• AGL: Gimbal AGL alt less than 200 feet
• AHRS: INS mode is in “AHRS” meaning there is a poor GPS fix.
• INS: INS mode isn’t "RUN", Roll/Pitch/Yaw bias > 4 degrees/s or Gravity Bias > .2 m/s/s
• GPS: Fix is not 3D
• HDG: Gimbal heading confidence > 10 degrees
• TMP: Gimbal crown board or SLA board temperature > 75 C
• RNG: Gimbal is not receiving range data from anywhere and SkyLink has no elevation data
for where the gimbal is looking.
• CUR: Motor current Pan/Tilt is at max motor current set for the gimbal.
• LAS: Visible only if laser is configured, illuminated if laser is firing.
2.8 Gimbal Modes and Commands
Trillium Gimbals have several different operation modes and commands which are accessed with
SkyLink using the lower menu bar, below the video.
Home/Stow
Home commands the gimbal to the home position: pan 0°, tilt 0° and zooms the camera to its widest
field of view. In Home/Stow mode the gimbal LOS is not stabilized, and the axis position is held at
fixed angles, this is useful when the gimbals stare location is unknown or if the gimbal is behaving
erratically. The Home Button will switch to a Stow button when the gimbal is at Home position.
Stow commands the gimbal to the stow position: pan 180°, tilt 0° and zooms the camera to its
widest field of view. Stow is useful when stowing gimbal before landing or during long transit
periods.
SkyLink also allows the user to define custom Home and Stow position see section SkyLink Setting
to set custom Home and Stow positions. NOTE: If platform rotations are applied between gimbal
and aircraft frames then SkyLink will automatically change the Home angles to be looking forward
out the nose of the aircraft at the horizon.
Rate Mode
In Rate mode, gyro feedback is used to ensure the camera line of sight (LOS) has zero inertial rates.
From a stationary platform, this results in the gimbal maintaining other stationary objects in view
when the gimbal is rotated. Once in rate mode, a user can click on the video to direct the gimbal to
stare at a new location or use the onscreen joystick to steer the gimbal.
Mode limitations: when the gimbal is moving such as on a fixed wing aircraft, the gimbal will only
maintain its inertial LOS which results in stationary objects below passing through the video at the
gimbal’s ground speed.
Geo Mode
In Geo mode, the gimbal stares at a given target LLA. In order for Geo mode to accurately work, the
gimbal must have a valid GPS position and must have map elevation data. Once in Geo mode, a user
can click on the video to direct the gimbal to stare at a new location or use the onscreen joystick to
steer the gimbal. The gimbal can enter Geo mode in multiple ways:
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