Using a 2nd IMU - Revision history

OlliW: /* Benefits of a 2nd IMU */

2023-11-18T11:04:41Z

Benefits of a 2nd IMU

← Older revision		Revision as of 13:04, 18 November 2023
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	* fast startup mode		* fast startup mode

	~~These~~ features were demonstrated in this video for an early test version of the firmware (may not reflect current behavior):		Some of these features were demonstrated in this video for an early test version of the firmware (may not reflect current behavior):

	{{#ev:youtube\|XeKQRgV_V9Q\|480\|center}}		{{#ev:youtube\|XeKQRgV_V9Q\|480\|center}}

OlliW: /* Benefits of a 2nd IMU */

2023-11-18T11:04:23Z

Benefits of a 2nd IMU

← Older revision		Revision as of 13:04, 18 November 2023
Line 83:		Line 83:
	* fast startup mode		* fast startup mode

	These features were demonstrated in this video for an early test version of the firmware:		These features were demonstrated in this video for an early test version of the firmware (may not reflect current behavior):

	{{#ev:youtube\|XeKQRgV_V9Q\|480\|center}}		{{#ev:youtube\|XeKQRgV_V9Q\|480\|center}}

OlliW: /* Benefits of a 2nd IMU */

2023-11-18T11:03:06Z

Benefits of a 2nd IMU

← Older revision		Revision as of 13:03, 18 November 2023
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	* drastically larger range of operation, essentially any pitch and yaw angle is possible (for a more detailed discussion of the possibilities and limitations see the video below)		* drastically larger range of operation, essentially any pitch and yaw angle is possible (for a more detailed discussion of the possibilities and limitations see the video below)
	* stable operation of the 2nd IMU above the yaw axis, without deterioration with time due to gyro drift (the gimbal doesn't freak out after some time)		* stable operation of the 2nd IMU above the yaw axis, without deterioration with time due to gyro drift (the gimbal doesn't freak out after some time)
	* ~~returns~~ to ~~the~~ correct yaw orientation after an external disturbance, also when in pan/follow mode		* can return to correct yaw orientation after an external disturbance, also when in pan/follow mode
	* fast startup mode		* fast startup mode

OlliW: /* Yaw Axis Alignment */

2023-11-16T10:56:31Z

Yaw Axis Alignment

← Older revision		Revision as of 12:56, 16 November 2023
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	== Yaw Axis Alignment ==		== Yaw Axis Alignment ==

	It is also ~~very important~~ to ensure that at startup the camera is aligned properly with respect to the gimbal support; it needs to point forward to within a degree or so.		It is also mandatory to ensure that at startup the camera is aligned properly with respect to the gimbal support; it needs to point forward to within a degree or so.

	This is most conveniently achieved by using the {{GUI\|Configure Gimbal Tool}}, which in one step allows you to adjust the camera yaw orientation. Alternatively, the yaw axis orientation at startup may be adjusted manually by setting the {{PARAMNAME\|Yaw Startup Motor Pos}} parameter in the {{GUI\|Gimbal Configuration}} tab.		This is most conveniently achieved by using the {{GUI\|Configure Gimbal Tool}}, which in one step allows you to adjust the camera yaw orientation. Alternatively, the yaw axis orientation at startup may be adjusted manually by setting the {{PARAMNAME\|Yaw Startup Motor Pos}} parameter in the {{GUI\|Gimbal Configuration}} tab.

OlliW: /* IMU Orientation */

2023-11-16T10:56:13Z

IMU Orientation

← Older revision		Revision as of 12:56, 16 November 2023
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	== IMU Orientation ==		== IMU Orientation ==

	For a correct functioning it is ~~very important~~ to set the IMU orientation correctly, i.e., the parameter field {{PARAMNAME\|Imu2 Orientation}} in the {{GUI\|Gimbal Configuration}} tab. If this parameter is configured incorrectly, then the gimbal will missbehave, as simple as that.		For a correct functioning it is mandatory to set the IMU orientation correctly, i.e., the parameter field {{PARAMNAME\|Imu2 Orientation}} in the {{GUI\|Gimbal Configuration}} tab. If this parameter is configured incorrectly, then the gimbal will missbehave, as simple as that.

	The configuration is most conveniently - and most reliably - achieved by using the {{GUI\|Configure Gimbal Tool}}. Alternatively, it may be set manually following the recipe described in [[Manually Setting the IMU Orientation]].		The configuration is most conveniently - and most reliably - achieved by using the {{GUI\|Configure Gimbal Tool}}. Alternatively, it may be set manually following the recipe described in [[Manually Setting the IMU Orientation]].

OlliW: /* Fast Startup */

2023-02-03T21:51:00Z

Fast Startup

← Older revision		Revision as of 23:51, 3 February 2023
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	{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and configured startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.		{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and configured startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.

			{{COMMENT\|Double check that none of the {{PARAMNAME\|Motor Direction}} parameters are set to {{PARAMVALUE\|auto}}, to skip the time-consuming automatic determination of the motor directions}}.

	== PID Tuning ==		== PID Tuning ==

OlliW: /* Fast Startup */

2023-02-03T11:23:46Z

Fast Startup

← Older revision		Revision as of 13:23, 3 February 2023
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	When a 2nd IMU is available, and further conditions are met, the startup time and behavior of the gimbal can be much improved by enabling the fast startup feature. To activate the fast startup, set		When a 2nd IMU is available, and further conditions are met, the startup time and behavior of the gimbal can be much improved by enabling the fast startup feature. To activate the fast startup, set
	* {{PARAMNAME\|Startup Mode}} = {{PARAMVALUE\|fast}}		* {{PARAMNAME\|Startup Mode}} = {{PARAMVALUE\|fast}}: enable fast startup mode

	{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and configured startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.		{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and configured startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.

OlliW: /* IMU Configuration */

2023-02-03T11:23:19Z

IMU Configuration

← Older revision		Revision as of 13:23, 3 February 2023
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	The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to		The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to
	* {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor		* {{PARAMNAME\|Imu2 Configuration}} = {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor

	{{COMMENT\|Setting the parameter {{PARAMNAME\|Imu2 Configuration}} enables all IMU2 related features except of the fast startup mode, such as disturbance correction or enhanced operation range}}.		{{COMMENT\|Setting the parameter {{PARAMNAME\|Imu2 Configuration}} enables all IMU2 related features except of the fast startup mode, such as disturbance correction or enhanced operation range}}.

OlliW: /* Fast Startup */

2023-02-03T11:22:55Z

Fast Startup

← Older revision		Revision as of 13:22, 3 February 2023
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	* {{PARAMNAME\|Startup Mode}} = {{PARAMVALUE\|fast}}		* {{PARAMNAME\|Startup Mode}} = {{PARAMVALUE\|fast}}

	{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.		{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and configured startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.

	== PID Tuning ==		== PID Tuning ==

OlliW at 11:22, 3 February 2023

2023-02-03T11:22:02Z

← Older revision		Revision as of 13:22, 3 February 2023
Line 50:		Line 50:
	The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to		The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to
	* {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor		* {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor

			{{COMMENT\|Setting the parameter {{PARAMNAME\|Imu2 Configuration}} enables all IMU2 related features except of the fast startup mode, such as disturbance correction or enhanced operation range}}.

			== Fast Startup ==

			When a 2nd IMU is available, and further conditions are met, the startup time and behavior of the gimbal can be much improved by enabling the fast startup feature. To activate the fast startup, set
			* {{PARAMNAME\|Startup Mode}} = {{PARAMVALUE\|fast}}

	{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.		{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.

← Older revision		Revision as of 13:23, 3 February 2023
Line 49:		Line 49:

	The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to		The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to
	* {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor		* {{PARAMNAME\|Imu2 Configuration}} = {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor

	{{COMMENT\|Setting the parameter {{PARAMNAME\|Imu2 Configuration}} enables all IMU2 related features except of the fast startup mode, such as disturbance correction or enhanced operation range}}.		{{COMMENT\|Setting the parameter {{PARAMNAME\|Imu2 Configuration}} enables all IMU2 related features except of the fast startup mode, such as disturbance correction or enhanced operation range}}.

← Older revision		Revision as of 13:22, 3 February 2023
Line 50:		Line 50:
	The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to		The 2nd IMU support is determined by the parameter {{PARAMNAME\|Imu2 Configuration}} found in the {{GUI\|Setup}} tab. To activate the 2nd IMU, set it to
	* {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor		* {{PARAMVALUE\|full}}: activate 2nd IMU above the yaw motor

			{{COMMENT\|Setting the parameter {{PARAMNAME\|Imu2 Configuration}} enables all IMU2 related features except of the fast startup mode, such as disturbance correction or enhanced operation range}}.

			== Fast Startup ==

			When a 2nd IMU is available, and further conditions are met, the startup time and behavior of the gimbal can be much improved by enabling the fast startup feature. To activate the fast startup, set
			* {{PARAMNAME\|Startup Mode}} = {{PARAMVALUE\|fast}}

	{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.		{{COMMENT\|The fast startup mode feature is available whenever a 2nd IMU is present (and the additional conditions calibrated IMUs, configured motor directions and startup motor positions are fullfilled). That is, for this feature the parameter {{PARAMNAME\|Imu2 Configuration}} does not need to be activated. For all other IMU2 related features such as disturbance correction or enhanced operation range, the parameter needs to be enabled}}.