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| Gelöschter Text ist auf diese Art markiert. | Hinzugefügter Text ist auf diese Art markiert. |
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| '''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 __V2.63__ or later''' |
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| Die GimbalCtrl steuert über den I2C-Bus der !FlightCtrl die Funktionen Nick, Roll und Gier an einem [[https://www.basecamelectronics.com/|AlexMos Brushless Gimbal]]. Optional können bis zu 3 Schaltausgänge genutzt werden (z.B. trigger Fotokamera). 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. |
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| = Anschluss = | = Connection = |
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| [[ 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. |
[[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/AlexMos-Anschluss.jpg?m=1513171319 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/AlexMos-Anschluss.jpg?m=1513171319 }} ]] {{{#!html </div> }}} ##///////////////////////////////////////////////////////////////////////// <<BR>> 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. ########################################################################### <<BR>><<BR>><<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. |
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| = 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 = |
= Setting 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 }} ]]<<BR>> (old SW) <<BR>><<BR>> [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/Einstellung-gimbal_V2_66b2.jpg?m=1516780762 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/Einstellung-gimbal_V2_66b2.jpg?m=1516780762 }} ]]<<BR>> (since V2.66b2) {{{#!html </div> }}} ##///////////////////////////////////////////////////////////////////////// <<BR>> Change the serial speed for ''RC_SERIAL port / UART2 port'' in your !AlexMos-PCB down to __9600 Baud__. '''INFO:''' When you setup the !AlexMos-PCB __remove__ the !GimbalCtrl. <<BR>> If you use a 3-axes Gimbal you have to activate also ''FollowYAW''. ########################################################################### <<BR>><<BR>><<BR>><<BR>> = Setting KopterTool = |
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| 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 = |
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>> = I2C-Adapter for 3-axes Gimbal = |
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| 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: |
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| - 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>> = Schaltausgänge = |
- 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>> = Switching outputs = |
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| Optional können bis zu 3 Schaltausgänge genutzt werden. Hierüber kann z.B. eine Fotokamera ausgelöst werden. '''INFO:''' Die Schaltausgänge sind max. 100mA belastbar !!!<<BR>> Möchte man mehr Lastt schalten (z.B. LED-Streifen) sollte z.B. das [[ExtensionPCB]] genutzt werden. Im !KopterTool können den Schaltausgängen Out1/Out2 freie Kanäle zugeteilt werden.<<BR>> ~-(unter !CamCtrl -> Out1/Out2)-~ Der Schaltausgang "Trigger" ist parallel geschaltet mit dem "[[MK-Parameter/Output#Ausgang_1|Schaltausgang1]]" der !FlightCtrl |
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 !!!<<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. |
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= 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>> |
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| 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>> = Particularities = On !AlexMos boards type extended (first revisoins), the "Tx" port is designed low resistance.<<BR>> In this case, the !GimbalCtrl can not connect. Also not if the connection and the settings are correct.<<BR>> On this board you can connect the !GimbalCtrl with the second serial port. <<BR>> Please note that you need the latest software on your !AlexMos board (SW V2.66b2 or newer). With older SW the second serial port will not work..<<BR>> Setup: * ''RC-Setting'' * ''RC_ROLL pin mode'' => ''SBGC Serial API'' * ''Hardware'' * ''Main serial port speed'' => ''11520'' * ''RC_SERIAL port speed'' => ''9600'' * ''UART2 port speed'' => ''9600'' [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/BasecamBaud.png?m=1516779709 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/BasecamBaud.png?m=1516779709 }} ]] [[ http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Serial.jpg?m=1516718650 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/MK-Baugruppen/GimbalCtrl/GimbalCtrl-Serial.jpg?m=1516718651 }} ]] ########################################################################### <<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>> |
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Shoplink: GimbalCtrl
Inhaltsverzeichnis
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
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
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
(old SW)
(since V2.66b2)
Change the serial speed for RC_SERIAL port / UART2 port 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
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
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.
Switching outputs
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
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.
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.
On this board you can connect the GimbalCtrl with the second serial port.
Please note that you need the latest software on your AlexMos board (SW V2.66b2 or newer). With older SW the second serial port will not work..
Setup:
RC-Setting
RC_ROLL pin mode => SBGC Serial API
Hardware
Main serial port speed => 11520
RC_SERIAL port speed => 9600
UART2 port speed => 9600
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.