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

Posted over 2 years ago 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 Team posted over 2 years ago 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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