CM160 Multi-sensor Operations Manual
Doc#: 100-104
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Version:1.8.0
13.2.
Setup for Camera in the autopilot:
There are three ways to set up the camera.
13.2.1
Control Camera by Position.
Pros:
- Can use autopilot stabilisation.
Cons:
- Joystick Plug-in will not allow continuous motion in the yaw Axis.
(Stops at 180 degrees.)
- User Control may not be as smooth as with velocity.
13.2.2
Control Camera by Velocity
Pros:
- Can use autopilot stabilisation.
- Joystick Control will allow complete revolution if Camera Direct Mode
is enabled.
Cons:
- Not using the internal control of the camera. Likely slower response.
- Have to configure PID loops.
- Uses more processing power of the autopilot.
- This mode will not utilize camera stabilisation when using Camera
Direct Mode.
13.2.3
Hybrid. Autopilot Controls Position, Joystick Control Velocity.
Pros:
- Allows autopilot to control angles allowing the use of the internal
gains of the camera.
- Allows user to control movement by velocity and the joystick.
Cons:
- This mode will not utilise camera stabilisation. (User is in control)
We recommend using the Hybrid mode (#3). Stabilisation can be done internally by the
camera if the GD170 or CM160 model is used.
For setting up the camera for any of the three modes it is recommended that you read the
camera setup guide from MicroPilot.
We have included some additional setup information to help set the camera up.
For setting up modes #1 or #2 field 967 should be set to ‘0’.
For mode #3 (Hybrid mode) field 967 should be set to ‘10’.
