U-Camera User Manual - U-Camera Operation
errors may appear. The packet that the GPS antenna position is described in the
communication protocol (Section 5.5.5.7). The position is measured in millimeters and
referred to the Gimbal fixed frame.
The gimbal fixed frame is defined:
•
X axis
: Camera pointing direction when Pan=Tilt=0
•
Y axis
: Tilt motor rotation axis when Pan=0
•
Z axis
: Pan Motor rotation axis directec to the video module.
4.4
4.4
Vehicle Angles and Velocities
Vehicle Angles and Velocities
In order to provide the best pointing accuracy, U-Camera accepts the Euler Angles of the
vehicle (
Yaw
,
Pitch
,
Roll
) and angular velocities (
p
,
q
,
r
) as inputs. The packets providing
these angles and velocities are described in the communication protocol (Section 5.5.5.5
and 5.5.5.6).
If this packet is received, U-Camera will use the provided angles as vehicle angles. If the
packet is not being received U-Camera will calculate the vehicle angles from the GPS
source.
Depending on the type of vehicle and Flight Control System used, externally provided
vehicle angles will provide better performance.
4.5
4.5
Maximum Ratings
Maximum Ratings
Input Characteristics
Minimum
Maximum
Input Voltage
9V
17V / 28V (with cooling)
Operating Temperature
-15 ºC
+70 ºC
4.6
4.6
Autoalign Sensors
Autoalign Sensors
U-Camera devices are precisely calibrated during manufacturing, but small perscusions
may introduce bias into the sensor readings. To remove this bias, the user can command
the autolignment of the sensors.
Autoalign can be commanded using two modes:
•
Gyro autoalign
: U-Camera will remove the bias from the gyroscopes.
•
Full autoalign
: U-Camera will remove the bias from the gyroscopes and
acelerometers.
The gimbal should be positioned horizontally prior to the Autoalign command. Once the
command is received, the camera will position itself with zero pan and tilt, and then it will
monitorize the sensor reading for several seconds.
During the whole process U-Camera will report Gyro autoalign / Full autoalign mode. When
the process finishes, the gimbal will switch to Angles mode.
IMPORTANT
: during the autoalign process, the camera must be still. Any movement will
result in a bad autoalign and bad stabilization performance.
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