Hi Han. I will describe everything that comes to mind here. If additional info is necessary please let me know. 1. Motor ID procedure (Lab2b). We tried many different combinations of parameters and always get similar results here with and without a load. Please see the video of the procedure: (Please visit the site to view this video) 2. Inertia ID (Lab12a). Also tried many different combinations. We get similar results every time we run it. Here is the video: (Please visit the site to view this video) 3. Move (Lab13B). It works really well. The system very precisely executes all movements. The video: (Please visit the site to view this video) 4. Position control with IMU (modified Lab13a). We mount the IMU to the camera. IMU sends feedback via CANBUS (1Mbps) to the ESC. The system oscillates and whatever we try, nothing changes this behavior. When I started this tread, we were mounting the IMU to the frame, not to the camera. We were getting delay, as you can see from the video, posted in first message. Now we are mounting the IMU to the camera, as other gimbal manufacturers do. We tried many different combinations of settings, lower-higher position frequencies and a bunch of other things. Watch the video: (Please visit the site to view this video) We measured the delay of the IMU feedback. We moved the motor via Lab13b and logged both motor encoder and IMU together. The delay is around 15ms. The IMU position feedback is 100Hz. Here is the user config file: (Please visit the site to view this file) That is all that came into my head. Thank you, Roman
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