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CHAPTER 6
OPTIONAL GIMBAL FEATURES
BLUETOOTH
The BeeWorks B32 Gimbal Controller supports the option to connect a Bluetooth–To-Serial
adapter (HC-05, HC-06, SparkFun BlueSMiRF, and comparable) to connect to the
SimpleBGC GUI software application and tune the board remotely. There is a special
connector on the board that matches the connector on the Bluetooth module. It is marked
as SERIAL and contains pins: +5V, GND, RX, TX. You can solder the Bluetooth module
over it or use a Male-Male 4-pin cable extender.
IMPORTANT NOTE: The Bluetooth module must be configured at 115,200 baud rate and Even parity.
Generally, this baud rate is not set by default. Refer to your module’s user manual to find out how to
configure Bluetooth. With these settings, you will be able to modify software settings and even upgrade
firmware remotely.
SECOND IMU SENSOR
There is an option to install a second IMU sensor on the gimbal’s frame. The advantage of a
second IMU is more precise stabilization. You may use lower PID’s to get the same quality
when the B32 Gimbal Controller is aware of frame orientation. This option greatly improves
3-axis stabilization and extends the range of angles at which the gimbal remains
operational.
The second IMU should be connected to the same I²C bus as the main IMU (in parallel).
Note that the two IMU sensors must have different I²C addresses. The main IMU is 0x68,
while the frame IMU is 0x69. On the BeeWorks IMU, address 0x69 may be set by cutting
the ADDR bridge located on the back side of the sensor or by purchasing a frame IMU that
already has this bridge disabled.
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