The Gimbal Bay provides an extensible interface intended for attaching Made For Solo -approved 3-axis gimbal and camera solutions. The Gimbal Bay area comprises the lower-front area of Solo, extending back as far as the accessory bay and into the vehicle body. Third-party gimbals will need to use a plate with the same relative fastener positions.
Gimbals that use a similar damper system to the 3DR Gimbal may also need the same damper hole spacing. We recommend that you use the Solo Gimbal Beauty Plate as the starting point for your own plate, as it correctly implements the required mechanical interface points.
Empty PCB at cost of production.
The CAD file for the plate can be downloaded from here and a screenshot is shown below. The space within the Gimbal Bay cavity is extremely limited. It is important to allow sufficient clearance for gimbal movement as shown in the diagram below. There are two physical connections from the Solo to a gimbal. The Solo Gimbal Cablewhich primarily manages the position and recording state of the camera, and the HDMI Micro cable which routes the video signal. The Solo Gimbal cable terminates in a Molex alt link connector.
A gimbal board is connected using the corresponding Molex alt link connector. VCC 5V should be used to power the camera only. The camera must not draw more than 1A. VCC Battery can be used to power the gimbal or other hardware.
Drawing more current may damage the battery and increases the risk of accident. This connection is used to both control the pitch, roll, and yaw of the gimbal motors as well as send commands over to the camera start recording, stop recording, change modes, etc. More details on camera control can be found in the Software Interface section.
This interface should be used for firmware updating and can optionally be used for any sort of additional processing. For example, you can pull a still from the camera, transfer it to the co-processor, and search the image for pre-defined target. MX6 Companion Computer from which it is sent to the first person view in the Solo app.
The HDMI connection does not have the audio pins connected. The video feed supports up to p resolution at 60 frames per second.
Messages are used for. In order to have Solo control a gimbal, ArduPilot must know how to communicate with the gimbal.
Fortunately, ArduPilot already has the ability to communicate with several types of pre-existing gimbal controllers including SToRM32 and Alexmos. The custom Solo Gimbal protocol is not yet supported by any released versions of ArduPilot. SToRM32 is recommended as it features the most straightforward communication protocol.A couple of months ago, a friend of mine decided he wanted to build a camera gimbal or stabiliser for an upcoming holiday to Japan. My current paid job includes dealing with stabilised platforms on drones so I have some experience with gimbals.
However, as the gimbal is meant for hobbyist use, and cost was a factor, this platform was abandoned.
After some further searching, my mate found some forums that recommended the Storm32 BGCbut once again these were expensive.
Being a proficient online shopper however, I had a look on AliExpress for some clones of both the controllers.
The SimpleBGC was about a tenth of the price at approx. When they arrived, neither of them worked when plugged in via USB. I quickly gave up, and looked into the Storm I had a look at the soldering to see if there were any faults, and reflowed them just in case but still no luck.
I checked the official website for trouble shooting information and found the version I had v1. I then realised the onboard microcontroller, was the same series STM32 as I had just recently bought the official programmer for! This was great as the official software has support for uploading firmware via the programmer the SimpleBGC seemingly only has this functionally via USB. Programming the Storm32 in this method however, is seemingly uncommon. As such, the pins on the circuit board were not populated.
This results in angles which differ in sign on the pitch axis and the yaw axis check the code, both are reversed. This is actually not totally correct mathematically.
In the latter case this reversal is done by STorM32 in order to be compatible. I think this is leading to the problem folks have been having with the Solo. Or at least one person jubalr. So in RC targeting, it was working properly. But in mavlink targeting as is used during smart shotsthe pitch was running backwards.
Is there a setting in the storm32 controls that could be set incorrectly causing that to happen? Or a setting in ArduCopter that is messing with it? It could be useful if you could test BetaCopter and check if it shows the same problem. I think it may indeed handle the reversal inconsistently e. Another user just today got the Storm32 up and running on his Solo, and the pitch is working properly in both RC targeting and mavlink targeting modes.
He did a cable cam smart shot, and the gimbal performed beautifully. This was on an otherwise stock solo, which uses fork of ArduCopter 3. Not sure if anything changed between then and 3. They both found that if you have the Storm32 emit hearbeat packets, everything goes nuts. If you turn off the storm32 heartbeat, it works. Is that heartbeat critical to something. If it is serial i. However, why would one do that, it should be clear that the two available STorM32 mounts are exclusive.
There is however, IMHO, the bug that the angles reported back in the status message are not correct, i. I think you want to drop a PR or issue to get this rectified. So, I think you should find that then you use the Mavlink STorM32 mount that it will behave incorrectly, in that RC targeting and Mavlink targeting have opposite signs, similar to what you describe in the first post.
Really great. I would love to see some footage posted, e. The autopilot gets all kinds of position errors, calibration errors, etc.Hakrc storm 32 3 axis brushless gimbal - Best cheap gimbal
Otherwise discussing a observation is useless. I say this because I know for a fact that there had been combinations of ArduCopter and STorM32 for which the behavior was not at all like you describe, and in fact were working except maybe that some signs were not correct.
I thus do not think that the above is a representative reflection, but either is maybe a Solo issue, or something important has changed in ArduPilot in the last year I remember e. You probably could disconnect the STorM32 and would see the very same malfunctions. Btw, you know that you can disable the emission of the STorM32 gimbal attitude data, which would allow you to test your speculation in bullet 1.
My 2 cents. Which setting should they disable to stop the attitude data? Also, is leaving the mavlink system and component IDs default correct?You seem to have CSS turned off.
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Contact seller Complain. Specifications: - Input voltage: 2 - 5. The controller is unable communicate with MPU chip. Important note: Version 1. Vintage open frame relay. It is rated as a volt shunt coil with 28 volt DC 25 amp contacts.
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The serial communication allows for a much richer data transmission and accordingly richer set of features than possible with the traditional PWM connections.
It also can lead to a much cleaner wiring. Some of the more basic features discussed below can also be accomplished by workarounds. Decide yourself which approach fits your needs best. Comment: Unfortunately, ArduPilot's gimbal support is partially flawed. That is, many features you will find to work great, but some you will find to not work well.
STorM32 BGC (Mosfet version): 3-Axis STM32 Brushless Gimbal Controller
STorM32 can't do anything about it, it's ArduPilot. Please also note that the STorM32 firmware author is not responsible for the implementation of ArduPilot's mounts. A comparison of the different techniques to connect the STorM32 controller with the flight controller is given in the following feature matrix:.
Many but not all features work in the latest ArduPilot releases. Please check with the ArduPilot community. Some modifications to the ArduPilot firmware were made and the result called BetaPilot. If you want to make best use of your STorM32 gimbal and want ish capabilities then you definitely want to chose BetaPilot.
Comment: Before using BetaPilot it is strongly recommended to first install the original ArduPilot firmware and get the vehicle operating flawlessly with it, and only then to install BetaPilot. In order to establish a working communication between the STorM32 controller and the flight controller, parameters in both BetaPilot and STorM32 need to be adjusted, as described in the following.
The other settings can normally be left at their default if you change the com port then the STorM32 needs to be rebooted. A complete description of the configuration parameters is provided in the article MAVLink Communication.
However, other baudrates can be configured; e. It however also allows us to do nonsense, and it is in the user's responsibility to avoid that. For instance, if ArduPilot is in Rc Targeting mode, and e. Rc Pitch Control is set to a virtual input channel, then the gimbal may move in funny ways since it may receive the transmitter stick information from both ArduPilot and the receiver.
As said, all this is exactly as if the receiver would be directly connected to the STorM32 controller on its RC ports. This is extremely convenient for configuring STorM32 gimbals when they are e.
STM32 USART Bootloader
This also works via a wireless telemetry link, and thus opens the option of e. The STorM32 controller supports a rich set of prearm checks. The status of the prearm check is passed on to the ArduPilot flight controller, and lets it handle it exactly like any other prearm check.
The serial MAVLink connection can be tested in several ways. MissionPlanner supports what it calls a 'gimbal point'.Then this is the page to go to first: Getting Started. You want to get one? You need documentation? Then check out this here: Manuals and Tutorials. Then go here: STorM32 v0.
The wiki here is maintained by the STorM32 community in their spare time; you cannot expect it to be error-free, no guarantee is given, and nobody, including the firmware author, can be held responsible for anything. More info here and here. More info here. That's why it was set up as a separate wiki, to make it simple for you.
In order to contribute, you only need to register, which gives you full editing capabilities. It's as simple as that. A personal note by the firmware author: I'm doing the STorM32 project as my hobby, in my spare time, without financial benefits.
It should be clear that it is free only because I do this in my spare time, and it should also be clear that I can't and won't and don't do everything. Documentation is in my opinion the user's duty.
So, the wiki here will be only as useful as you, the users, make it useful. This wiki is powered by MediaWiki. Currently, you can find help on how to use it there. Navigation menu Personal tools Create account Log in. Namespaces Main page Discussion. Views Read View source View history. This page was last edited on 28 Decemberat