Quick Start Guide

On this page I (OlliW) will list briefly the steps which are required to correctly setup the STorM32 brushless gimbal controller, as a kind of prestart check list.

On this occasion I'd like to add a personal note: The fact that I'm sitting here and writing this guide is a bit disappointing. Obviously, the STorM32 project is free only because I do it in my spare time, and obviously I can't do everything in my spare time. I do not need any documentation, so documentation should (must) be the user's duty - running this wiki puts already enough strain on my shoulders - but only one brave soul (yang/wdaehn) has contributed significantly so far. The firmware and GUI steadily progresses, and several pieces of the wiki ran out of date. A brief overview of what has to be done to setup the controller is clearly needed. So I'm sitting here and am writing this guide. :)

In principle, the setup is completed in three major steps:

• Preparation: Learn about the basics, the Dos and Dont's, gimbal mechanics, flashing the firmware, and so on.
• Calibration: Learn how and why to do a calibration of your IMU(s).
• Basic Controller Configuration: Adjust those controller parameters, which are absolutely crucial for a correct working.

The Basic Controller Configuration can be itself distinguished into two major steps:

• Some parameters need to be set BEFORE the motors are enabled for the first time.
• The remaining parameters need to be set AFTER the gimbal was started the first time with the motors enabled.

The chapters below guide you (very) briefly through these steps.

The STorM32-BGC controller currently can be used for the following setups:

• 3-Axis with single IMU: Only one IMU, connected to the I2C port and mounted to the camera, is used.
• 3-Axis with on-board IMU: In addition to the camera IMU the on-board IMU is used as 2nd IMU. The board must be mounted on the gimbal support (above the yaw motor).
• 3-Axis with separate 2nd IMU: In addition to the camera IMU a further IMU connected to the I2C#2 port is used as 2nd IMU. The board can be mounted anywhere, but the 2nd IMU must be mounted on the gimbal support (above the yaw motor).
• 2-Axis: This is not "officially" supported but the controller can be set up to wrok fine for a 2-axis gimbal. Only one IMU attached to the I2C port and mounted to the camera can be used. The usage of a 2nd IMU is not supported.

The 3-Axis with single IMU and 2-Axis applications are obviously easier to set up, since one doesn't need to care about the 2nd IMU and what's required to get it working correctly. The following will focus on the dual-IMU setups.

Preparation

• Read the Dos and Dont', here: Dos and Dont's.

• Read about questionthe important,