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maiermic / robot-cameraman

Robot cameraman similar to Soloshot or Pixio
MIT License
13 stars 5 forks source link

compensate drifting of gimbal #17

Open maiermic opened 3 years ago

maiermic commented 3 years ago

The BaseCam gimbals tend to drift over time (if no axis is rotated). Maybe this won't happen if the camera is mounted in a better balanced way or if the configuration of the gimbal is tuned more precisely to the camera. However, a straight forward solution/workaround is: Add a controller to compensate drifting of the gimbal.

maiermic commented 3 years ago

Maybe this can be fixed by calibrating accelerometer and gyroscope

maiermic commented 3 years ago

Drifting does not occur on my current profile 2 of my gimbal (Ikan Beholder DS2-A), but on profile 1 with a mounted Panasonic DMC-LF1.

maiermic commented 3 years ago

The difference between profile 1 and profile 2 is that "Follow mode" option "Follow YAW: repeat the angle of a frame by YAW axis" is enabled in profile 2. I enabled it in profile 1 and the drifting only seems to occur for a one minute after powering on. Then it stabilizes.

maiermic commented 2 years ago

Even though the gimbal may drift less (with profile 1 and 2), it still drifts very slowly in one direction. This can be seen more clearly when zoomed in.

maiermic commented 2 years ago

In a recent test run with profile 2, it took 5 minutes for the gimbal to drift 1 degree. The angles returned by the gimbal API (UART) remain the same. Thereby, I could point the camera to a fixed point, get the current angle from the gimbal API, wait 5 minutes, move the gimbal to the fixed point (compensate the drift manually), get the current angle from the gimbal API and compare it with the old angle (5 minutes ago). Coincidentally, the difference was approximately 1 degree.