New quadframe brushless gimbal - ongoing issues

Hi guys,

Still struggling to get this optimised, and I've been up and down the PID and power scales.

Ignore the yawing (and poor pilot skills!) in this video, but can anyone see what the problem is with the "bobbling" in roll around dead centre? It should be totally level, but you can see some roll inputs occuring. Most notable, when quad is level and stationary.

Even when on the bench i can roll the gimbal 2-3' from dead centre before it reacts - is there a reason it has a "deadzone" like this, and how can I tune it out? I've checked the mechanical parts, and it's solid on the roll axis. The IMU is solid on the camera frame, and there's no mechanical slack anywhere.

PID's on Alexmos
R: 10, 0, 10 power 95
P: 10, 0, 10 power 45

T-motor 2208's powering a gopro2 load.

Gimbal is balanced without power, naturally.

All expert opinions/theories welcome - I'm a bit stuck!

 
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