How to control Pixy U with MAVLINK - Firmware 7.7.1 - gSDK v3

Posted 7 months by Manabu Komichi

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Manabu Komichi


Dear Gremsy Support

Please tell me how to control Pixy U with MAVLINK.

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Device
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Gimbal : Pixy U
Gimbal FW : gremsyPixyU_v771_Official.hex
ControlSignal : MAVLINK
gTuneDesktop : v1.4.8

The gimbal is controlled by a microcomputer.
The program is created by referring to gSDK_V3_alpha

Question
Q1, How can I control the angle and velocity separately for each axis?

I want to control
PAN and TILT : SPEED
ROLL : ANGLE

Individual control worked with the following methods
set_gimbal_move_sync(tilt, roll, pan, INPUT_ANGLE)
set_gimbal_move_sync(tilt, roll, pan, INPUT_SPEED)

Q2,How to control with "Yaw in the Body frame (deg)" in LOCK mode?
Now, when set to LOCK, it will change to yaw_absolute.

I want to control
FOLLOW Yaw inthe Body frame(deg)
LOCK Yaw inthe Body frame(deg)

Q3,When controlled by yaw_absolute, the position drift with time.
How to stop the drift?




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Gremsy Support

Gremsy Support posted 7 months Admin

For your questions,


Q1, How can I control the angle and velocity separately for each axis?

  • gSDK is implemented based on MAVLink Protocol core prefer MAVLink Gimbal Protocol V2 which control gimbal with quaternion and rotation rate (Messages (common) · MAVLink Developer Guide). Currently, the protocol has not supported controlling each axis with separate modes, yet. 
  • We suggest you control roll angle to desired attitude first then move other axis's rate.

Q2,How to control with "Yaw in the Body frame (deg)" in LOCK mode?

  • While working in LOCK mode, the gimbal is controlled with absolute angle (GLOBAL frame) to be independent of Autopilot's movements.

Q3,When controlled by yaw_absolute, the position drifts with time.

  • To prevent yaw drifting, you need to enable REDUCE DRIFT by DRONE in gTune -> MODE SETTINGS -> Enable PAN AXIS. The gimbal will consume information from Autopilot to reduce drifting, and your computer has to forward ATTITUDE or AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal.
  • Also, we recommend re-calibrating gyro before every flight to have better performance.


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