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Author Topic: Open Source Brushless Gimbal thread  (Read 5484 times)

Coyote

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Open Source Brushless Gimbal thread
« on: April 14, 2013, 03:40:48 PM »

I thought I`d start a thread on the Open Source boards. We can collate information, hardware sources, firmware updates etc all in one place.

Ill start :

Hardware :

V3.0.1 Martinez 50x50 PBC - http://code.google.com/p/brushless-gimbal/downloads/detail?name=Brushless%20Gimbal%2050x50mm%20V3.0.1.zip&can=2&q=

Design files V1 - http://code.google.com/p/brushless-gimbal/downloads/detail?name=Hardware_v1.zip&can=2&q=

Design files V1.1 - http://code.google.com/p/brushless-gimbal/downloads/detail?name=Hardware_V1.1.zip&can=2&q=


Firmware :

V0.39 Alpha - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_039_A.rar&can=2&q=
V0.41 Alpha - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_041_A.rar&can=2&q=
V0.42 Alpha - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_042_A.rar&can=2&q=
V0.43 Alpha - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_043_A.rar&can=2&q=
V0.44 Alpha - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_044_A.rar&can=2&q=
V0.45 Beta + GUI - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_045_B.rar&can=2&q=
V0.46 Beta + GUI - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_046_B.rar&can=2&q=

The new version firmware that is the one really to go with

V0.48 Beta + GUI - http://code.google.com/p/brushless-gimbal/downloads/detail?name=_048.rar&can=2&q=

German forum that it all originates from : http://fpv-community.de/forumdisplay.php?11-Projekte

Example of progress so far :

Brushless Gimbal Extrem ACC Test


To get hold of a Martinez board go to : http://fpv-community.de/showthread.php?22617-Gimbal-Brushless-Controller-V3-0-50x50mm-by-Martinez

Ludwig ( RC2Fan ) board : http://fpv-community.de/showthread.php?19252-Brushless-Gimbal-Controller

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Coyote

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Re: Open Source Brushless Gimbal thread
« Reply #1 on: April 14, 2013, 03:42:12 PM »

The 0.48 firmware is claimed to be a massive step forward with the code :

048 B: quite some work
- Refactoring of code to increase maintainability
- Auto detect of MPU address (thanks to meister)
- complete rework of controller algorithm (Alois Hahn, Thanks!)
  P is Proportional gain for Gyro
  D is Damping gain for Gyro
  I is integral gain for ACC Drift compensation and horizon stabilization
 
  Should be way easier to find correct parameters now
  But beware: The numbers for P,D and I have nothing to do with numbers from previous versions

- Gravity weighted Drift compensation
- Reduced floating point operations, main control loop runs now at 1kHz (was 450 to 700Hz)
- new gyro calibration: routine detects movements and starts over as long as the gimbal is not free of movement.
- Switching routine for gyro axes to allow for 90deg view downwards without the gimbal going ape
- reworked RC Control algortihm
- modified and included meisters GUI (again: thanks to Alois Hahn)

To be done: Cleanup of Serial Protocol, Cleanup of TCL GUI, still some issues when looking downward....
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