GREMSY H3, Руководство пользователя

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SOFTWARE-TUNING
EXPERT / ADVANCED SETTINGS
ADVANCED SETTINGS
There are some advanced parameters that normally do not need to be adjusted. Leave these parameters at default settings unless they are required for troubleshooting.
GYRO TRUST:
If this value is high, attitude estimation will trust the gyro more and the acceler-
ometer less. If Gyro Trust is too high attitude estimation is only accurate short
term and will drift over time since gyros are subject to drift. If Gyro Trust is low,
attitude estimation is accurate in long term but is subject to the effects of hori -
zontal acceleration and will cause the attitude estimation to be inaccurate while
accelerating/decelerating.
GYRO FILTER:
Defines the strength of the filter applied to to Gyro sensor output. If the gim -
bal has oscillations that cannot be corrected by adjusting stiffness settings, you
can use the Gyro Filter to further tune the gimbal and remove the oscillation.
If the oscillation is fast or buzzing (high frequency), try increasing Gyro Filter.
If the oscillation is slow or rocking (low frequency), try decreasing Gyro Filter.
NOTE: the higher the Gyro Filter the more delay you add to angle estimation of the con-
troller. Normally for lightweight camera, the inertia of camera is small therefore the rate of
change in movement is fast, in turn it’s necessary to keep the filter low enough that angle
estimation of the controller is not lagging compared with rate of change in movement of the
camera. For heavy cameras the inertia of the camera is large therefore the rate of change in
movement is slow which allows a higher Gyro Filter.
OUTPUT FILTER:
Defines the strength of the filter applied to motors output. If the gimbal has oscil -
lations that cannot be corrected by adjusting stiffness settings, you can use the
Output Filter to further tune the gimbal and remove the oscillation.
If the oscillation is fast or buzzing (high frequency), try increasing Output Filter.
If the oscillation is slow or rocking (low frequency), try decreasing Output Filter.
NOTE: the higher the Output Filter is changed, the more delay you add to the motor output.
Normally for lightweight cameras, the inertia of the camera is small therefore the rate of change
in movement is fast, in turn it’s necessary to keep the filter low enough so that motor output
is not lagging compared with rate of change in movement of camera. For heavy cameras the
inertia of the camera is large therefore the rate of change in movement is slow which allows a
higher Output Filter. Higher filter values also results in higher stiffness settings but too much
filter could cause low frequency vibration.
DEFAULT VALUES:
Gyro Trust 200
Gyro Filter 2
Output Filter 4
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