Configure the RC Input

GUI Settings

The [Rc Mid Mode] setting controls how the board figures out if the RC stick is in neutral. Assuming there are no trim offsets in the RC sender programmed by accident there is no reason why this should not remain on "auto". The [Rc Dead Band] comes into play as soon as one RC channel is used for relative movements, the Yaw axis usually. The dead band value defines how wide the neutral range of the stick is. If you find a slow but constant movement on the Yaw axis because the stick does not re-position itself 100% center, increase the deadband range a little. 10us requires a very precise setting, double it or more.

Now for each axis, Pitch, Roll and Yaw there are the same fields, let's use Yaw as example

• [Rc Yaw]: Defines what pin this signal is taken from. In above wiring diagram we said the Rc2-1 pin shall be used for yaw control.
• [Rc Yaw Min], [Rc Yaw Max]: The minimum and maximum value in degrees allowed for yaw movements. Using the stick you can move the camera between these two extremes only. If the minimum value is greater than the maximum value, this means the stick direction is reversed.
• [Rc Yaw Speed Limit]: When panning the camera you do not want an extremely fast turn rate, a swish pan almost. Neither would that be controllable via a stick nor would the gimbal be able to cope with the forces. Hence you have the option to limit the turn rate to an upper speed limit in degrees per second.
• [Rc Yaw Accel Limit]: Similar with the acceleration, just because the stick was moved from full left to full right, the camera should not make the same abrupt movements. It should slowly turn faster and faster by the provided acceleration limit.
• [Rc Yaw Mode]: In "relative" mode the stick in neutral means no movement, and the stick fully to one side to move at the highest possible speed. So this is the proper mode for an RC stick that positions itself back in neutral automatically. In "absolute" mode the stick in neutral means to position the camera exactly in the middle between [Rc Yaw Min] and [Rc Yam Max] and the stick held completely to one side has the meaning of looking at the min (or max) degrees.
• [Rc Yaw Sensitivity]: Used in relative mode only, defines what speed a 100% stick movement represents.
• [Rc Yaw Trim]: To fine adjust the neutral point.

Wiring

A RC receiver has multiple three pin headers, each single one providing GND (black wire), +5V (red wire) and the RC signal (white wire). Internally all GND pins are connected. To save space and reduce the number of cables required, the STorM32-BGC board has one pin for GND only plus the various signal pins.

Therefore a typical connection will look like

• Any receiver's GND pin connected to RC2-GND, that is the pin next to the label (see image below, the black GND cable is the top most)
• The receiver's channel 3 signal pin connected to RC2-0 (green cable below) used for pitch
• The receiver's channel 4 signal pin connected to RC2-1 (white cable below) used for yaw
• Roll is usually not controlled by the RC and hence not connected. Or do you see a reason why the camera horizon should not be level?

Note: The +5V line between receiver and STorM32-BGC board is *NOT* connected. The BGC board is powered by the battery directly, the receiver by a BEC module, usually part of the ESC.