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DroneResponse / hardware-tests

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Gimbal Issue #28

Open tawfiq1200 opened 2 years ago

tawfiq1200 commented 2 years ago

I wanted to share this issue with the gimbal. From the video, it can be seen that basically without any valid reasons, the gimbal is constantly moving before coming to a stop.

https://user-images.githubusercontent.com/14095396/183227444-6faa205f-5499-46c8-9889-81aa5cdcd016.MOV

tawfiq1200 commented 2 years ago

@n-snyder This is something we may need to look into.

n-snyder commented 2 years ago

Thanks for notifying me of this issue. This issue is the result of the wires running through the gimbal causing excessive torque during yaw. This can be caused by the gimbal yawing 360 degrees and twisting the wires. We will fix the issue and investigate ways to make it less likely to happen in the future.

JaneClelandHuang commented 2 years ago

I was afraid that was the problem. We are currently using quaternions and I believe they attempt the fastest route to the target location. We might need to add a software check that prohibits certain 'gimbal gymnastics'.