Hold versus Pan Mode - Revision history

OlliW at 13:47, 21 January 2023

2023-01-21T13:47:49Z

← Older revision		Revision as of 15:47, 21 January 2023
Line 1:		Line 1:
	<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.~~63g~~ and higher.</span>''		<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.64e and higher.''</span>

	Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.		Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.

OlliW at 11:06, 24 December 2022

2022-12-24T11:06:24Z

← Older revision		Revision as of 13:06, 24 December 2022
Line 1:		Line 1:
	<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.~~63d~~ and higher.</span>''		<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.63g and higher.</span>''

	Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.		Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.

OlliW: /* Pitch and Roll Deadbands */

2022-12-16T14:02:28Z

Pitch and Roll Deadbands

← Older revision		Revision as of 16:02, 16 December 2022
Line 50:		Line 50:

	* '''''plane pan method''''': The deadband center is held fixed at the normal forward orientation. This behavior allows one e.g. to prevent that the camera hits some mechanical limits upon too large pitch or roll movements. It is often the desired method on planes.		* '''''plane pan method''''': The deadband center is held fixed at the normal forward orientation. This behavior allows one e.g. to prevent that the camera hits some mechanical limits upon too large pitch or roll movements. It is often the desired method on planes.

			{{COMMENT\|If the deadband is zero, then both pan methods result in equal behavior.}}

	::[[File:Storm32-wiki-hold-vs-pan-mode-5.jpg\|480px]]		::[[File:Storm32-wiki-hold-vs-pan-mode-5.jpg\|480px]]

OlliW at 04:42, 14 December 2022

2022-12-14T04:42:19Z

← Older revision		Revision as of 06:42, 14 December 2022
Line 1:		Line 1:
	<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.~~63c~~ and higher.</span>''		<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.63d and higher.</span>''

	Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.		Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.

OlliW: /* Further Tuning the Pan Mode */

2022-12-14T04:41:59Z

Further Tuning the Pan Mode

← Older revision		Revision as of 06:41, 14 December 2022
Line 89:		Line 89:
	== Further Tuning the Pan Mode ==		== Further Tuning the Pan Mode ==

	The STorM32 controller provides further useful options to adjust the pan behavior, namely the ~~pan expo and the trajectory filter~~ parameters.		The STorM32 controller provides further useful options to adjust the pan behavior, namely the {{PARAMNAME\|Pan Expo}} parameters.

	~~=== Pan Expo ===~~

	Similar to {{PARAMNAME\|Pan}}, the {{PARAMNAME\|Pan Expo}} parameter also determines the follow speed, but in contrast to {{PARAMNAME\|Pan}} increases the follow speed roughly exponentially with the deviation from the center position. The values can be set from 0% to 100%, where larger values correspond to stronger exponential increase, and 0% disables them. In combination with {{PARAMNAME\|Pan}} they provide a large flexibility in adjusting the camera follow behavior upon turns. As with the {{PARAMNAME\|Pan}} parameter, this settings is effective only when the respective axis is in pan mode, and does not affect the hold mode.		Similar to {{PARAMNAME\|Pan}}, the {{PARAMNAME\|Pan Expo}} parameter also determines the follow speed, but in contrast to {{PARAMNAME\|Pan}} increases the follow speed roughly exponentially with the deviation from the center position. The values can be set from 0% to 100%, where larger values correspond to stronger exponential increase, and 0% disables them. In combination with {{PARAMNAME\|Pan}} they provide a large flexibility in adjusting the camera follow behavior upon turns. As with the {{PARAMNAME\|Pan}} parameter, this settings is effective only when the respective axis is in pan mode, and does not affect the hold mode.
Line 99:		Line 97:
	::[[File:Storm32-wiki-hold-vs-pan-mode-4.jpg\|480px]]		::[[File:Storm32-wiki-hold-vs-pan-mode-4.jpg\|480px]]

	~~=== Trajectory Filter ===~~		In the {{GUI\|Experts}} dialog (accessible via the {{GUI\|Tools}} menu) there are three further parmeters related to the pan mode, namely {{PARAMNAME\|Pan Hold Transition Time}}, {{PARAMNAME\|Pan Speed Limit}} and {{PARAMNAME\|Pan Accel Limit}}. They determine the behavior during pan-to-hold and hold-to-pan transitions. You may play with them if you are not happy with the default behavior, but they need to be modified with care, as unexpected behavior can results. The timing is determined by the {{PARAMNAME\|Pan Hold Transition Time}} parameter. The speed limit can be disabled with {{PARAMNAME\|Pan Speed Limit}} = {{PARAMVALUE\|0}} and the acceleration limit with {{PARAMNAME\|Pan Accel Limit}} = {{PARAMVALUE\|0}}. If both the acceleration and speed limits are disabled, then the "old" pan/hold behavior is obtained. The settings apply to the pitch and roll axes; the yaw axis is (currently) not affected.

	~~The trajectory filter makes~~ the ~~camera path resemble the path of a massive body subjective to accelerating forces of constant magnitude. The filter is tuned by four parameters,~~ {{~~PARAMNAME~~\|~~Pan Accel Limit~~}}, {{~~PARAMNAME~~\|~~Pan Speed Limit~~}}, ~~and~~ {{PARAMNAME\|Pan Hold Transition Time}} ~~and~~ {{PARAMNAME\|Pan ~~TFilter Slowdown~~}} ~~(the latter two parameters are found in the {{GUI\|Experts}} dialog accessible via the {{GUI\|Tools}} menu). The settings apply to the pitch~~ and ~~roll axes; the yaw axis is (currently) not affected.~~

	~~The~~ {{PARAMNAME\|Pan Accel Limit}} ~~parameter limits the acceleration of the camera on the respective axis, which effectively corresponds to a smoothing of the path which the camera is following~~. ~~In most cases it is desirable that~~ the ~~smoothing is larger~~ during ~~the transitions from~~ pan to hold or hold to pan ~~mode than during normal operation~~. ~~This is achieved~~ with the ~~{{PARAMNAME\|Pan TFilter Slowdown}} parameter~~, ~~which lowers the maximal acceleration during the transition by the adjusted percentage~~. The timing is determined by the {{PARAMNAME\|Pan Hold Transition Time}} parameter. The ~~acceleration~~ limit is disabled with {{PARAMNAME\|Pan ~~Accel~~ Limit}} = {{PARAMVALUE\|0}}.

	~~The {{PARAMNAME\|Pan Speed Limit}} parameter limits the velocity of~~ the ~~camera on the respective axis. This parameter is usually less important, but can help to reduce a "drunken sailor" behavior for low~~ acceleration ~~limits. The speed~~ limit ~~is disabled~~ with {{PARAMNAME\|Pan ~~Speed~~ Limit}} = {{PARAMVALUE\|0}}.

	If both the acceleration and speed limits are disabled~~, {{PARAMNAME\|Pan Accel Limit}} = {{PARAMNAME\|Pan Accel Limit}} = {{PARAMVALUE\|0}}~~, then ~~the trajectory filter is ineffective and~~ the "old" pan/hold behavior is obtained.

	The ~~trajectory filter parameters need~~ to ~~be modified with care, as unexpected behavior can results for low limits. For instance, low accelartion limits~~ (~~below 75 °/s/s or so~~) result in significant overshoot in large and fast swings, which may easily bring the camera out of the acceptable roll angle range. Accelartion limits above 100 °/s/s and disabled speed limits should usually give desired results.

	== Next Step - Advanced Functions ==		== Next Step - Advanced Functions ==

	You have learned now all relevant settings which you need to record great shots in various typical situations. The STorM32-BGC provides however some more powerful possibilities, such as scripts, remote camera control or Bluetooth connectivity. Go ahead, and explore the [[Advanced Functions]] chapter.		You have learned now all relevant settings which you need to record great shots in various typical situations. The STorM32-BGC provides however some more powerful possibilities, such as scripts, remote camera control or Bluetooth connectivity. Go ahead, and explore the [[Advanced Functions]] chapter.

OlliW: /* Further Tuning the Pan Mode */

2022-12-09T23:36:41Z

Further Tuning the Pan Mode

← Older revision		Revision as of 01:36, 10 December 2022
Line 89:		Line 89:
	== Further Tuning the Pan Mode ==		== Further Tuning the Pan Mode ==

	The STorM32 controller provides further useful options to adjust the pan behavior, namely the ~~{{PARAMNAME\|Pan Expo}} parameters~~ and the trajectory filter parameters.		The STorM32 controller provides further useful options to adjust the pan behavior, namely the pan expo and the trajectory filter parameters.

	=== Pan Expo ===		=== Pan Expo ===

OlliW: /* Yaw Deadband */

2022-12-09T23:35:41Z

Yaw Deadband

← Older revision		Revision as of 01:35, 10 December 2022
Line 55:		Line 55:
	=== Yaw Deadband ===		=== Yaw Deadband ===

	The deadband behavior for the yaw axis is determined by the parameters {{PARAMNAME\|Yaw Pan Deadband}} and {{PARAMNAME\|Yaw Pan Deadband LPF}}. In general, the deadband for yaw works like the '''''~~default~~ pan mode''''' for the pitch/roll axis, but provides for more adjustments in order to offer greater flexibility, but also to "fight" yaw drift.		The deadband behavior for the yaw axis is determined by the parameters {{PARAMNAME\|Yaw Pan Deadband}} and {{PARAMNAME\|Yaw Pan Deadband LPF}}. In general, the deadband for yaw works like the '''''normal pan mode''''' for the pitch/roll axis, but provides for more adjustments in order to offer greater flexibility, but also to "fight" yaw drift.

	In contrast to pitch and roll, the gyro drift for yaw cannot be compensated for by the accelerometers. The STorM32 controller is capable of compensating the gyro yaw drift when in pan mode, but it's impossible when in hold mode. Since the deadband works essentially like an angle-controlled transition from hold to pan mode, and vice versa, the situation arises that when the camera is within the deadband (= hold) it drifts slowly towards one edge of the deadband, where the controller switches to pan, which pulls back the camera to within the deadband (=hold), where it drifts to the deadband edge, is pulled back, and so on. This can in unfortunate situations lead to a wiggle in the yaw axis. The {{PARAMNAME\|Yaw Pan Deadband LPF}} parameter provides a means to alleviate the situation.		In contrast to pitch and roll, the gyro drift for yaw cannot be compensated for by the accelerometers. The STorM32 controller is capable of compensating the gyro yaw drift when in pan mode, but it's impossible when in hold mode. Since the deadband works essentially like an angle-controlled transition from hold to pan mode, and vice versa, the situation arises that when the camera is within the deadband (= hold) it drifts slowly towards one edge of the deadband, where the controller switches to pan, which pulls back the camera to within the deadband (=hold), where it drifts to the deadband edge, is pulled back, and so on. This can in unfortunate situations lead to a wiggle in the yaw axis. The {{PARAMNAME\|Yaw Pan Deadband LPF}} parameter provides a means to alleviate the situation.

OlliW at 23:34, 9 December 2022

2022-12-09T23:34:00Z

← Older revision		Revision as of 01:34, 10 December 2022
Line 1:		Line 1:
	<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.~~63b~~ and higher.</span>''		<span style="font-size:88%">''by Yang/wdaehn, with edits by OlliW, descriptions refer to firmware v2.63c and higher.</span>''

	Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.		Generally speaking, two situations can be distinguished as regards the gimbal behavior: The camera should remain stable in relationship to the ground (hold mode) or in relationship to the gimbal frame (pan mode). The STorM32 controller allows you to choose the mode for each of the three axes independently.

OlliW: /* Deadbands */

2022-12-09T23:33:48Z

Deadbands

← Older revision		Revision as of 01:33, 10 December 2022
Line 45:		Line 45:
	=== Pitch and Roll Deadbands ===		=== Pitch and Roll Deadbands ===

	For the pitch or roll axis the deadband behavior is determined by the {{PARAMNAME\|Pan Deadband}} ~~parameter~~ for the respective axis. Depending on ~~whether the deadband is smaller or larger than 15°~~ the "~~default~~" or the "plane" pan ~~mode~~ becomes effective:		For the pitch or roll axis the deadband behavior is determined by the {{PARAMNAME\|Pan Deadband}} and {{PARAMNAME\|Pan Method}} parameters for the respective axis. Depending on {{PARAMNAME\|Pan Method}} the "normal" or the "plane" pan methods becomes effective:

	* '''''~~default~~ pan ~~mode~~''''' ~~(deadband < 15°)~~: The deadband center follows the gimbal frame. This behavior is e.g. appropriate for hand-held gimbals, to stabilize the video at the current camera position.		* '''''normal pan method''''': The deadband center follows the gimbal frame. This behavior is e.g. appropriate for hand-held gimbals, to stabilize the video at the current camera position.

	* '''''plane pan ~~mode~~''''' ~~(deadband > 15°)~~: The deadband center is held fixed at the normal forward orientation. This behavior allows one e.g. to prevent that the camera hits some mechanical limits upon too large pitch or roll movements.		* '''''plane pan method''''': The deadband center is held fixed at the normal forward orientation. This behavior allows one e.g. to prevent that the camera hits some mechanical limits upon too large pitch or roll movements. It is often the desired method on planes.

	::[[File:Storm32-wiki-hold-vs-pan-mode-5.jpg\|480px]]		::[[File:Storm32-wiki-hold-vs-pan-mode-5.jpg\|480px]]

OlliW: /* Trajectory Filter */

2022-12-09T21:31:36Z

Trajectory Filter

← Older revision		Revision as of 23:31, 9 December 2022
Line 101:		Line 101:
	=== Trajectory Filter ===		=== Trajectory Filter ===

	The trajectory filter makes the camera path resemble the path of a massive body subjective to accelerating forces of constant magnitude. The filter is tuned by ~~three~~ parameters, {{PARAMNAME\|Pan Accel Limit}}, {{PARAMNAME\|Pan Speed Limit}}, and {{PARAMNAME\|Pan TFilter Slowdown}} (the latter ~~parameter is~~ found in the {{GUI\|Experts}} dialog accessible via the {{GUI\|Tools}} menu). The settings apply to the pitch and roll axes; the yaw axis is (currently) not affected.		The trajectory filter makes the camera path resemble the path of a massive body subjective to accelerating forces of constant magnitude. The filter is tuned by four parameters, {{PARAMNAME\|Pan Accel Limit}}, {{PARAMNAME\|Pan Speed Limit}}, and {{PARAMNAME\|Pan Hold Transition Time}} and {{PARAMNAME\|Pan TFilter Slowdown}} (the latter two parameters are found in the {{GUI\|Experts}} dialog accessible via the {{GUI\|Tools}} menu). The settings apply to the pitch and roll axes; the yaw axis is (currently) not affected.

	The {{PARAMNAME\|Pan Accel Limit}} parameter limits the acceleration of the camera on the respective axis, which effectively corresponds to a smoothing of the path which the camera is following. In most cases it is desirable that the smoothing is larger during the transitions from pan to hold or hold to pan mode than during normal operation. This is achieved with the {{PARAMNAME\|Pan TFilter Slowdown}} parameter, which lowers the maximal acceleration during the transition by the adjusted percentage. The acceleration limit is disabled with {{PARAMNAME\|Pan Accel Limit}} = {{PARAMVALUE\|0}}.		The {{PARAMNAME\|Pan Accel Limit}} parameter limits the acceleration of the camera on the respective axis, which effectively corresponds to a smoothing of the path which the camera is following. In most cases it is desirable that the smoothing is larger during the transitions from pan to hold or hold to pan mode than during normal operation. This is achieved with the {{PARAMNAME\|Pan TFilter Slowdown}} parameter, which lowers the maximal acceleration during the transition by the adjusted percentage. The timing is determined by the {{PARAMNAME\|Pan Hold Transition Time}} parameter. The acceleration limit is disabled with {{PARAMNAME\|Pan Accel Limit}} = {{PARAMVALUE\|0}}.

	The {{PARAMNAME\|Pan Speed Limit}} parameter limits the velocity of the camera on the respective axis. This parameter is usually less important, but can help to reduce a "drunken sailor" behavior for low acceleration limits. The speed limit is disabled with {{PARAMNAME\|Pan Speed Limit}} = {{PARAMVALUE\|0}}.		The {{PARAMNAME\|Pan Speed Limit}} parameter limits the velocity of the camera on the respective axis. This parameter is usually less important, but can help to reduce a "drunken sailor" behavior for low acceleration limits. The speed limit is disabled with {{PARAMNAME\|Pan Speed Limit}} = {{PARAMVALUE\|0}}.

	~~These~~ parameters need to be modified with care, as unexpected behavior can results for low limits. For instance, low accelartion limits (below 75 °/s/s or so) result in significant overshoot in large and fast swings, which may easily bring the camera out of the acceptable roll angle range. Accelartion limits above 100 °/s/s and disabled speed limits should usually give desired results.		If both the acceleration and speed limits are disabled, {{PARAMNAME\|Pan Accel Limit}} = {{PARAMNAME\|Pan Accel Limit}} = {{PARAMVALUE\|0}}, then the trajectory filter is ineffective and the "old" pan/hold behavior is obtained.

			The trajectory filter parameters need to be modified with care, as unexpected behavior can results for low limits. For instance, low accelartion limits (below 75 °/s/s or so) result in significant overshoot in large and fast swings, which may easily bring the camera out of the acceptable roll angle range. Accelartion limits above 100 °/s/s and disabled speed limits should usually give desired results.

	== Next Step - Advanced Functions ==		== Next Step - Advanced Functions ==

	You have learned now all relevant settings which you need to record great shots in various typical situations. The STorM32-BGC provides however some more powerful possibilities, such as scripts, remote camera control or Bluetooth connectivity. Go ahead, and explore the [[Advanced Functions]] chapter.		You have learned now all relevant settings which you need to record great shots in various typical situations. The STorM32-BGC provides however some more powerful possibilities, such as scripts, remote camera control or Bluetooth connectivity. Go ahead, and explore the [[Advanced Functions]] chapter.