Unterschiede zwischen den Revisionen 1 und 22 (über 21 Versionen hinweg)

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Shoplink: GimbalCtrl

Inhaltsverzeichnis

GimbalCtrl
Connection
1. Connection FlightCtrl
2. Connection AlexMos
Setting AlexMos
Setting KopterTool
1. Nick-Roll-Yaw
2. Switching outputs
GimbalCtrl - LED
I2C-Adapter for 3-axes Gimbal
Angle
LOG-File - TXT-File
Separate supply with two Lipos

INFO

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

- FlightCtrl + NaviCtrl V2.20 or later
- AlexMos V2.66b2 or later

GimbalCtrl

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

Connection FlightCtrl

Connect the GimbalCtrl with the I2C-Bus of your MikroKopter FlightCtrl.

Connection AlexMos

On your AlexMos-Board we use the serial "RC"-input (GND, RC_Rx and RC_Tx).
This has the advantage that you can optionally connect e.g. a Bluetooth connection via the serial input.

Setting AlexMos

First you activate the serial RC-input under RC settings

RC_ROLL pin mode => SBGC Serial API

The GimbalCtrl need a serial speed of 9600 Baud.
This you can set under Hardware

RC_SERIAL_port speed => 9600

The speed for Main serial port speed and UART2 port speed can stay at 11520 Baud.
If you use e.g. a Bluetooth connection on the normal serial port you can use the fast speed.

For a 3-axes gimbal you have also to activate FollowYAW under Follow mode.

Setting KopterTool

Nick-Roll-Yaw

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.

Switching outputs

connection example

Optionally, up to 3 switching outputs can be used.

Out1
- Pad1 (switch to GND)
- Pad3 (switch to 3,3V)
Out2
- Pad8 (switch to GND)
- Pad4 (switch to 3,3V)
Trigger
- Pad9 (is working parallel with the Output "Out1" in your MikroKopter)

So you can e.g. trigger a camera or running a script in your AlexMos gimbal.

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.

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.

I2C-Adapter for 3-axes Gimbal

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:

- 1x I2C-Bus Splitter
- 2x Servo cable extension
- 1x 4pol Molex cabel

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.

Angle

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

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.

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.

-  ⇤ ← Revision 1 vom 28.11.2017 18:09 → 
  Größe: 8516
  Autor: LotharF
  Kommentar:
+   ← Revision 22 vom 10.09.2019 08:19 → ⇥
  Größe: 13140
  Autor: LotharF
  Kommentar:
-Gelöschter Text ist auf diese Art markiert.
+Hinzugefügter Text ist auf diese Art markiert.
 Zeile 20:
-'''Shoplink:  [[link|GimbalCtrl]]'''
+'''Shoplink:  [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=110&products_id=985|GimbalCtrl]]'''
 Zeile 38:
-'''Für den Betrieb der GimbalCtrl wird folgende Softwareversion benötigt:

 - !FlightCtrl + !NaviCtrl __V2.20__ oder neuer <<BR>>
 - !AlexMos __V2.63__ oder neuer'''
+'''The following software version is required for the operation of the !GimbalCtrl:

 - !FlightCtrl + !NaviCtrl __V2.20__ or later <<BR>>
 - !AlexMos __V2.66b2__ or later'''
 Zeile 69:
-Die GimbalCtrl steuert über den I2C-Bus der !FlightCtrl die Funktionen Nick, Roll und Gier an einem [[https://www.basecamelectronics.com/|AlexMos Brushless Gimbal]].

Zudem kann der Nick-Winkel bei einem Wegpunkteflug Gradgenau eingestellt werden. Der Nick- und Roll-Winkel der Kamera werden zudem im LOG-File und im TXT-File mitgeloggt.
+The !GimbalCtrl controls nick, roll and yaw of an [[https://www.basecamelectronics.com/|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.
-Zeile 79:
+Zeile 81:
-= Anschluss =

##/////////////////////////////////////////////////////////////////////////
## Bild rechts

{{{#!html
<div style="float: right; margin: 15px;">
}}}
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Anschluss1.jpg?m=1511795271 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Anschluss1.jpg?m=1511795271 }} ]]
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/AlexMos-Anschluss.jpg?m=1511795195 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/AlexMos-Anschluss.jpg?m=1511795195 }} ]]
{{{#!html
</div>
}}}
##/////////////////////////////////////////////////////////////////////////
<<BR>>

Angeschlossen wird die GimbalCtrl an den I2C-Bus der !FlightCtrl und an GND, Rx und Tx vom seriellen Eingang der !AlexMos-Steuerung.
+= Connection =

== Connection FlightCtrl ==

 Connect the !GimbalCtrl with the I2C-Bus of your !MikroKopter !FlightCtrl.

 [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Anschluss1.jpg?m=1511795271 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Anschluss1.jpg?m=1511795271 }} ]]

###########################################################################
<<BR>>


== Connection AlexMos ==

 On your !AlexMos-Board we use the serial __"RC"-input__ (GND, RC_Rx and RC_Tx). <<BR>>
 This has the advantage that you can optionally connect e.g. a Bluetooth connection via the serial input.<<BR>>

 [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Extended-Serial.jpg?m=1518702469 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Extended-Serial.jpg?m=1518702469 }} ]]
 [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Tiny-Serial.jpg?m=1516803727 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Tiny-Serial.jpg?m=1516803727 }} ]]
 [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Serial1.jpg?m=1516803726 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Serial1.jpg?m=1516803727 }} ]]


###########################################################################
<<BR>><<BR>><<BR>><<BR>><<BR>><<BR>>


= Setting AlexMos =

First you activate the serial RC-input under ''RC settings''
 * RC_ROLL pin mode => SBGC Serial API

The !GimbalCtrl need a serial speed of 9600 Baud.<<BR>>
This you can set under ''Hardware''
 * RC_SERIAL_port speed => 9600

The speed for ''Main serial port speed'' and '' UART2 port speed'' can stay at 11520 Baud.<<BR>>
If you use e.g. a Bluetooth connection on the normal serial port you can use the fast speed.


For a 3-axes gimbal you have also to activate ''FollowYAW'' under ''Follow mode''.

 [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/AlexMos_RC-RollMode.jpg?m=1568096141 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/AlexMos_RC-RollMode.jpg?m=1568096142 }} ]]
 [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/AlexMos_SerialPortSpeed9600.jpg?m=1568096142 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/AlexMos_SerialPortSpeed9600.jpg?m=1568096142 }} ]]
 [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/AlexMos_FollowMode-yaw.jpg?m=1568096140 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/AlexMos_FollowMode-yaw.jpg?m=1568096140 }} ]]


###########################################################################
<<BR>><<BR>><<BR>><<BR>>




= Setting KopterTool =

== Nick-Roll-Yaw ==

##/////////////////////////////////////////////////////////////////////////
## Bild rechts

{{{#!html
<div style="float: right; margin: 15px;">
}}}
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Einstellung.jpg?m=1517903737 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/Einstellung.jpg?m=1517903737 }} ]]
{{{#!html
</div>
}}}
##/////////////////////////////////////////////////////////////////////////
<<BR>>

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.




###########################################################################
<<BR>><<BR>><<BR>><<BR>>


== Switching outputs ==

##/////////////////////////////////////////////////////////////////////////
## Bild rechts

{{{#!html
<div style="float: right; margin: 15px;">
}}}
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Einstellung2.jpg?m=1517903738 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/Einstellung2.jpg?m=1517903738 }} ]]<<BR>><<BR>><<BR>>
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl%2BSchaltausgang2.jpg?m=1512040229 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl%2BSchaltausgang2.jpg?m=1512040229 }} ]]<<BR>>
~-connection example-~
{{{#!html
</div>
}}}
##/////////////////////////////////////////////////////////////////////////
<<BR>><<BR>>

Optionally, up to 3 switching outputs can be used. 

 * Out1 
  * Pad1 ~-(switch to GND)-~  
  * Pad3 ~-(switch to 3,3V)-~
 * Out2
  * Pad8 ~-(switch to GND)-~
  * Pad4 ~-(switch to 3,3V)-~
 * Trigger
  * Pad9 ~-(is working parallel with the Output "Out1" in your !MikroKopter)-~


So you can e.g. trigger a camera or running a script in your !AlexMos gimbal.

'''INFO:''' The switching outputs are max. 100mA loadable !!!<<BR>>
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.<<BR>>
~-(!CamCtrl -> Out1/Out2)-~

The switching output "Trigger" is parallel with the "[[en/MK-Parameter/Output|switching output 1]]" of your !FlightCtrl.







###########################################################################
<<BR>><<BR>><<BR>><<BR>>


= 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 ...)
<<BR>>

 * green LED => flashing slow
 * red LED => OFF

 => !GimbalCtrl is connect via I2C on your !FlightCtrl. Brushless Gimbal was detected.
-Zeile 102:
+Zeile 231:
-= Einstellung AlexMos =

##/////////////////////////////////////////////////////////////////////////
## Bild rechts

{{{#!html
<div style="float: right; margin: 15px;">
}}}
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Einstellung-gimbal.jpg?m=1511795199 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/Einstellung-gimbal.jpg?m=1511795199 }} ]]
{{{#!html
</div>
}}}
##/////////////////////////////////////////////////////////////////////////
<<BR>>

Die serielle Übertragungsgeschwindigkeit der !AlexMos-Steuerung muss auf __9600 Baud__ heruntergesetzt werden.

'''INFO:''' Zur Einstellung der !AlexMos-Steuerung darf die GimbalCtrl __nicht__ angeschlossen sein.

<<BR>>
Nutzt man ein 3-achs Gimbal muss zusätzlich ein haken bei ''FollowYAW'' gesetzt werden.

###########################################################################
<<BR>><<BR>><<BR>><<BR>>




= Einstellung KopterTool =

##/////////////////////////////////////////////////////////////////////////
## Bild rechts

{{{#!html
<div style="float: right; margin: 15px;">
}}}
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Einstellung.jpg?m=1511795196 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/Einstellung.jpg?m=1511795196 }} ]]
{{{#!html
</div>
}}}
##/////////////////////////////////////////////////////////////////////////
<<BR>>

Zur Steuerung der Funktionen Nick, Roll und Gier über die GimbalCtrl werden 3 freie Kanäle benötigt.

Diese Stellt man unter den Reitern ''Camera'' (Nick, Roll) und ''!CamCtrl'' (YAW Channel) ein.

###########################################################################
<<BR>><<BR>><<BR>><<BR>>




= I2C-Adapter für 3-achs Gimbal =
+= I2C-Adapter for 3-axes Gimbal =
-Zeile 172:
+Zeile 247:
-Nutzt man ein 3-achs Gimbal, würde sich ein extern verlegtes Kabel beim Gieren des Gimbal aufwickeln. <<BR>>
Hat man 4 freie Leitungen über den Schleifkontakt am Gimbal, kann man den I2C-Bus auch durchschleifen und am Gimbal nutzen.

Im Beispiel rechts sieht man, wie der I2C-Bus durchgeschliffen werden kann.

Für die Herstellung eines solchen Adapter nutzt man:
+On an 3-axes gimbal you can damage external routed cable if you yaw the gimbal. <<BR>>
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:
-Zeile 179:
+Zeile 254:
- - 2x [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=86&products_id=216|Servokabel Verlängerung]] <<BR>>
 - 1x [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=111&products_id=925|4pol Molex Kabel]] 

<<BR>>
Hat man den I2C-Bus so verlängert, kann man hier neben der GimbalCtrl ~-(zur Steuerung des Gimbal)-~ <<BR>>
auch z.B. eine CamCtrl zur Steuerung einer Sony Kamera anschließen.

So nutzt man mehrere Funktionen über nur wenige Kabel und verhindert ein Verwickeln beim Gieren des Gimbal.
###########################################################################
<<BR>><<BR>><<BR>><<BR>>
+ - 2x [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=86&products_id=216|Servo cable extension]] <<BR>>
 - 1x [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=111&products_id=925|4pol Molex cabel]] 

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

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


###########################################################################
<<BR>><<BR>><<BR>><<BR>>




= Angle =

##/////////////////////////////////////////////////////////////////////////
## Bild rechts

{{{#!html
<div style="float: right; margin: 15px;">
}}}
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalAngle.jpg?m=1512563906 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalAngle.jpg?m=1512563907 }} ]]
{{{#!html
</div>
}}}
##/////////////////////////////////////////////////////////////////////////
<<BR>><<BR>>

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.


###########################################################################
<<BR>><<BR>><<BR>><<BR>>
-Zeile 209:
+Zeile 310:
-Die Neigung des Gimbal für Nick und Roll in Grad wird fortlaufend im LOG-File in der Spalte ''Gimbal'' gespeichert.
<<BR>><<BR>><<BR>><<BR>>
Zusätzlich wird zu jedem ausgelösten Foto in dem extra TXT-File der dabei anliegende Nick/Roll Winkel aufgezeichnet.

###########################################################################
<<BR>><<BR>><<BR>><<BR>>



<<BR>><<BR>>
<<BR>><<BR>>
+The inclination of the gimbal for nick and roll in degrees is stored continuously in the LOG file in the column ''Gimbal''.
<<BR>><<BR>><<BR>><<BR>>
In addition, the nick / roll angle is recorded in the extra TXT file for each triggered photo.

###########################################################################
<<BR>><<BR>><<BR>><<BR>>


= 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.


###########################################################################
<<BR>><<BR>><<BR>><<BR>>

<<BR>><<BR>>
<<BR>><<BR>>