Example Setups

On this page 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).

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

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

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