Hello,
I’m trying to make my servo gimbal work.
What I want to achieve is:
- Having the PX4 compensate the copter move on Roll and Pitch.
- Allow my radio to move Pitch
- Allow my radio to trigger the shutter
- Allow my radio to trigger the parachute in case of emergency
I found it very difficult to achieve so I have begin to update the documentation with what I understand so far : https://github.com/trancept/Devguide/blob/9077792b8db91a90c9d943349dd57e198fbb2288/advanced-gimbal-control.md
For now I have:
- only the roll who is compensated but at a lower proportion than the movement.
- The pitch do not move.
- None of my radio switch has effect.
For testing I have connected 4 servos to AUX1 to AUX4.
Running pwm test -c1234 -d /dev/pwm_output1 -p 1800 make all servo move.
Here is my mixer file :
# gimbal roll
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 -11500 -10000 900 -10000 10000
# gimbal pitch
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 12000 12000 2000 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 7 10000 10000 0 -10000 10000
Any help will be appreciated and I will update the documentation.