Download SimpleBGC 32bit 3-Axis Software User Manual

2. Step-by-step setup sequence
1. Set I=0.01, P=10, D=10 for all axes. Gimbal should be stable at this moment. If not, decrease P
and D a bit. Than start to tune each axis sequentially:
2. Gradually increase P until motor starts to oscillate (you may knock the camera and see on the
gyro graph, how fast oscillation decays). Increase D a little – it should dampen oscillations, and
decay time decreases. The lower is decay time, the better.
3. Repeat step 2 until D reaches its maximum which is when high-frequency vibration begins to
appear (you may hear it or feel it in your hands and see noisy lines on the gyro graph). When
this begins current P and D values are at maximums for your setup. At this point decrease them
a little and go to step 4.
4. Increase I until low-frequency oscillation starts. Decrease I a little to keep gimbal stable. Now
you have found a maximum for all PID values for selected axis. Repeat from step 1 for other
axes.
5. When all axes are tuned in static, try to move gimbal's frame, emulating a real working
environment. You may notice that cross-influence of axes may make gimbal unstable. In this
case, decrease a little PID values from their maximum for axes that are animating.
Good tuning results in stabilization error of less than 1 degree when you slightly rock the gimbal's frame.
Further steps to improve the precision of stabilization:
• Connect and calibrate external flight controller (see Advanced Settings, External FC Gain).
• Connect, setup and calibrate second (frame) IMU (see Second IMU sensor).
4. Connecting and configuring RC
•
Connect one of the free receiver's channels to the input labeled as “RC_PITCH “, observing the
correct polarity
In the RC Settings tab:
•
Assign “RC_PITCH - PWM” input to PITCH axis.
•
Leave all other axes's and CMD's as “no input”.
•
For PITCH axis, set MIN.ANGLE=-90, MAX.ANGLE=90, ANGLE MODE=checked, LPF=5, SPEED=50.
•
Connect the battery to the main controller and receiver, and check that RC_PITCH input receives
data in the “Monitoring” tab (slider should be blue filled and reflects stick movement).
Now you can control the camera from your RC transmitter, from -90 to 90 degrees. If you are not satisfied
with the speed of movement, adjust the SPEED setting. If stick need to be inverted, select the INVERSE
checkbox.
If your RC stick have neutral position, better to select the SPEED mode to have better control compared
with the ANGLE mode.
Connect and tune remaining axes the same way, as required. You have 5 PWM inputs to assign to all axes
and to the “command” channel.
5. Testing gimbal in real conditions
For flight on multi-rotors, connect controller to the GUI and turn ON the vehicle's motors, holding it above
your head (and away from your face and hands). Check the vibrations on the camera by using the
Monitoring tab / ACC raw data. Try to decrease the level of vibrations using soft dampers on gimbal's mount,
balancing propellers, and so on.
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