~~menu tab and execute~~ the {{GUI\|~~Adjust Yaw Startup Motor Pos Parameter Tool~~}}~~. This opens a dialog box which allows you to align the yaw axis such that the camera points~~ to the ~~forward position. Don't worry that the alignment is undone, when closing the dialog box, this is normal as the adjustment becomes effective after the next re-start of the gimbal controller.~~
	~~{{COMMENT\|All adjustments made in these steps only become active after a re-start of the STorM32 gimbal controller}}~~.

	== The Next Steps ==		== The Next Steps ==
	The next steps are to tune the PID parameters. It is not part of this Quick Guide, since the PID values are not fundamental for the controller to work correctly; they are (very) important for the performance. Once tuned, one can start to enjoy all the great and partly unique possibilities of the STorM32 controller. :)		The next steps are to tune the PID parameters. It is not part of this Quick Guide, since the PID values are not fundamental for the controller to work correctly; they are (very) important for the performance. Once tuned, one can start to enjoy all the great and partly unique possibilities of the STorM32 controller. :)

OlliW at 12:23, 9 January 2015

2015-01-09T12:23:50Z

← Older revision		Revision as of 14:23, 9 January 2015
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	The reasons for a calibrating are different for the camera IMU versus the 2nd IMU.		The reasons for a calibrating are different for the camera IMU versus the 2nd IMU.

	'''Camera IMU:''' Calibration mainly affects "horizontal drift", i.e. the accuracy with which the horizon is held in quick yaw turns and other high-g ~~manoeuvers~~. It also determines the accuracy of how well the camera is leveled, but this can in principle be tuned out easily by other means (e.g. offset parameters). The main concern is the performance in high-g ~~manoeuvers~~.		'''Camera IMU:''' Calibration mainly affects "horizontal drift", i.e. the accuracy with which the horizon is held in quick yaw turns and other high-g maneuvers. It also determines the accuracy of how well the camera is leveled, but this can in principle be tuned out easily by other means (e.g. offset parameters). The main concern is the performance in high-g maneuvers.

	'''Second IMU:''' The measurement accuracy of the 2nd IMU is in itself not very important. It is however very important that the 2nd IMU data is consistent with the camera IMU, and it is even more important with higher poled motors e.g. poles greater than the basic 14 poles.		'''Second IMU:''' The measurement accuracy of the 2nd IMU is in itself not very important. It is however very important that the 2nd IMU data is consistent with the camera IMU, and it is even more important with higher poled motors e.g. poles greater than the basic 14 poles.
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	== Basic Controller Configuration ==		== Basic Controller Configuration ==
	The algorithms used in the STorM32 controller need to know some aspects of your gimbal in order to work correctly. If any of this information is incorrect, the controller will misbehave. Unfortunately, an incorrect setup will not always immediately reveal itself, but will lead to ~~misbehaviour~~ at a later stage, e.g. when a new function is activated, and therefore you might not associate it with the earlier faulty setup. So, please accept the following statement:		The algorithms used in the STorM32 controller need to know some aspects of your gimbal in order to work correctly. If any of this information is incorrect, the controller will misbehave. Unfortunately, an incorrect setup will not always immediately reveal itself, but will lead to missbehaviour at a later stage, e.g. when a new function is activated, and therefore you might not associate it with the earlier faulty setup. So, please accept the following statement:

	Just because a setting seems to work correctly doesn't mean that it is correct!		Just because a setting seems to work correctly doesn't mean that it is correct!