RoboT C-20S Single Axis FPV Gimbal

Ho sebelisa Bukana ena - Legend

Nalane ea Phetoho

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

1. Etsa bonnete ba hore matla a kantle bakeng sa gimbal ke betri ea lithium (2S~6S) e nang le matla a ho kenya letsoho.tage pakeng tsa 7.4V ~ 26.4V. Ho seng joalo, gimbal e ka sebetsa ka mokhoa o sa tloaelehang kapa ea senyeha.
2. U SE KE UA potoloho e khuts'oane tlhahiso ea matla le GND. Ho seng joalo, lisebelisoa li ka 'na tsa senyeha' me tsa se ke tsa sebetsa hantle.
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 work 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

Lisebelisoa

Ho kenya

C-20S-O3

1. Tlosa sekoaelo sa thapo ea coaxial ka tlase ho yuniti ea moea, ebe u sebelisa crowbar ho hakolla thapo ho yuniti ea moea le ho e tlosa.
   The coaxial cable le lihokelo tsa eona li kotsing. Ka kopo, ela hloko ha u khaola le ho hokela thapo.
2. Thread the camera’s coaxial cable out of the groove on the side of the gimbal.
3. Fix the camera on the gimbal with two M2 x L3mm countersunk 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.
4. Connect the coaxial cable from the gimbal to the air unit and reinstall the cover back.

C-20S-ST
Nka Walksnail Moonlight Kit joalo ka exampLe:

1. Lokolla likurufu tse 'nè tse ka morao ho khamera 'me u tlose ntlo e ka morao.
2. Sebelisa crowbar ka har'a sephutheloana ho hakolla thapo ea coaxial ho khamera le ho tlosa thapo.
   The coaxial cable le lihokelo tsa eona li kotsing. Ka kopo, ela hloko ha u khaola le ho hokela thapo.
3. Insert the coaxial cable through the groove on the side of the gimbal.
4. Connect the coaxial cable on the camera. Fix the camera on the gimbal with four M1.4 x L5mm screws.

Installing analog camera

1. Connect analog camera cable on the camera.
2. Lokisa khamera le khamera ea khamera holim'a gimbal ka li-screws tse peli tsa M1.4 x L10mm.

Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting).

Controlling the C-20S
The C-20S 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.

• Headtracker Direct Control
  Please refer to Headtracker User Manual .
• Bolaoli ba Protocol ea poraefete
  Please refer to Gimbal Private Protocol .
• S.BUS / CRSF Taolo
  Connect the PWM1 in power-communication port to the S.BUS or CRSF_Tx of the receiver, which needs 3 channels to control gimbal mode, gimbal sensitivity and pitch respectively. Channel mapping can be done in the GimbalConfig software.
• Taolo ea PWM
  The PWM1~PWM3 are channels to control gimbal mode, gimbal sensitivity and gimbal pitch respectively.
• Taolo ea MAVLink
  Connect the UART_Rx and UART_Tx in power-communication port to the Tx and Rx in a certain serial port of the autopilot respectively, which needs 3 channels to control gimbal mode, gimbal sensitivity 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 Appendix 2.

Mekhoa ea Gimbal
There are five operating modes of the C-20S as below: FPV – Angle Control (FPVM-ANGL)

The input control value to the gimbal corresponds to its rotation angle. When the input control value is 0, the gimbal’s pitch axis follows the carrier’s movements with eliminating slight shaking.

• Horizon – Angle Control (HORI-ANGL)
  The input control value to the gimbal corresponds to its rotation angle. When the input control value is 0, the gimbal’s pitch axis remains horizontal.
• Horizon – Rate Control (HORI-RATE)
  The input control value to the gimbal corresponds to its rotation angular speed. When the input control value is 0, the gimbal’s pitch axis keeps 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)
  In this mode, the gimbal’s pitch axis maintains horizontal forward orientation. The gimbal becomes non-controllable in this state.
• OrthoView (SHEBELA FATSHE)
  In this mode, t the gimbal’s pitch axis maintains 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.

Kutlo ea gimbal e fumaneha feela ka mokhoa oa FPV.

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 firmware of the gimbal with the  GimbalConfig software.

Netefatsa hore mokhanni oa Config Module o kentsoe komporong pele o lokisa, o lekanya kapa o ntlafatsa.

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. Sebelisa software ea GimbalConfig. Khetha koung ea COM e tsamaellanang le Config Module. Tobetsa "Start Debug" 'me u netefatse software le gimbal e hokahane.

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.
• Ka mor'a ho khetha khetho e ncha ka lebokoseng le theoha, parameter e tla kenngoa ka ho toba ho gimbal mme e sebetse. Kamora ho kenya paramente e ncha ka foreimi ea paramente, tobetsa konopo ea Enter kapa tobetsa "Upload Param" ho kenya paramente.
• 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)

• Gimbal e sebetsa ho latela litekanyetso tse behiloeng esale pele ha ho se na tlhahiso ea matšoao kapa ho se na mocha o hlophisitsoeng o fanoeng. Ka mor'a hore tlhahiso ea pontšo e tsosolosoe, gimbal e tsoa sebakeng se seng se setiloe. Li-presets tsa gimbal ha li sebetse taolong ea MAVLink.
• 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.
• Setifikeiti sa pele sa gimbal: sebaka sa ho seta -1.0 ~ 1.0, ka qeto ea 0.1.
• Moqolo o setiloe esale pele, sekontiri se phahameng le sekhutlo sa eaw: sebaka sa ho seta -180° ~180° , ka qeto ea 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)
Khetha likanale tse tsamaellanang le mokhoa oa gimbal, kutlo ea gimbal, roll, pitch le yaw ka ho latellana. Bakeng sa taolo e tobileng ea Headtracker (ka datalink kapa Air Unit), liteishene tsohle li lokela ho etsoa 'mapa ho CH01.

• Mofuta oa ho Beha
  • Mofuta o ntseng o phahama oa gimbal ke AUTO ka ho sa feleng, 'me gimbal e tla fetohela ho DOWN / UP mode ho latela maikutlo a eona ho matla. Mofuta oa ho hlongoa o ka boela oa hlophisoa ka letsoho e le mokhoa oa DOWN kapa UP.
  • Bakeng sa lifofane tsa VTOL tsa mohatla, li lokela ho beha fuselage boemong ba boemo ba sefofane le ho matlafatsa, kapa ka letsoho ho beha mofuta o ntseng o phahama oa gimbal.
  • Ka mor'a hore mofuta oa ho kenya o behoe ka letsoho, etsa bonnete ba hore mofuta oa sebele oa ho kenya o lumellana le maemo, ho seng joalo gimbal e tla kena sebakeng sa tšireletso.
• Tšireletso ea Tilt (Pitch-lock & Horizon mode)
  • Ha ho sekama ha sefofane se ntseng se phahama sa gimbal ho feta sekhahla sa tšireletso, gimbal e tla kena sebakeng sa tšireletso, ka nako ena gimbal e tla be e se na lehlakore ebile e sa laolehe. Ha ho sekama ha sefofane se ntseng se phahama ho le nyane ho feta sekhutlo sa tšireletso, gimbal e tla tsoa ka bo eona sebakeng sa tšireletso. Tšireletso ea Tilt e sebetsa ka mokhoa oa Pitch-lock le Horizon mode, eseng ka mokhoa oa FPV.
  • Sebaka sa tšireletso se ka fetoloa ho latela tšebeliso ea sebele. Sebaka sa litlhophiso ke 0° ~90° ka qeto ea 1° . ≤ 15 ° e bolela ho thibela tšireletso ea tilt.
  • 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 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
  Ka mokhoa oa FPV, setsi sa molumo oa gimbal se ka bonts'a ho kheloha hanyane. Paramethara ena e lumella tokiso e ntle ea ntlha ea zero ka ho khetheha bakeng sa mokhoa oa FPV. Maemo a feto-fetohang ke -10° ~+10° ka qeto ea 0.1° .
• Ho ntlafatsa le ho ntlafatsa Firmware
  Haeba maikutlo a gimbal a thekesela kapa a hoholeha butle ha ho se na tlhahiso ea lets'oao la taolo, hoa hlokahala ho lekanya 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. Tobetsa "Start Upgrade" 'me u emetse hore ntlafatso e phethe.

Sehlomathiso 1 Lik'hamera tse Tšehetsoeng

O3 Version	Setsi sa moea sa DJI O3
Standard Version	Thepa ea Walksnail Moonlight Kit
	Walksnail Avatar HD Kit V2 (Dual Antannas Version)
	Walksnail Avatar HD Pro Kit (Dual Antannas 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

Sehlomathiso 2 Tlhophiso ea MAVLink

ArduPilot 

Nomoro ea koung ea serial e ka fetoloa ho latela maemo a nnete.

SERIALE1
SERIAL1_BAUD	115
SERIAL1_MEKHETHO	1024
SERIAL1_PROTOCOL	2
SR1
SR1_ADSB	0 Hz
SR1_EXIT_STAT	0 Hz
SR1_EXTRA1	0 Hz
SR1_EXTRA2	0 Hz
SR1_EXTRA3	0 Hz
SR1_PARAMS	0 Hz
SR1_POSITION	0 Hz
SR1_RAW_CTRL	0 Hz
SR1_RAW_SENS	0 Hz
SR1_RC_CHAN	0 Hz

PX4

MAVLink
MAV_1_CONFIG	TELEM2
MAV_1_MODE	Tloaelo / Gimbal
MAV_1_RATE	115200 B/s
Seriale
SER_TEL2_BAUD	115200 8N1

MAV_1_MODE e khothaletsoa joalo ka Tloaelo.

Litokomane / Lisebelisoa

RoboT C-20S Single Axis FPV Gimbal [pdf] Bukana ea Mosebelisi C-20S-O3, C-20S-ST, C-20S Single Axis FPV Gimbal, C-20S, Single Axis FPV Gimbal, Axis FPV Gimbal, FPV Gimbal

Litšupiso

• Bukana ea Mosebelisi