4. Auto-detect the number of poles and the motors’ direction. If you know the number of
poles for your motors, it is best to enter the value manually. Do not proceed to the next
step until proper direction is detected.
5. It is best to configure the PID settings for each axis individually, starting with PITCH. To
check stabilization quality, use the peak indicator (shown by the blue traces and blue
numbers) in the control panel on the right of the software. Incline the frame by small
angles, and try to minimize the peak values by increasing P, I and D according to the
following algorithm:
i. Set “I” to a small value of 0.05 or less.
ii. Slowly increase “P” until the motor starts to oscillate.
iii. Increase “D” in small increments until the oscillations stop.
iv. Repeat steps ii and iii until high-frequency vibration occurs. You may feel the
vibration by hand and see a noisy line on the gyro graph. At this point, you have
identified the maximum values for “P” and “D” for PITCH for your setup. Decrease
each slightly and proceed to step v.
v. Repeat steps i through iv for ROLL. Stabilization of ROLL may cause instability in
PITCH. If so, reduce P and D slightly for PITCH. Cross-axis interference is most
pronounced when the gimbal construction is less rigid.
vi. Repeat steps i through v for YAW.
vii. Increase “I” for PITCH until low-frequency oscillation appears. Then, decrease “I”
slightly to keep the gimbal stable. You can reduce “I” as much as 20%, if needed.
viii. Repeat step vii for ROLL and YAW.
ix. When all axes are tuned, test the gimbal. You may find it helpful to use the gyro
data from the Realtime Data tab to estimate stabilization quality. Turn off all data
except GYRO and gently tap the camera in the direction of the axis you are
configuring. This impulse will display on the graph as a fading wave as shown in
Figure 3.1 below. The oscillation should damp within two to four cycles. If the
oscillation continues beyond that point, further adjustment of the rig is required.
Reduce the gain factors (P, I) or increase the damping factor D to reduce these
oscillations.
The result of good tuning is that stabilization error will be less than one degree when you
gently rock the gimbal’s frame.!
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