Robot C-20D Horizontal 2-Axis FPV Gimbal

Litlhaloso

• Product: C-20D Horizontal 2-Axis FPV Gimbal
• Document Version: V1.4 2025.06
• Keletso VoltagE: 7.4V ~ 26.4V
• Supported Cameras: Refer to Appendix 1 in the user manual
• Control Methods: Headtracker Direct Control, S.BUS / CRSF Control, PWM Control, MAVLink Control
• Gimbal Modes: Refer to the Gimbal Modes section

Ho sebelisa Bukana ena - Legend

Nalane ea Phetoho

Tlhokomeliso
Always stay alert when using the C-20D 2-axis FPV Gimbal and its accessories to control an unmanned aerial vehicle (UAV) or other carriers. Carelessness may result in serious harm to yourself and others.

1. Make sure that the external power supply for the gimbal is a lithium battery (2S~6S) with an input voltage pakeng tsa 7.4V ~ 26.4V. Ho seng joalo, gimbal e ka sebetsa ka mokhoa o sa tloaelehang kapa ea senyeha.
2. DO NOT short-circuit the power output and GND. Otherwise, the equipment may be damaged and may not work properly.
3. Latela litaelo tse bukeng ea mosebelisi ha u kenya gimbal. Ho kenya ka nepo ho ka etsa hore gimbal e se sebetse hantle.
4. Make sure that all connectors are secure and all parts are working properly.
5. Netefatsa hore o utloisisa le ho latela melao le melaoana ea lehae ka botlalo pele o sebelisa sehlahisoa sena.
6. Sehlahisoa sena ha se reretsoe bana.

Setšoantšo

The gimbal must share a common ground with the control signal transmitter.

1. Ntlafatsa Boema-kepe
2. Power Out / CVBS (BM02B-SRSS-TB)
3. Power-communication Port (BM08B-SRSS-TB)
4. Coaxial Cable Air Unit End (Standard)
5. Coaxial Cable Camera End (Standard)
6. Analog Camera Cable (MX1.25-3P, AV)

Lisebelisoa

1. O4 Pro Lens Front Housing (O4 Pro)
2. O4 Pro Lens Rear Housing (O4 Pro)
3. O4 Pro lens Protection Ring (O4 Pro)
4. O4 Lens Mount (O4)
5. O4 Pressing Plate (O4)
6. O3 Lens Mount (O3)
7. O3 lens Protection Ring (O4 / O3)
8. Analog Camera Mount (AV)

Ho kenya

O4 Pro

1. Remove the housing fixing screws of the camera (one on each side) and separate the front and rear housings of the camera.
   Do not separate the housings too far, or may damage the camera.
2. Use the crowbar in the package to disconnect the coaxial cable from the camera and remove the rear housing.
   The coaxial cable and its connectors are vulnerable. Please be careful when disconnecting and connecting the cable.
3. Remove the four lens fixing screws inside the front housing and take the lens out.
4. Install the lens protection ring on the front of the lens mount.
5. Fix the lens into the lens front housing with four M1.4 x L3mm screws.
   The mounting direction of the lens in the lens mount is unique. Please note the correspondence between the lens locating posts and the locating holes inside the lens mount.
6. Connect the front and rear housing with four M1.4 x L2.5mm countersunk screws.
7. Connect the gimbal pre-built coaxial cable to the lens
   The space is narrow on this step. Please be careful not to pull the cable.
8. Fix the camera on the gimbal with three M1.4 x L5mm screws.
   Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmoothly or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
9. Separate the top and bottom housing of the air unit, then use the crowbar to disconnect the coaxial cable from the air unit and remove it.
   Do not separate the housings too far, or may damage the air unit.
10. Connect the coaxial cable from the gimbal to the air unit and assemble the air unit.
11. Use the crowbar in the package to disconnect the coaxial cable from the camera and remove the rear housing.
    1. The coaxial cable and its connectors are vulnerable. Please be careful when disconnecting and connecting the cable. There is glue on the connector for fixation. A heat gun can be used to heat the glue at 150℃ and remove it with tweezers after it is softened.
    2. Install the lens protection ring on the front of the lens mount.
    3. Connect the gimbal pre-built coaxial cable to the lens.
       The space is narrow on this step. Please be careful not to pull the cable.
    4. Thread two M1.4 x L3mm screws through the pressing plate and fix the lens into the lens mount.
    5. Fix the camera on the gimbal with four M1.4 x L5mm screws.
       Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmoothly or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
    6. Use the crowbar in the package to disconnect the coaxial cable from the air unit and remove the rear housing.
       The coaxial cable and its connectors are vulnerable. Please be careful when disconnecting and connecting the cable. There is glue on the connector for fixation. A heat gun can be used to heat the glue at 150℃ and remove it with tweezers after it is softened.
    7. Connect the coaxial cable from the gimbal to the air unit.
       1. Remove the housing fixing screws of the camera (one on each side) and separate the front and rear housings of the camera.
          Do not separate the housings too far, or you may damage the camera.
       2. Use the crowbar in the package to disconnect the coaxial cable from the camera and remove the rear housing.
          The coaxial cable and its connectors are vulnerable. Please be careful when disconnecting and connecting the cable.
       3. Remove the four lens fixing screws inside the front housing and take the lens out.
       4. Install the lens protection ring on the front of the lens mount.
       5. Fix the lens into the lens mount with four M1.4 x L3mm screws.
          The mounting direction of the lens in the lens mount is unique. Please note the correspondence between the lens locating posts and the locating holes inside the lens mount.
       6. Connect the gimbal pre-built coaxial cable to the lens.
          The space is narrow on this step. Please be careful not to pull the cable.
       7. Fix the camera on the gimbal with four M1.4 x L5mm screws.
          Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmoothly or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
       8. Remove the cover of the coaxial cable on the bottom of the air unit, then use the crowbar to disconnect the cable from the air unit and remove it.
       9. Connect the coaxial cable from the gimbal to the air unit and reinstall the cover.

Standard Version

Take the Walksnail Moonlight kit as an exampLe:

1. Loosen the four screws on the back of the camera and remove the rear housing.
2. Use the crowbar in the package to disconnect the coaxial cable from the camera and remove the cable.
   The coaxial cable and its connectors are vulnerable. Please be careful when disconnecting and connecting the cable.
3. Connect the gimbal pre-built coaxial cable to the lens.
   Please be careful not to pull the cable.
4. Fix the camera on the gimbal with four M1.4 x L5mm screws.
   Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmoothly or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
5. Remove the cover of the coaxial cable on the top of the air unit, then use the crowbar to disconnect the cable from the camera and remove it.
6. Connect the coaxial cable from the gimbal to the air unit and reinstall the cover.

AV

1. Connect the gimbal’s pre-built analog camera cable to the camera.
   Please be careful not to pull the cable.
2. Fix the camera and the camera mount on the gimbal with two M1.4 x L10mm screws.
   Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmoothly or rebounds, it is generally caused by a tense cable. Please organize the cable and try again.

Ho laola C-20D

The C-20D supports Headtracker direct/private protocol control, S.BUS / CRSF control, PWM control, and MAVLink control, with the priority of the four control methods above decreasing in order.

Bolaoli ba Protocol ea poraefete

• Please refer to Gimbal Private Protocol.
• Headtracker Direct Control
• Ka kopo sheba Buka ea Mosebelisi ea Headtracker.

S.BUS / CRSF Taolo

• Connect the PWM1 in the power-communication port to the S.BUS or CRSF_Tx of the receiver, which needs 4 channels to control the gimbal mode, gimbal sensitivity, roll, and pitch,
• respectively. Channel mapping can be done in the GimbalConfig software.

Taolo ea PWM

• The PWM1~PWM3 are channels to control the gimbal mode, the gimbal sensitivity, and the imbal pitch, respectively.

Taolo ea MAVLink

• Connect the UART_Rx and UART_Tx in the over-communication port to the Tx and Rx in a certain serial port of the autopilot, respectively, which needs 4 channels to control the imbal mode, gimbal sensitivity, roll, and pitch, respectively. Channel mapping can be done in the GimbalConfig software.
• Ke li-firmware tsa ArduPilot le PX4 feela tse tšehetsoang hajoale. Tlhophiso ea MAVLink e hlalositsoe ka botlalo ho Sehlomathiso sa 2.

Mekhoa ea Gimbal

There are six operating modes of the C-20D as below:

• FPV – Angle Control (FPVM-ANGL)
  Boleng ba taolo ea ho kenya gimbal bo lumellana le sekhahla sa eona sa ho potoloha. Ha boleng ba taolo ea ho kenya e le 0, lilepe tsa gimbal le li-roll li latela metsamao ea motho ea tsamaisang ka ho felisa ho tsukutleha hanyane.
• PitchLock – Angle Control (PLCK-ANGL)
  Boleng ba taolo ea ho kenya gimbal bo lumellana le sekhahla sa eona sa ho potoloha. Ha boleng ba taolo ea ho kenya e le 0, gimba's pitch axis e lula e otlolohile 'me axis ea eona e latela metsamao ea motho ea tsamaisang ka ho felisa ho thothomela ho fokolang.
• Horizon – Angle Control (HORI-ANGL)
  Boleng ba taolo ea ho kenya gimbal bo lumellana le sekhahla sa eona sa ho potoloha. Ha boleng ba taolo ea ho kenya e le 0, lilepe tsa gimbal le li-roll li lula li tšekaletse.
• Horizon – Rate Control (HORI-RATE)
  The input control value to the gimbal corresponds to its angular rotation speed. When the input control value is 0, the gimbal’s pitch and roll axes keep the current attitude.
• Ha o laola gimbal ka Headtracker, mekhoa ea ho laola li-angle e tlameha ho sebelisoa.
• Bakeng sa basebelisi ba sebelisang gimbal bakeng sa ho nka filimi ea sefofane e sa lateleng hlooho, ho khothaletsoa ho sebelisa mekhoa ea ho laola sekhahla ho fihlela karabelo e nepahetseng.
• Khutlela-Bohareng (GOTO-ZERO)
  Ka mokhoa ona, lense ea khamera e boloka chebahalo ea pele e tšekaletseng. Gimbal e fetoha e sa laoleheng sebakeng sena.
• OrthoView (SHEBELA FATSHE)
  In this mode, the camera lens maintains a vertically downward orientation. The gimbal becomes non-controllable in this state.
• Boikutlo ba Gimbal
  Ha maikutlo a phahame, karabelo ea gimbal e potlakile ho latela motsamao oa mojari, empa e fokotsa ho sisinyeha ha mojari.
• The gimbal sensitivity is valid only in FPV mode.

Sesebelisoa sa AHRS Fusion

Ha e le tlas'a moroalo o moholo o otlolohileng, algorithm ea maikutlo ea gimbal e ka 'na ea bontša ho kheloha ho itseng, ho fella ka boikutlo bo sekametseng. Ho lokisa kheloha ena, hoa hlokahala ho fetisetsa lintlha tse nepahetseng tsa mofani oa AHRS (maemo a carrier GNSS a lokela ho sebetsa) ho gimbal ka protocol ea MAVLink. Motsoalle oa AHRS fusion e fumaneha ka mekhoa eohle ea taolo.

Ho lokisa, ho lekanya le ho ntlafatsa Firmware
Configure the gimbal and upgrade the firmware of the gimbal with the GimbalConfig software.

Ensure the driver of the Config Module is installed on the computer before configuring, calibrating, or upgrading.

1. Gimbal Presets
2. 'Mapa oa Channel
3. Mekhoa e Tloaelehileng

Kopanya Gimbal

1. Hokela boema-kepe ba ntlafatso ea gimbal le komporo ka J1.0 Config Module. Matlafatsa gimbal.
2. Run the GimbalConfig software. Select the COM port corresponding to the Config Module. Click “Start Debug” and confirm that the software and the gimbal are being connected.

Config Module e rekisoa ka thoko. Bakeng sa mefuta e meng ea lithapo tse peli tsa Type-C, ho ka ba le maemo ao komporo e sa khoneng ho lemoha Config Module. Ka kopo, leka ho e nkela sebaka ka thapo ea Mofuta oa A ho ea ho Mofuta oa C.

Ts'ebetso ea Motheo ea Parameter Configuration

• Kamora hore gimbal e hokahane le software ea GimbalConfig, software
  e tla jarolla ka ho iketsa paramente ho gimbal, kapa o ka tobetsa "Download Param" ho etsa ts'ebetso ea ho jarolla.
• Tobetsa "Save Param" ho boloka paramente e bonts'itsoeng e le sebaka sa lehae file. Tobetsa "Open Param" ho bala paramente e bolokiloeng sebakeng sa heno file.
• After selecting a new option in the drop-down box, the parameter will be automatically uploaded to the gimbal and take effect. After entering a new parameter in the parameter frame,  press the Enter key or click “Upload Param” to upload the parameter.
• Kamora hore paramente e kenngoe, tobetsa "Save Param To Flash" ho e phethela ka har'a gimbal.
• Haeba u sa tobetse "Save Param To Flash" ka mor'a ho kenya li-parameter, litekanyetso tse kentsoeng li tla lahleha ha gimbal e felloa ke matla.

Mekhoa e Tloaelehileng
Basebelisi ba ka khetha mekhoa e meraro ea mosebetsi ho tsoa likhethong tse fapaneng tsa gimbal ho sebetsa joalo ka mekhoa ea bona e tloaelehileng (M0 / M1 / ​​M2).

Gimbal Presets
(Headtracker e tobileng, taolo ea S.BUS/CRSF & PWM)

• The gimbal works in accordance with the preset values when there is no signal input or no mapped channel assigned. After the signal input is restored, the gimbal exits the preset state.
• The gimbal presets are invalid in MAVLink control.
• Preset gimbal mode: Basebelisi ba ka khetha mokhoa o le mong oa ho sebetsa ho tsoa mefuteng e tloaelehileng (M0 / M1 / ​​M2) joalo ka mokhoa o hlophisitsoeng.
• Preset gimbal sensitivity: setting range 1.0~1.0, with a resolution of 0.1.
• Preset roll, pitch, and yaw angle: setting range 180° ~180°, with a resolution of 1° .
• Li-angles tse sebetsang hantle tse seng li setiloe li thehiloe holim'a mefuta e mengata ea ho potoloha ha gimbal.
• Haeba u batla ho lula u sebelisa litekanyetso tse seng li setiloe bakeng sa likanale tse ling, 'mapa likanale tse tsamaellanang le NULL.

'Mapa oa Channel
(Headtracker e tobileng, S.BUS/CRSF & MAVLink control)
Select the channels corresponding to gimbal mode, gimbal sensitivity, roll, pitch, and yaw, respectively. For Headtracker direct control (through datalink or Air Unit), all channels should be mapped to CH01.

Mofuta oa ho Beha

The mounting type of the gimbal is AUTO by default, and the gimbal will automatically switch to DOWN/UP mode according to its attitude at power-on. The mounting type can also be manually set to DOWN or UP mode.

• For tail-sitter VTOL aircraft, it should place the fuselage in a level flight attitude and power up, or manually set the mounting type of the gimbal.
• After the mounting type is set manually, make sure that the actual mounting type is consistent with the setting; otherwise, the gimbal will enter the protection state.

Tšireletso ea Tilt (Pitch-lock & Horizon mode)
When the tilt of the mounting plane of the gimbal exceeds the protection angle, the gimbal will enter the protection state. At this time, the gimbal will be neutralized and uncontrollable. When the tilt of the mounting plane is smaller than the protection angle, the gimbal will automatically exit the protection state. Tilt protection is effective in Pitch-lock mode and Horizon mode, not in FPV mode.

The protection angle can be modified according to the actual use. The setting range is 0° ~90° with a resolution of 1°. ≤ 15° means disabling the tilt protection.
20 NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

Ka mor'a ho thibela tšireletso ea tilt, gimbal e ka 'na ea sebetsa ka mokhoa o sa tloaelehang ha boemo ba boikutlo ba mokhanni bo le boholo.

Tokiso ea Parameter
For cameras with a larger moment of inertia, mounting them on the gimbal may result in gimbal shaking. In such cases, increasing the gain value can enhance stabilization effects.

Ho khothaletsoa ka matla ho sebelisa li-parameter tsa phaello ea kamehla haeba ho sa hlokahale.

Tekanyo ea Pitch
In FPV mode, the gimbal’s pitch center may exhibit a slight deviation. This parameter allows fine-tuning of the pitch zero point specifically for FPV mode. The adjustable range is -10° ~+10° with a resolution of 0.1°.

Ho ntlafatsa le ho ntlafatsa Firmware
If the attitude of the gimbal tilts or drifts slowly when no control signal is input, it is necessary to calibrate the gimbal.

1. Ho lekanya gimbal. Boloka gimbal e tsitsitse. Tobetsa "Gyro Calibration" 'me u emetse hore calibration e phethe.
2. Ho ntlafatsa firmware. Tobetsa "Open Firmware". Khetha firmware file. Click “Start Upgrade” and wait for the upgrade to complete.

Appendix 1 Supported Cameras

Standard Version	Walksnail Moonlight Kit
	Walksnail Avatar HD Kit V2 (Dual Antennas Version)
	Walksnail Avatar HD Pro Kit (Dual Antennas Version)
	Walksnail Avatar HD Pro Kit
	Walksnail Avatar HD Kit V2
	CADDXFPV Polar Starlight Vista Kit
	CADDXFPV Nebula Pro Vista Kit
	RunCam Link Phoenix HD Kit
	RunCam Link Wasp Kit
	RunCam Link Night Eagle Kit

Appendix 2 MAVLink Configuration ArduPilot

The serial port number can be changed according to the actual situation.

PX4

MAV_1_MODE e khothaletsoa joalo ka Tloaelo.

Lipotso Tse Botsoang Hangata

What should I do if my gimbal is not responding correctly?

Check the power supply, connectors, and installation of the gimbal. Ensure that all connections are secure and follow the troubleshooting steps in the user manual.

Na bana ba ka sebelisa sehlahisoa see?

This product is not intended for use by children. Always keep it away from children and handle it with care.

Litokomane / Lisebelisoa

Robot C-20D Horizontal 2-Axis FPV Gimbal [pdf] Bukana ea Mosebelisi V2, Pro Kit Dual Antennas Version, Pro Kit, C-20D, C-20D Horizontal 2-Axis FPV Gimbal, C-20D, Horizontal 2-Axis FPV Gimbal, 2-Axis FPV Gimbal, FPV Gimbal

Litšupiso

• Bukana ea Mosebelisi