STEP #2:
UPDATE THE FIRMWARE
Your BeeWorks B32 Gimbal Controller comes preloaded with the latest firmware at the
time it is shipped. You can verify that you have the latest firmware by connecting the board
to a computer with a mini USB cable. This connection also will enable you to adjust
settings on the board itself.
STEP #3:
ADJUST GIMBAL MECHANICS
Mount the camera on the camera tray and balance the gimbal in all three axes. Stabilization
quality depends on balance quality. To check the balance, ensure the gimbal is turned off,
hold the gimbal in your hands and make fast motions along all three axes. If the camera
remains still, then the gimbal is balanced correctly. Proper balance and low friction will
reduce power consumption and improve stabilization quality.
If you rewound the motors yourself, we recommend checking the winding. Remove the
motors from the gimbal, connect them to the controller and set parameters P=0, I=0.1,
D=0 for each axis. Set enough POWER to get the motor to move, and connect your battery.
Motors should spin smoothly when you move the sensor. A small amount of jitter is normal
due to the magnetic force between rotors and stators (“cogging” effect).
Pay great attention to the IMU sensor installation. The IMU axes must be parallel to the
motor axes, and the IMU must be configured properly (i.e. mounting orientation set). Pay
close attention to mechanical linkages. They must be extremely rigid and backlash-free. The
IMU sensor provides feedback data for stabilization, and small amounts of freedom or
flexibility will cause feedback delays and low-frequency resonances. In such cases, it will be
more challenging to find acceptable PID settings and ultimately will result in unstable
performance in real-world conditions (multi-rotor frame vibrations, wind, etc).
STEP #4:
CALIBRATE THE SENSOR
CALIBRATING THE GYROS
Each time you turn the controller on, it takes about 7 seconds to power-up and calibrate the
gyro. Try to immobilize the sensor (camera platform) as much as possible in the first few
seconds after power-up, while the green LED is blinking.
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