✨ViGimbalController

3-axis Camera Stabilizer for Stom32 Gimbal Board

ViGimbalController is an Open Source software for 3-axis camera stabilizer built on ChibiOS

Hardware Used

Strom32 BGC - STM32F103RCT6

Features

Configurable UART Communication
Support for IMU2 (Better Performance)
Auto Gyro Claibration
Data storage in the FLASH Memory
Data Debugging

Setting Up The Project

Install Ubuntu - Guide
After installation
```
sudo apt update
sudo apt upgrade
```

Install ST-Link v2

Install Necessary Librarires

sudo apt install git make cmake libusb-1.0-0-dev
sudo apt install gcc build-essential

Build the ST-Link Utilities

cd username
mkdir stm32
cd stm32
git clone https://github.com/stlink-org/stlink
cd stlink
cmake .
make

Copying the Built Binaries

cd bin
sudo cp st-* /usr/local/bin
cd ../lib
sudo cp *.so* /lib32

Copying the udev Rules

cd ../../../../
sudo cp stlink/config/udev/rules.d/49-stlinkv* /etc/udev/rules.d/

Plug the ST-Link device into the USB port and verify if ST-Link is detected
```
lsusb
```

Install gcc-arm-none-eabi

sudo apt update
sudo apt install gcc-arm-none-eabi

Install openocd
```
sudo apt install openocd
```

Building and Uploading the Code

Clone the project

git clone https://github.com/iamprithvishetty/ViGimbalController.git

Go into the project
```
cd ViGimbalController
```
Build the code
```
make 
```
Build and upload the code
```
make upload
```

Gimbal USB Commands

How to Use

Retrieve the data GC+Command? Eg :- GC+PWR_PITCH?
Set the data GC+Command=Value Eg :- GC+PWR+PITCH=35
Min value is the minimum it can be set to
Max value is the maximum it can be set to
If Min and Max both are 0 then the data is only readable
Default value is the initial setting of the attribute
The data is either Integer i.e -2, -1, 0, 1, 2 etc or Float i.e 1.5, 1.2, 0.5,-0.2, -1.3 etc

Attribute	Command	Min	Max	Default	Type
Pitch Power	PWR_PITCH	0	100	40	INTEGER
Pitch Pole Pair	PP_PITCH	0	20	7	INTEGER
Pitch Motor Direction	DIR_PITCH	-1	1	1	INTEGER
Proportional Gain Angle Pitch	P_ANG_PITCH	0	1000	1.0	FLOATING
Proportional Gain Rotation Pitch	P_ROT_PITCH	0	1000	20.0	FLOATING
Integral Gain Rotation Pitch	I_ROT_PITCH	0	1000	0.0	FLOATING
Derivative Gain Rotation Pitch	D_ROT_PITCH	0	1000	0.1	FLOATING
Pitch User Angle	ANGLE_PITCH	-90	90	0.0	FLOATING
Roll Power	PWR_ROLL	0	100	50	INTEGER
Roll Pole Pair	PP_ROLL	0	20	7	INTEGER
Roll Motor Direction	DIR_ROLL	-1	1	1	INTEGER
Proportional Gain Angle Roll	P_ANG_ROLL	0	1000	1.0	FLOATING
Proportional Gain Rotation Roll	P_ROT_ROLL	0	1000	30.0	FLOATING
Integral Gain Rotation Roll	I_ROT_ROLL	0	1000	0.0	FLOATING
Derivative Gain Rotation Roll	D_ROT_ROLL	0	1000	0.45	FLOATING
Yaw Power	PWR_YAW	0	100	30	INTEGER
Yaw Pole Pair	PP_YAW	0	20	7	INTEGER
Yaw Motor Direction	DIR_YAW	-1	1	1	INTEGER
Proportional Gain Rotation Yaw	P_ROT_YAW	0	1000	20.0	FLOATING
Integral Gain Rotation Yaw	I_ROT_YAW	0	1000	0.0	FLOATING
Derivative Gain Rotation Yaw	D_ROT_YAW	0	1000	0.1	FLOATING
Debug via USB	DEBUG	0	1	0	INTEGER
R1 Resistor Voltage Divider in kOhms	RESISTOR_UP	0	1000	0.0	FLOATING
R2 Resistor Voltage Divider in kOhms	RESISTOR_DOWN	0	1000	0.0	FLOATING
Battery Voltage in V	BATT_VOLT	0	0		FLOATING
Battery LPF Gain	BATT_ALPHA	0	1	0.0	FLOATING
Enable IMU 2	ENABLE_IMU2	0	1	0	INTEGER
IMU 1 Orientation	IMU1_ORIENTATION	1	24	1	INTEGER
Gimbal Mode	MODE	1	3	1	INTEGER
Yaw Dead Zone	YAW_DEAD_ZONE	4	15	4	FLOATING
Yaw Speed	YAW_SPEED	1	5	3	INTEGER
Pitch Dead Zone	PITCH_DEAD_ZONE	4	15	4	FLOATING
Pitch Speed	PITCH_SPEED	1	5	3	INTEGER

Command Description

Pitch Power, Roll Power and Yaw Power

Voltage supplied to the motor, ranges from 0-100%

Pitch Pole Pair, Roll Pole Pair and Yaw Pole Pair

The number of pole pairs for each motor

Pitch Motor Direction, Roll Motor Direction and Yaw Motor Direction

The direction can either be -1 or +1, 0 means the motor won't move
The motor direction needs to be set based on it default rotation direction

Proporitonal Gain Angle Pitch, Proportional Gain Angle Roll and Proportional Gain Angle Yaw

This is the proportional gain component for the angle correction
Higher the gain the faster the angle will get corrected but it'll be more unstable
Try finding the sweet spot, 1.0 normally works fine

Proportional Gain Rotation Pitch, Proportional Gain Rotation Roll and Proportional Gain Rotation Yaw

This is the proportional gain component for the rotation correction
Higher the gain better the response but it's prone to be unstable at very high values
Try finding the sweet spot, normally greater than 10.0

Integral Gain Rotation Pitch, Integeral Gain Rotation Roll and Integral Gain Rotation Yaw

This is the integral gain component for the rotation component
There's a provision given for integral but it's better to not use it here as it doesn't help much

Derivative Gain Rotation Pitch, Derivative Gain Rotation Roll and Derivative Gain Rotation Yaw

This is the derivative gain component for the rotation correction
Higher the value more unstable the response will be, keep the values lower initially and then try increasing

Pitch User Angle

The default angle for camera pitch, the camera will try to be at that angle

Debug via USB

This starts printing out the raw value for accel, gyro and angle
The data are in order accel_x_cam, accel_y_cam, accel_z_cam, gyro_x_cam, gyro_y_cam, gyro_z_cam, angle_cam[PITCH], angle_cam[ROLL], angle_cam[YAW], accel_x_platform, accel_y_platform, accel_z_platform, gyro_x_platform, gyro_y_platform, gyro_z_platform, angle_platform[PITCH], angle_platform[ROLL], angle_platform[YAW], relative_yaw, relative_pitch

Battery Functionalities

Yet to be added

Enable IMU2

Enables the IMU2 if present, and uses the IMU2 for better stabilization
Currently the IMU2 is supported only for one orientation (x-> left, y-> back, z-> up) wrt camera pov
Here it is important to ensure that the inital position of the camera is facing the one mentioned above, after that IMU2 should be enabled

IMU 1 Orientation

There are 16 IMU1 orientations supported currently
The Camera POV is always front, the IMU orientation is wrt the camera

Value	Orientation IMU
1	x-> right, y-> back, z-> down
2	x-> back, y-> left, z-> down
3	x-> left, y-> front, z->down
4	x-> front, y->right, z->down
5	x-> right, y->front, z->up
6	x-> back, y->right, z->up
7	x->left, y->back, z->up
8	x->front, y->left, z->up
9	x->right, y->down, z->front
10	x->back, y->down, z->right
11	x->left, y->down, z->back
12	x->back, y->down, z->left
13	x->right, y->up, z->back
14	x->front, y->up, z->right
15	x->left, y->up, z->front
16	x->back, y->up, z->left

stm32lou/ViGimbalController