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Gimbal

1.  Gimbal behave abnormal when its powered on

Case 1: The gimbal roll axis hits the yaw motor and rolls randomly or no respond after powering on, or rotate randomly in all 3axis.

Answer:

(1) Connect to serial port, make sure it is well connected

(2) While turning on the camera, continuously send command “3E 1B 00 1B 00 00″ to turn off the motors, keep clicking (or set sending interval 500ms) until motor stop moving.

(3) Send command “3E 45 01 46 0B 0B 3E 1B 00 1B 00 00″, and wait for the automatic calibration of the gimbal to complete

(4) After calibration, adjust the horizontal position of the camera lens align to the installation arrow (you can move manually it to the desired position and wait for 2S), send command “3E 1A 00 1A 00 00″ to save this position (it’s also the home position and the position after power-on self-checking)

Case 2: After powering on, the gimbal pans randomly.

Answer:

(1) The image and data transmitter antenna on the drone interferes with the magnetic encoder of the gimbal. Turn off the transmitter to eliminate the interference and then judge accordingly. If the phenomenon disappears, adjust the position (preferably more 35cm away) or direction (not facing the direction of the gimbal) of the antenna.

(2) Eliminate the interference of the unstable power supply by supplying power to the gimbal independently, or adjusting the voltage (try both 3S and 6S power supply).

(3) Update the program of the CONN board/DJI version software/Viewport controlling software to solve the problem that the serial port is interfered when starting up and incorrectly sent commands. (Solution only for new gimbals that rotate randomly and repeat same issue even temporarily work normal after sending command to calibrate.)

(4) If all the above methods have been tried, the gimbal still rotates after the drone is powered on, indicating that the gimbal is subjected to electromagnetic interference, and the internal data got error, need to send it back to factory for anti-interference processing.

(5) Special case: gimbal rotates after working for a while with CAN, motors are burning hot,

Case 3: After powering on, the gimbal is normal. After a period of time, irregularly jerks or motionless and have a chirping sound

A: Caused by IIC error (The main board controlling chip is broken).

Case 4: Turn off the image & data link and turn on again, the gimbal motor rotates abnormally, and have a chirping sound

Answer: Have you ever disassembled or assembled the damping plate? This operation may cause this problem

Case 5: The gimbal motors not moves but has chirping sound after powering on.

Answer: Send: 3E 3d 00 3d 00 00 to query for the gimbal angle feedback, if all value of IMU are 0, means gimbal IMU abnormal. Check if the 5V output of gimbal control box is normal or not. If normal, check if the internal wiring of IMU is normal or not, or if the connector loose or not. If gimbal is IP only version, check if the slip ring is OK.

2. Q: What feedback can I get from gimbal serial port?

Answer: Manual feedback: angle value of each axis, zoom times of the camera, and infrequently used data (tracking offset, rangefinder distance, target position)

Automatic feedback: angle value of each axis and angular velocity (set the feedback mode, turn on the automatic feedback)

The system default automatic feedback structure: (not set the feedback mode)

typedef struct {

   uint16_t timestamp

   int16_t  rollIMUangle

   int16_t  pitchIMUangle

   int16_t  yawIMUangle

   int16_t  rollTAGangle

   int16_t  pitchTAGangle

   int16_t  yawTAGangle

   int16_t  rollTAGspeed

   int16_t  pitchTAGspeed

   int16_t  yawTAGspeed

   int16_t  rollStatorRotorAngle

   int16_t  pitchStatorRotorAngle

   int16_t  yawStatorRotorAngle

} T_SbgcGimbalRealtimeDataCustomReq_full 

3. Q: How to set/query gimbal follow/disable follow mode?

Answer: 

follow_yaw_disable (mode not to follow the pan of the drone): 3E 1F 06 25 01 1F 00 00 00 00 20

follow_yaw_enable (mode to follow the pan of the drone): 3E 1F 06 25 01 1F 01 00 00 00 21

query_follow_state (query current mode): 3E 40 02 42 01 1F 20

save gimbal settings (save, the mode of the next startup is the same as the save mode): 3E 20 00 20 00 00

Obtained from the query when starting up: 3E 1F 06 25 01 1F FF FF FF FF 1C (For accurate query, please send the mode command first) 

4. Q: How to solve slight drift during disable follow mode or after stop?

Answer: Send command to stop: FF 01 0F 10 00 04 04 00 00 00 00 00 00 00 00 00 00 00 00 00 08 

5. Q: What phenomenons of the gimbal is normal?

Case 1: Gimbal tracking, after exceeding the limit angle upwards, the gimbal will move downwards. This is normal.

Case 2: Gimbal (old shipment) under speed mode, it cannot be controlled after passing the YAW axis limit.

Case 3: If the gimbal (old shipment) is mounted upside-down and pitch down to the limit, it will cause the lens to face upwards. 

6. Other infrequently used commands (not common)

1) How gimbal enter the scan mode?

Answer:  Add script to gimbal tuning and run the script

Enter scan mode: 3E 45 01 46 1B 1B

Exit scan mode: 3E 45 01 46 1A 1A

2) Gimbal receive stop feedback

Answer: send command “AA 55 20 10 FF”, then turn on to enable.

Send: FF 01 0F 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Receive: 3E 43 01 44 43 43

3) Gimbal goes over the target under tracking mode.

Answer: Send command: AA 55 28 50 FF AA 55 2B 50 FF 

7. Gimbal parameter modification

Case 1: Modify pitch/yaw angle control range by RC Control

Answer:

(1) Send command: 3E 15 00 15 00 00

(2) Get the feedback value

(3) After changing the corresponding bit, send the changed command to the gimbal (CS: Sum from 5th byte to last byte modulo 256)

For example: send: 3E 15 00 15 00 00

Feedback:3E 15 86 9B 00 64 0A 46 50 01 0E 64 0A 46 5A 00 0E 64 0A 46 6E 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 D3 FF 5A 00 01 03 1E 00 30 FD D0 02 01 03 1E 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 00 00 00 00 00 00 32 32 00 00 00 03 02 03 01 00 02 00 01 02 00 00 00 26 11 18 19 1B 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 3C 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 53 07 50 04 00 00 00 01 00 0B

Analysis on the feedback:

[

Frame header:3E 15 86 9B

Data body:

00 64 0A 46 50 01 0E 64 0A 46 5A 00 0E 64 0A 46 6E 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 D3 FF 5A 00 01 03 1E 00 30 FD D0 02 01 03 1E 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 00 00 00 00 00 00 32 32 00 00 00 03 02 03 01 00 02 00 01 02 00 00 00 26 11 18 19 1B 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 3C 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 53 07 50 04 00 00 00 01 00

Checksum:0B  (Sum of each byte of the data body modulo 256)

]

In data body

(D3 FF 5A 00–>0xFFD3=-45 Pitch up 45° 0x005A=90° pitch down 90°, Up negative down positive)

(30 FD D0 02–>0xFD30=-720 Yaw left 720° 0x02D0=right720° Yaw right 720°, left negative right positive)

Write the modify value:

3E 16 86 9C 00 64 0A 46 50 01 0E 64 0A 46 5A 00 0E 64 0A 46 6E 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 xx xx xx xx 01 03 1E 00 xx xx xx xx 01 03 1E 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 00 00 00 00 00 00 32 32 00 00 00 03 02 03 01 00 02 00 01 02 00 00 00 26 11 18 19 1B 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 3C 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 53 07 50 04 00 00 00 01 00 CS 

Case 2Yaw encoder angle value setting

Answer:

Send:3E 3E 00 3E 00

Feedback:3E 3E 97 D5 00 00 01 9A 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 64 64 5F 5F 5F 14 00 00 00 00 00 00 DE FE 00 00 00 00 22 01 87 00 78 3C 00 00 00 00 00 00 58 02 88 13 32 00 00 00 00 00 00 32 32 32 14 14 14 3C 3C 3C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 00 00 00 E1

Analyse:

00 00:roll

00 00:pitch

DE FE:yaw 0xFEDE–>-290

22 01:yaw 0×0122–> 290 

Write the modify value:

Send: 3E 3F 97 D6 00 00 01 9A 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 64 64 5F 5F 5F 14 00 00 00 00 00 00 DE FE 00 00 00 00 22 01 87 00 78 3C 00 00 00 00 00 00 58 02 88 13 32 00 00 00 00 00 00 32 32 32 14 14 14 3C 3C 3C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 00 00 00 E1 

Case 3Gimbal yaw does not follow or follow is too much sensitive.

Answer:

(1) Use the Mode channel of the remote control to switch quickly 4 times in a row (three-gear switch: middle gear –> high gear –> medium gear –> high gear –> medium gear –> high gear - -> Middle gear –> High gear) to see if it follows or not.

(2) Use Viewlink control software, serial port control, turn on “Enable Follow” to see if it follows or not.

(3) Use the command to query the parameters, after getting the feedback parameters, modify the corresponding parameters. Save the setting by sending: 3E 20 00 20 00.

Send: 3E 15 00 15 00 00

Feedback:3E 15 86 9B 00 64 0A 46 82 01 0E 64 0A 46 64 00 0E 64 0A 46 A0 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 D3 FF 5A 00 01 03 13 00 D4 FE 2C 01 01 03 13 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 03 00 00 00 00 00 32 32 00 00 00 FD FF 03 01 00 02 00 01 02 00 00 17 12 11 18 19 00 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 3C 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 51 07 10 44 00 00 00 01 00 43  

32 : dead-band (increase this value to reduce the follow sensitivity)

32 : expo curve

1E 1E 3C: Follow SPEED

03 03 03: Follow LPF 

Send:

3E 16 86 9C 00 64 0A 46 82 01 0E 64 0A 46 64 00 0E 64 0A 46 A0 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 D3 FF 5A 00 01 03 13 00 D4 FE 2C 01 01 03 13 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 03 00 00 00 00 00 64 3C 00 00 00 FD FF 03 01 00 02 00 01 02 00 00 17 12 11 18 19 00 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 3C 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 51 07 10 44 00 00 00 01 00 CS 

Send: 3E 3E 00 3E 00 00

Feedback: 3E 3E 97 D5 00 00 01 9A 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 64 64 5F 5F 5F 14 00 00 00 00 00 00 DE FE 00 00 00 00 22 01 87 00 78 3C 00 00 00 00 00 00 58 02 88 13 32 00 00 00 00 00 00 32 32 32 14 14 14 3C 3C 3C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 00 00 00 E1

3C 3C 3C: Follow RANGE

For example, send modification command: 3E 3F 97 D6 00 00 01 9A 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 64 64 5F 5F 5F 14 00 00 00 00 00 00 DE FE 00 00 00 00 22 01 87 00 78 3C 00 00 00 00 00 00 58 02 88 13 32 00 00 00 00 00 00 32 32 32 14 14 14 01 01 3C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 00 00 00 CS 

Case 4: Q: How to set gimbal pitch initial angle?

Answer:

(1) Send:3E 15 00 15 00 00 00

(2) Receive:3E 15 86 9B 00 64 0A 46 A0 01 0E 64 0A 46 8C 00 0E 64 0A 46 B4 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 D3 FF 5A 00 01 03 0B 00 D4 FE 2C 01 01 03 0B 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 03 00 00 00 00 00 32 32 00 00 00 01 03 FD FF 00 02 00 01 02 00 00 17 12 11 18 19 00 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 1E 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 51 07 10 44 00 00 00 01 00 6F

00 00: pitch initial angle is 0°

(3) If want to set pitch 45°,0×0800–> 2048 –>2048×0.02197265625=45

Send:3E 16 86 9C 00 64 0A 46 A0 01 0E 64 0A 46 8C 00 0E 64 0A 46 B4 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 D3 FF 5A 00 01 03 0B 00 D4 FE 2C 01 01 03 0B 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 03 00 00 00 00 00 32 32 00 00 00 01 03 FD FF 00 02 00 01 02 00 00 17 12 11 18 19 00 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 1E 00 00 00 00 08 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 51 07 10 44 00 00 00 01 00 77 

(4) Send: 3E 20 00 20 00 to save the setting. 

Case 5: Q: How to switch gimbal PWM speed mode/ angle mode?

Answer:

(1) First send: 3E 15 00 15 00 00

(2) Get the return value

(3) After changing the corresponding bit, send the changed instruction to the gimbal (checksum: sum of all bits from 6th byte to the last byte modulo 256)

Such as: send: 3E 15 00 15 00 00

Receive:3E 15 86 9B 00 64 0A 46 50 01 0E 64 0A 46 5A 00 0E 64 0A 46 6E 00 0E 64 00 00 D3 FF 2D 00 01 03 14 00 D3 FF 5A 00 01 03 1E 00 30 FD D0 02 01 03 1E 01 3C 00 01 00 00 00 00 37 0A 00 00 02 04 00 00 00 00 00 00 32 32 00 00 00 03 02 03 01 00 02 00 01 02 00 00 00 26 11 18 19 1B 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 3C 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 53 07 50 04 00 00 00 01 00 0B 

Analysis of received instructions:

01:speed mode      –>changed to 02:angle mode

37:RC_DEADBAND   –>changed to 00

0A:RC_EXPO_RATE   –>changed to 00

Write the modify value:

Send:3E 16 86 9C 00 64 0A 46 50 01 0E 64 0A 46 5A 00 0E 64 0A 46 6E 00 0E 64 00 00 D3 FF 2D 00 02 03 14 00 D3 FF 5A 00 02 03 1E 00 30 FD D0 02 02 03 1E 01 3C 00 01 00 00 00 00 00 00 00 00 02 04 00 00 00 00 00 00 32 32 00 00 00 03 02 03 01 00 02 00 01 02 00 00 00 26 11 18 19 1B 00 07 04 03 C8 FB 22 FC 14 FB 8B 28 14 00 00 00 1E 1E 3C 00 00 00 00 00 00 00 00 00 00 00 05 07 0F 32 06 03 03 03 53 07 50 04 00 00 00 01 00 CD 

Case 6: Q: How to modify the power value of gimbal motor?

Answer:

(1) Get the PID parameters of gimbal roll, pitch and yaw

Send: 3E 40 04 44 03 09 0A 0B 21

Feedback example: (POWER_ROLL=75, POWER_PITCH=75, POWER_YAW=115)

3E 1F 10 2F 03 09 4b 00 00 00 0a 4b 00 00 00 0b 73 00 00 00 2a

Frame header:3E 1F 10 2F

Data body:03 09 4b 00 00 00 0a 4b 00 00 00 0b 73 00 00 00

Checksum: 2a

Parameter NAME

 

ID

 

TYPE

 

MIN

 

MAX

 

POWER_ROLL

9

 

1u

 

0

 

255

POWER_PITCH

10

POWER_YAW

11

(2) Set the motor value of roll, pitch and yaw

(POWER_ROLL=75, POWER_PITCH=100, POWER_YAW=115)

Such as send:3E 1f 10 2F 03 09 4b 00 00 00 0a 64 00 00 00 0b 73 00 00 00 43 (The last bit is sum of red bits modulo 256)

(3)Save the settings from the previous step

send:3E 20 00 20 00 

Case 7: Q: How to modify the PID parameters of gimbal motor?

Answer:

(1) Get the gimbal roll, pitch, yaw PID parameters

Send: 3E 40 0A 4A 09 00 01 02 06 07 08 2A 2B 2C A2

Feedback example:

3E 1F 2E 4D

   09

   00 64 00 00 00———-ROLL P= 100

   01 64 00 00 00———-PITCH  P=100

   02 78 00 00 00———YAW  P=120

   06 46 00 00 00 ———R D= 70

   07 46 00 00 00———P D=70

   08 64 00 00 00———Y D=70

   2A 5F 00 00 00———R G=2

   2B 5F 00 00 00———P G=2   

   2C 5F 00 00 00———Y G=2

   EF—- checksum = LSB of all blue bytes

GAIN = 0.1 + X * 0.02    X=50*gain -5   2 = 0.1 + 95* 0.02

(2) Write the modification command

Such as send: 3E 1F 2E 4D 09 00 64 00 00 00 01 64 00 00 00 02 78 00 00 00 06 46 00 00 00 07 46 00 00 00 08 64 00 00 00 2A 5F 00 00 00 2B 5F 00 00 00 2C 5F 00 00 00 EF

(3) Save the settings of the 2nd step

Send: 3E 20 00 20 00

Case 8: Q: How to query and modify encoder value?

Answer:

(1) Send: 3E 21 00 21 00 00 to get value

(2) Write modified value

(3) Send: 3E 20 00 20 00 to save setting.

Example:

Send: 3E 21 00 21 00 00

Receive: 3E 21 68 89 00 23 23 37 1E 14 14 00 0C 3B 00 04 05 00 1D 1F 00 02 05 00 00 00 00 00 00 00 00 00 B6 C8 B0 20 34 FD 54 02 71 F9 1A 03 00 C8 C8 00 00 00 00 00 00 00 00 32 00 00 00 00 01 00 01 00 01 00 00 00 00 00 00 14 14 14 00 FB F6 64 FE 14 28 0D 04 0E 04 E4 03 0B 08 0D 07 07 00 32 32 32 00 00 00 03 01 32 00 14 00 14 14 14 96

54 02: 0×0254 Roll encoder value

71 F9: 0xF971 Pith encoder value

1A 03: 0x031A Yaw encoder value

B6 C8: 0xC8B6 Roll home position

B0 20: 0x20B0 Pitch home position

34 FD: 0xFD34 Yaw home position

Write the corresponding command:

Send: 3E 22 68 8A 00 23 23 37 1E 14 14 00 0C 3B 00 04 05 00 1D 1F 00 02 05 00 00 00 00 00 00 00 00 00 B6 C8 B0 20 34 FD 54 02 71 F9 21 03 00 C8 C8 00 00 00 00 00 00 00 00 32 00 00 00 00 01 00 01 00 01 00 00 00 00 00 00 14 14 14 00 FB F6 64 FE 14 28 0D 04 0E 04 E4 03 0B 08 0D 07 07 00 32 32 32 00 00 00 03 01 32 00 14 00 14 14 14 9D   

8. Q: How to deal with gimbal jerk?

Answer:

(1) Check the stability of the gimbal when powered off, ensure the balance of each axis.

(2) Check the mounting method, the type of damping balls, whether they are too less or too many, whether they are aged, and whether the damping plate has been modified.

(3) Check whether the external wiring of the gimbal is pulled tightly to the gimbal.

(4) Modify the gimbal PID parameters. 

9. Q: Gimbal control is abnormal, can not control randomly after power on.

Case 1: Some frame header “AA…” / ”55 AA…” / “7E 7E…” not in gimbal protocol file are sent which caused analysis error and gimbal no respond.

Answer: Change the frame header of non gimbal protocol, could not be similar.

Case 2: Some invalid data are sent via serial port to the gimbal cause the gimbal serial port no respond.

Answer: Modify software: Reduce serial port voltage when power on, or delay the startup of the serial port.