There are additional settings to tune Follow Mode:
i. Dead Band, degrees – Set the range where the rotation of the outer frame does not
affect the camera. This setting helps to eliminate unintended small movements,
particularly when operating the gimbal by hand.
ii. Expo Curve – Specify the strength of control when the outer frame declines from
neutral position. For example: when the expo curve is enabled (i.e. is not flat),
small or medium declination of the outer frame will yield fine control, even if the I-
term is configured high. The strength of control exponentially grows, however,
when angles of declination become close to 60 degrees. This value offers freedom in
camera operation: from fine and smooth control to very fast movements.
iii. OFFSET – It is extremely important to configure the initial position of the motors’
magnetic poles properly, because all further calculations use this information. For
the YAW axis, configuring OFFSET allows fine adjustment of camera heading
relative to frame heading. For PITCH and ROLL, there is an option to calibrate
offset automatically. To calibrate offset automatically for PITCH and ROLL, power
on the system, ensure the frame is level, and press the AUTO button. Do not forget
to WRITE the setting to the board when finished. If the camera is not level after
power-on, adjust the offset setting.
iv. SPEED – Adjust the speed of camera rotation in Follow Mode. Be careful not to set
large values that the motors cannot handle. If the motor does not produce enough
torque, it will skip steps, and synchronization will be broken. In this case, the
acceleration limiter may help to set larger speed values without causing the motors
to miss steps.
EXTERNAL FLIGHT CONTROLLER (FC)
When using a B32 Gimbal Controller with multi-rotors, additional performance can be
achieved by connect the flight controller of the multi-rotor to the B32 Gimbal Controller.
EXTERNAL FC GAIN – Gain value for matching the gimbal data from your optional flight
controller (FC). For improved stabilization, knowledge about the frame inclination angles is
required. The IMU does not provide such information. Most FCs have servo outs for
connecting gimbals. These servo outs should be connected to the Gimbal Controller
through EXT_ROLL and EXT_PITCH inputs. To utilize this function, follow the steps
below.
1. Activate gimbal outs in the FC and set range limits for angles you generally fly (for
example, +- 30 degrees of frame inclination should equal full servo range about
1000-2000).
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