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GimbalCtrl


http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/Button-Baugruppe/Button350x150/Button_GimbalCtrl.jpg?m=1511852828
Shoplink: GimbalCtrl




INFO

The following software version is required for the operation of the GimbalCtrl:

  • - FlightCtrl + NaviCtrl V2.20 or later
    - AlexMos V2.63 or later





GimbalCtrl

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl.jpg?m=1511795270


The GimbalCtrl controls nick, roll and yaw of an AlexMos Brushless Gimbal.

Optionally, up to 3 switching outputs can be used (e.g. to trigger a photo camera).

During a waypoint flight you can control the angle for nick exactly. The nick- and roll angle will also be recorded in the LOG-File and also in TXT-File.







Connection

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Anschluss1.jpg?m=1511795271 http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/AlexMos-Anschluss.jpg?m=1513171319


Connect the GimbalCtrl with the I2C-Bus of your MikroKopter FlightCtrl. The output will be connected to GND, Rx and Tx of the serial input of your AlexMos-PCB.







GimbalCtrl - LED

the GimbalCtrl has a red and green led:

  • green LED => ON

  • red LED => fast flashing

    => GimbalCtrl is connect via I2C on your FlightCtrl. Brushless Gimbal was not recognized (the connection is wrong, gimbal is OFF ...)


  • green LED => flashing slow

  • red LED => OFF

    => GimbalCtrl is connect via I2C on your FlightCtrl. Brushless Gimbal was detected.









Setting AlexMos

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Einstellung-gimbal.jpg?m=1511795199


Change the serial speed in your AlexMos-PCB down to 9600 Baud.

INFO: When you setup the AlexMos-PCB remove the GimbalCtrl.


If you use a 3-axes Gimbal you have to activate also FollowYAW.





Setting KopterTool

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Einstellung.jpg?m=1511795196


To control the Funktion nick, roll and yaw via the GimbalCtrl you need 3 free channels.

You can setup this channes under Camera (nick, roll) and CamCtrl (YAW Channel) in the KopterTool.





I2C-Adapter for 3-axes Gimbal

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Anschluss2.jpg?m=1511796296
http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/I2C-Adapter.jpg?m=1511795272


On an 3-axes gimbal you can damage external routed cable if you yaw the gimbal.
It the gimbal offers 4 free wires via the sliding contact in the yaw motor you can also route the I2C bus down to the gimbal.

In the example on the right you can see how the I2C bus can be looped through.

To make such an adapter you need:


If this is done you can use on the gimbal the GimbalCtrl and also the CamCtrl at the same time.

So you use several functions over only a few cables and prevents entanglement while yawing the gimbal.





Switching outputs

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl%2BSchaltausgang2.jpg?m=1512040229
Anschlussbeispiel



Optionally, up to 3 switching outputs can be used. So you can e.g. trigger a camera or switch something else.

INFO: The switching outputs are max. 100mA loadable !!!
Do you want to switch more load (z.B. LED-Streifen) please use e.g. a ExtensionPCB.

With the KopterTool you can set the switching output Out1/Out2 with a free channel.
(CamCtrl -> Out1/Out2)

The switching output "Trigger" is parallel with the "switching output 1" of your FlightCtrl.





Angle

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalAngle.jpg?m=1512563906



If you control a gimbal with a servo connection, the set angle (in a waypoint flight) is not the real angle. The number you set for the angle is added to the servo value.

With the GimbalCtrl you can set and use now the real angle. So when you set e.g. 90 for the angle, the gimbal will look 90° down.





LOG-File - TXT-File

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalAngle-GPX.jpg?m=1511861504
http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalAngle-TXT.jpg?m=1511861504



The inclination of the gimbal for nick and roll in degrees is stored continuously in the LOG file in the column Gimbal.



In addition, the nick / roll angle is recorded in the extra TXT file for each triggered photo.





Particularities

On AlexMos boards type extended (first revisoins), the "Tx" port is designed low resistance.
In this case, the GimbalCtrl can not connect. Also not if the connection and the settings are correct.
So that the function is still given two resistors must be removed in the Tx line.
Here you can see here which resistor must be removed:

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Resistor.jpg?m=1513001580

(Removing is at your own risk. HiSystems assumes no liability in case of any defective)





Separate supply with two Lipos

The GimbalCtrl has a high-impedance protective resistor between the GND terminals. If you use now one Lipo for your copter and a seperate lipo only for your brushless gimbal you have to connect the GND of both lipos together. Otherwise the GimbalCtrl will not work.

Attention: Make sure that the polarity is correct when connecting.