SPACECAM
SYSTEMS, INC.
MAXIMUS 7 OPERATOR’S MANUAL
August 17, 2016
6.9 Maintenance Tool, General Parameters tab
The big rectangular buttons to the right are commands to store or load parameter tables. See paragraph
“Maintenance Tool Servo Parameters tab” (¶
) for details.
The “xK(p/d/i1/i2) roll”, “yK(p/d/i1/i2) pitch” and “zK(p/d/i1/i2) yaw” parameters are gyro loop parameters
(these are not typical position/velocity loops). These parameters must be in balance since as the gimbal turns
and spins their functions change place. The ‘p’ parameters are proportional gain, the ‘d’s are only place
holders they are not in the code, the ‘i1' and ‘i2' parameters are integrators.
The “Master Gain” is the overall system servo scaling and can be changed from the console with the F4 key.
The “(Yaw/Pitch/Roll) follow smoothing” parameters are the follow mode filters and set from the console’s
option’s screen.
The “LOS Rate (X/Y/Z) Offset” parameters set from the console with the NULL button to cancel the gyro
drift. These parameters can be set from this screen too but is is very difficult and only want to do it on a
forever moving platform if you have a huhe drift. (Like a boat) In that case you may just want to set 0.0 on
all three parameters.
“Gimbal Mode”, “SubMode” and all position limit parameters are set from the console.
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