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OnlineHelp: Camera Stabilization Configuration
###Camera Stabilization Configuration
####Introduction ![Camera Stabilization] (http://www.klick-punkte.info/download/TauLabs/CameraStabLogo.png) The camera stabilization feature enables you to control and stabilize a camera mount or gimbal along 3 axis. Each stabilized axis can be independently controlled and tuned to your liking. The used servos can either be analog or digital and the update rate for is 100% configurable like any other output on the board.
####Configuration #####Inputs Prior enabling the module you should verify if the inputs and outputs are set correctly for your gimbal servos. If you want to control your pan and tilt offset of the gimbal you'll need to configure 2 extra input channels in the Imput Configuration. If you don't want any manual control on the pan and tilt the you don't need any additional input channels. #####Outputs Once the input channels are configured correctly, configure your output channels. If you are using analog servo's then make sure the output update rate is set at 50hz. If you use digital servos then you can increase the update rate to 330hz.
Use the Output Configuration gadget to configure your outputs.
In below example, a tricopter is configured with 2 analog servos for a stabilized gimbal. The servos will be connected to channel 5 and 6. The update rate is set at 50hz, the min. and max. on 1000µs to 2000µs respectively and the center of the servos is set on 1500µs.
(warning) Please verify the channel update rate prior enabling the Camera Stabilization Module, if the module is enabled and the output rate is wrongly chosen for your servos you may damage them. Once you have set your outputs, click Save.
#####Enable Camera Stabilization The configuration of the Camera Stabilization is done in the Camera Stab on the Configuration Gadget. By default, the module is not enabled so check the option, click Save and reboot your board to enable the stabilization.
#####Configure Camera Stabilization Once you have rebooted your board, navigate to the configuration page to configure the basic and advanced settings. Basic settings
Output channel: Specify the output channel where your servo is connected to for the Roll, Pitch or Yaw axis (or Servo1 and Servo2 for the Roll-Pitch-Mixed gimbal type).
Output Range: Specifies how many degrees the board should rotate for the servo to move between it's neutral and maximum position. E.g. an output range of 45° will move the servo from it's neutral position to the maximum/minimum on a board rotation of 45°. This value should be tuned for your particular gimbal and servo. You also have to define the channel output range and neutral position using the Output Configuration tab.
One of the channels is already assigned Icon If you click Save and the channel reverts back to none, this means that the output channel is already configured for something else. A warning indicates that a channel is already assigned.
Advanced Settings (Control)
Input Channel: Specify the input channel used to control the particular axis. The input channel is normally an accessory channel on your transmitter such as a pot-meter. Stabilization Mode: Attitude: The camera tracks the level for the axis while the Input Channel controls the deflection. AxisLock: The camera remembers the actual angle, the input controls the rate of deflection.
Input Range: Maximum camera deflection for 100% input in Attitude mode.
Input Rate: Maximum camera roll rate in deg/s on 100% input request. Response Time: Input low pass filter, this value smooths the camera movement on a stick input. The higher the value the smoother the camera will move.
MaxAxisLockRate: Control input dead band, the camera will track the attitude as long as the control input is within this limit. If the control moves more then the specified value, then the camera will move accordingly with respect to the Input Rate.
#####SSG / Super Simple Gimbal / Mixed-Roll-Pitch Gimbal The SSG gimbal code is part of the current release cycle. You can find it and play with it in the current RC1 or RC2 (at least). Setup:
- Select Roll-Pitch-Mixed for Gimbal Type on the GCS Configursation Gimbal page (picture above is out of date).
- Select the correct Output Channel for "Roll or Servo1" and for "Pitch or Servo2" on that page (picture above is out of date).
- Adjust the neutral for the two servos on the GCS Output page for the servos to obtain proper centering. You will recenter the neutral later too.
- Set the two output channel servo reversing settings as needed to get the roll direction correct for both servos (do not worry about pitch yet). That can be done on the GCS Output page.
- Go to the GCS System page (direct access to the UAV Objects) and to Settings -> CameraStabSettings on that page.
- Change the Servo1PitchReverse and Servo2PitchReverse (TRUE / FALSE) to get the pitch direction correct for both servos.
- Use the Save button at the top of the page (instead of the Send button) to store the pitch reverse settings instead of them just being temporary.
- The gimbal should be moving in the correct direction for roll and pitch now. We still must center the gimbal and get the servo rates to match the aircraft motions.
- Adjust the Output Range on the GCS Gimbal / Camera Stabilization page to get the gimbal servo rates to match the aircraft motion position. This causes the servos to move more or move less.
- Re-adjust the min/max/neutral on the GCS Output page for the servos to obtain proper centering and maximum travel without binding.