Gremsy_Support_Request.docx.pdf (147.7 KB)
Hi all
During autonomous Structure Survey missions using QGroundControl, PX4, and the Gremsy Pixy LR gimbal on a CubePilot/Herelink system, the gimbal pan axis fails to follow the drone’s heading and instead locks to a fixed compass direction — approximately the heading at takeoff — throughout the entire flight. The drone itself correctly orbits the structure with its nose pointing inward, but the gimbal does not track this heading, causing the camera to face away from the structure for much of the orbit. All relevant PX4 mount parameters are correctly set (MNT_MODE_IN=0 Auto, MNT_MODE_OUT=2 MAVLink, MIS_MNT_YAW_CTL=1, MNT_OFF_YAW=0°), the MAVLink communication between PX4 and the Gremsy via TELEM2 is confirmed working, and gTune Follow mode settings have been explored without resolution. The suspected root cause is that PX4 may be sending the Structure Scan waypoint yaw setpoints to the Gremsy as earth-frame (lock mode) commands via the GIMBAL_MANAGER_FLAGS_YAW_LOCK bit in the GIMBAL_MANAGER_SET_ATTITUDE message, causing the gimbal to lock to an absolute compass heading rather than follow the drone nose in body frame.
Also see attached support request sent to Gremsy Support team. Wondering is anyone else can help with this topic