Example Setups

This is the "old" STorM32-BGC documentation, for I2C-IMU firmware versions (versions up to v0.96).

Example Setups

In this section you can find example setups (mainly PID values) for some standard gimbals.

DYS Smart 3 Axis Gopro Gimbal

Gimbal: http://www.dys.hk/ProductShow.asp?ID=62

Settings

• GekoCH's: http://www.rcgroups.com/forums/showpost.php?p=30092104&postcount=2516
• wdaehn's: http://www.rcgroups.com/forums/showpost.php?p=30212877&postcount=2673

Walkera G-3D 3 Axis Gimbal

Gimbal: http://www.walkera.com./en/showgoods.php?id=2215

Settings

• Tallyrver's: http://www.rcgroups.com/forums/showpost.php?p=32177445&postcount=595

Goodluckbuy 3 Axis Gimbal (v2)

Gimbal: http://www.goodluckbuy.com/3-axis-brushless-gimbal-camera-mount-with-32bit-storm32-controller-for-gopro-3-4-fpv-black.html

Settings

• Treeburner's: http://www.rcgroups.com/forums/showpost.php?p=32698855&postcount=2078, http://www.rcgroups.com/forums/showpost.php?p=32689980&postcount=2067

RcMaster FPV 3-Axis Brushless Gimbal for Sony NEX5/6/7

Gimbal: http://www.rcmaster.net/de-fpv-3-axis-brushless-gimbal-w-motor-f%C3%BCr-sony-nex5-6-7-p238234.htm

Settings

• amadeus': http://fpv-community.de/showthread.php?60783-Wer-Kennt-dieses-Gimbal&p=854545&viewfull=1#post854545

User Setups

In this section you may describe and show your STorM32-based gimbal setup, including all relevant technical specifications (please try to adhere to the suggested list of technical infos).

Please feel free to add your system here, the other users will appreciate it!

Keychain Camera Gimbals

OlliW's

Technical details:

• camera: key cam 808 #16 V2 with lense D
• pitch motor: PS2 Slim disc drive replacement motor, rewound, R: ca. 24 Ohm, config: 9N12P, winding: 0.10mm, 150t
• roll motor: PS2 Slim disc drive replacement motor, rewound, R: ca. 24 Ohm, config: 9N12P, winding: 0.10mm, 150t
• yaw motor: PS2 Slim disc drive replacement motor, rewound, R: ca. 24 Ohm, config: 9N12P, winding: 0.10mm, 150t
• battery: 3S
• typical pitch PID values: P = 6.0, I = 750, D = 0.070, Vmax = 150    (f0=15.9Hz, d=0.40)
• typical roll PID values: P = 7.0, I = 450, D = 0.185, Vmax = 150    (f0=7.85Hz, d=0.38)
• typical yaw PID values: P = 7.0, I = 450, D = 0.185, Vmax = 150    (f0=7.85Hz, d=0.38)
• controller board: this is a test gimbal, boards are varying

Mobius ActionCam Gimbals

EagleEi 3-Axis Gimbal

Technical details:

• camera: Mobius
• pitch motor: Walkera G-2D Part G-2D-Z-09 Brushless Motor WK-WS-22-001
• roll motor: Walkear G-2D Part G-2D-Z-09 Brushless Motor WK-WS-22-001
• yaw motor: Walkera G-2D Part G-2D-Z-09 Brushless Motor WK-WS-22-001
• pitch PID values: P = 3.00, I = 280, D = 0.045, Vmax = 93    (f0=12.6Hz, d=0.42, t=5.6ms)
• roll PID values: P = 3.40, I = 225, D = 0.050, Vmax = 108    (f0=10.7Hz, d=0.51, t=7.0ms)
• yaw PID values: P = 4.60, I = 85, D = 0.055, Vmax = 126    (f0=6.3Hz, d=1.06, t=18.3ms)

Project details:

• home page: http://open-diy-projects.com
• video: https://www.youtube.com/watch?v=sJdPNIIDpNc

GoPro Hero Gimbals

Hexakopter's

Technical details:

• camera: GoPro Hero 1
• pitch motor: motor taken from this GLB gimbal
• roll motor: motors taken from this GLB gimbal
• yaw motor: rctimer model 5010-021-150T, R: 14.65 Ohm, config: 12N14P, winding: 0.21mm, 150t
• battery: 3S
• pitch PID values: P = 13, I = 680, D = 0.1400, Vmax = 100    (f0=11.1Hz, d=0.67)
• roll PID values: P = 7, I = 450, D = 0.1000, Vmax = 115    (f0=10.7Hz, d=0.52)
• yaw PID values: P = 12.70, I = 450, D = 0.0900, Vmax = 115    (f0=11.3Hz, d=1.00)
• controller board: STorM32bgc v1.0, F103RB, TC's in SO08 package

careyer's SToRM-stick

Technical details:

• camera: Gopro Hero 3 BE
• pitch motor: rctimer model BG HP2212 , R: 18.3 Ohm, config: 12N14P, winding: 0.15mm, 70t
• roll motor: rctimer model BG HP2212 , R: 18.3 Ohm, config: 12N14P, winding: 0.15mm, 70t
• yaw motor: rctimer model BG HP2212 , R: 18.3 Ohm, config: 12N14P, winding: 0.15mm, 70t
• battery: 3S
• typical pitch PID values: P = 4.0, I = 200, D = 0.100, Vmax = 100    (f0=7.12Hz, d=0.45)
• typical roll PID values: P = 4.0, I = 200, D = 0.100, Vmax = 100    (f0=7.12Hz, d=0.45)
• typical yaw PID values: P = 11.0, I = 280, D = 0.200, Vmax = 100    (f0=5.96Hz, d=0.74)
• controller board: STorM32bgc v1.2 FW 027d

Sony Nex Gimbals

Erick's

Technical details:

• camera: Sony Nex 5n
• pitch motor: rctimer model 5010-021-150T, R: 14.65 Ohm, config: 12N14P, winding: 0.21mm, 150t
• roll motor: rctimer model BGM5208-180T, R: 17.2 Ohm, config: 12N14P, winding: 0.24mm, 180t
• yaw motor: rctimer model BGM5208-180T, R: 17.2 Ohm, config: 12N14P, winding: 0.24mm, 180t
• battery: 3S
• typical pitch PID values: P = 11, I = 450, D = 0.5000, Vmax = 110    (f0=4.78Hz, d=0.37)
• typical roll PID values: P = 12, I = 250, D = 0.5000, Vmax = 160    (f0=3.56Hz, d=0.54)
• typical yaw PID values: P = 12, I = 150, D = 0.6000, Vmax = 155    (f0=2.52Hz, d=0.63)
• controller board: STorM32bgc v1.1, F103RC, TC's in SO08 package

Hexakopter's

Technical details:

• camera: Sony Nex 5n
• pitch motor: rctimer model 5010-021-150T, R: 14.65 Ohm, config: 12N14P, winding: 0.21mm, 150t
• roll motor: rctimer model 5010-021-150T, R: 14.65 Ohm, config: 12N14P, winding: 0.21mm, 150t
• yaw motor: rctimer model 5010-021-150T, R: 14.65 Ohm, config: 12N14P, winding: 0.21mm, 150t
• battery: 2S and 3S
• 2S pitch PID values: P = 13.0, I = 680, D = 0.1250, Vmax = 175    (f0=11.7Hz, d=0.71)
• 2S roll PID values: P = 16.5, I = 340, D = 0.1800, Vmax = 190    (f0=6.92Hz, d=1.05)
• 2S yaw PID values: P = 17.3, I = 280, D = 0.3000, Vmax = 215    (f0=4.86Hz, d=0.94)

Old 3S PID settings:

• 3S pitch PID values: P = 13.0, I = 680, D = 0.1250, Vmax=115    (f0=11.7Hz, d=0.71)
• 3S roll PID values: P = 16.5, I = 340, D = 0.1800, Vmax = 130    (f0=6.92Hz, d=1.05)
• 3S yaw PID values: P = 17.3, I = 280, D = 0.3000, Vmax = 135    (f0=4.86Hz, d=0.94)

New 3S PID settings:

• 3S pitch PID values: P = 11.0, I = 340, D = 0.1150, Vmax=110    (f0=8.65Hz, d=0.88)
• 3S roll PID values: P = 12,3 I = 300, D = 0.2550, Vmax = 111    (f0=5.46Hz, d=0.70)
• 3S yaw PID values: P = 12.0, I = 365, D = 0.4000, Vmax = 111    (f0=4.81Hz, d=0.50)

• controller board: STorM32bgc v1.0, F103RB, TC's in SO08 package and v1.2, F103RC, TC's in DFN package

wdaehn's RC Timer ASP

Technical details:

• camera: Sony Nex 5n with SEL-P1650 Lens
• gimbal: rctimer ASP 3 axis Nex-GH5 brushless gimbal
• pitch motor: rctimer model BGM4108-015-130T, R: 17.00 Ohm, config: 24N22P, winding: 0.15mm, 130t
• roll motor: rctimer model BGM4108-015-130T, R: 17.00 Ohm, config: 24N22P, winding: 0.15mm, 130t
• yaw motor: rctimer model BGM4114HS-017-100T, R: 15.2 Ohm, config: 24N22P, winding: 0.17mm, 100t
• battery: 3S
• typical pitch PID values: P = 9.30, I = 590.00, D = 0.0400, Vmax = 187    (f0=19.33Hz, d=0.9572)
• typical roll PID values: P = 8.50, I = 240.00, D = 0.0700, Vmax = 230    (f0=9.319Hz, d=1.0369)
• typical yaw PID values: P = 9.70, I = 170, D = 0.0700, Vmax = 140    (f0=8.843Hz, d=1.4059)
  --- Please note, Yaw was not tuned much since it is not relevant for my cablecam ---
• controller board: STorM32bgc v1.2, F103RC, TC's in SO08 package, Firmware v0.28