CameraStabilizationWidget 0 0 786 791 0 0 0 0 Form 0 0 0 Camera Stabilization 0 0 0 0 0 0 QFrame::NoFrame true 0 0 750 729 12 12 12 12 12 0 0 0 0 16777215 16777215 Module Control Qt::StrongFocus Enable CameraStabilization module After enabling the module, you must power cycle before using and configuring. 0 0 0 110 16777215 16777215 Basic Settings (Stabilization) Qt::StrongFocus Camera yaw angle for 100% output value, deg. This value should be tuned for particular gimbal and servo. You also have to define channel output range using Output configuration tab. 180 20 objname:CameraStabSettings fieldname:OutputRange element:Yaw haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Camera pitch angle for 100% output value, deg. This value should be tuned for particular gimbal and servo. You also have to define channel output range using Output configuration tab. 180 20 objname:CameraStabSettings fieldname:OutputRange element:Pitch haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Camera roll angle for 100% output value, deg. This value should be tuned for particular gimbal and servo. You also have to define channel output range using Output configuration tab. 180 20 objname:CameraStabSettings fieldname:OutputRange element:Roll haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Yaw output channel for camera gimbal None Qt::StrongFocus Pitch output channel for camera gimbal None Qt::StrongFocus Roll output channel for camera gimbal None Output Channel Output Range (Angle) 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Yaw Qt::AlignCenter 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Pitch Or Servo2 Qt::AlignCenter 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Roll Or Servo1 Qt::AlignCenter 0 0 0 187 16777215 16777215 Advanced Settings (Control) 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Yaw Qt::AlignCenter 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Pitch Qt::AlignCenter 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Roll Qt::AlignCenter Qt::StrongFocus Input channel to control camera yaw Don't forget to map this channel using Input configuration tab. objname:CameraStabSettings fieldname:Input element:Yaw buttongroup:1 None Qt::StrongFocus Input channel to control camera pitch Don't forget to map this channel using Input configuration tab. objname:CameraStabSettings fieldname:Input element:Pitch buttongroup:1 None Qt::StrongFocus Input channel to control camera roll Don't forget to map this channel using Input configuration tab. objname:CameraStabSettings fieldname:Input element:Roll buttongroup:1 None Input Channel Qt::StrongFocus Axis stabilization mode Attitude: camera tracks level for the axis. Input controls the deflection. AxisLock: camera remembers tracking attitude. Input controls the rate of deflection. objname:CameraStabSettings fieldname:StabilizationMode element:Yaw buttongroup:1 Attitude Qt::StrongFocus Maximum camera yaw deflection for 100% input in Attitude mode, deg. 180 20 objname:CameraStabSettings fieldname:InputRange element:Yaw haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Maximum camera yaw rate for 100% input in AxisLock mode, deg/s. 180 50 objname:CameraStabSettings fieldname:InputRate element:Yaw haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Axis stabilization mode Attitude: camera tracks level for the axis. Input controls the deflection. AxisLock: camera remembers tracking attitude. Input controls the rate of deflection. objname:CameraStabSettings fieldname:StabilizationMode element:Pitch buttongroup:1 Attitude Qt::StrongFocus Maximum camera pitch deflection for 100% input in Attitude mode, deg. 180 20 objname:CameraStabSettings fieldname:InputRange element:Pitch haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Maximum camera pitch rate for 100% input in AxisLock mode, deg/s. 180 50 objname:CameraStabSettings fieldname:InputRate element:Pitch haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Axis stabilization mode Attitude: camera tracks level for the axis. Input controls the deflection. AxisLock: camera remembers tracking attitude. Input controls the rate of deflection. objname:CameraStabSettings fieldname:StabilizationMode element:Roll buttongroup:1 Attitude Qt::StrongFocus Maximum camera roll deflection for 100% input in Attitude mode, deg. 180 20 objname:CameraStabSettings fieldname:InputRange element:Roll haslimits:no scale:1 buttongroup:1 Qt::StrongFocus Maximum camera roll rate for 100% input in AxisLock mode, deg/s. 180 50 objname:CameraStabSettings fieldname:InputRate element:Roll haslimits:no scale:1 buttongroup:1 MaxAxisLockRate Input Rate (Speed) Input Range (Angle) Stabilization Mode (the same value for Roll, Pitch, Yaw) Qt::StrongFocus Stick input deadband for all axes in AxisLock mode, deg/s. When stick input is within the MaxAxisLockRate range, camera tracks current attitude. Otherwise it starts moving according to input with rate depending on input value. If you have drift in your Tx controls, you may want to increase this value. 1 0.100000000000000 1.000000000000000 objname:CameraStabSettings fieldname:MaxAxisLockRate haslimits:no scale:1 buttongroup:1 0 187 Expert Settings (Attitude Filter and Feed Forward) 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Roll Qt::AlignCenter 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Pitch Qt::AlignCenter 0 16 16777215 16 background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; font: bold 12px; margin:1px; Yaw Qt::AlignCenter Attitude Filter RT Roll axis attitude filter response time Range: 0-250ms, 0 disables the filter (default). Smoothes estimated airframe attitude used by camera stabilization. 250 objname:CameraStabSettings fieldname:ResponseTime element:Roll buttongroup:1 Pitch axis attitude filter response time Range: 0-250ms, 0 disables the filter (default). Smoothes estimated airframe attitude used by camera stabilization. 250 objname:CameraStabSettings fieldname:ResponseTime element:Pitch buttongroup:1 Yaw axis attitude filter response time Range: 0-250ms, 0 disables the filter (default). Smoothes estimated airframe attitude used by camera stabilization. 250 objname:CameraStabSettings fieldname:ResponseTime element:Yaw buttongroup:1 FF Servo Acceleration Roll servo feed forward acceleration Range: 0-25, 0 disables feed forward for the axis (default). Good starting value is 2-7. Too high value may burn your servo! 25 objname:CameraStabSettings fieldname:FeedForward element:Roll haslimits:no scale:1 buttongroup:1 Pitch servo feed forward acceleration Range: 0-25, 0 disables feed forward for the axis (default). Good starting value is 2-7. Too high value may burn your servo! 25 objname:CameraStabSettings fieldname:FeedForward element:Pitch haslimits:no scale:1 buttongroup:1 Yaw servo feed forward acceleration Range: 0-25, 0 disables feed forward for the axis (default). Good starting value is 2-7. Too high value may burn your servo! 25 objname:CameraStabSettings fieldname:FeedForward element:Yaw haslimits:no scale:1 buttongroup:1 FF Accel Time Constant Roll servo feed forward acceleration time constant Range: 0-50ms, default is 5. 50 5 objname:CameraStabSettings fieldname:AccelTime element:Roll buttongroup:1 Pitch servo feed forward acceleration time constant Range: 0-50ms, default is 5. 50 5 objname:CameraStabSettings fieldname:AccelTime element:Pitch buttongroup:1 Yaw servo feed forward acceleration time constant Range: 0-50ms, default is 5. 50 5 objname:CameraStabSettings fieldname:AccelTime element:Yaw buttongroup:1 FF Decel Time Constant Roll servo feed forward deceleration time constant Range: 0-50ms, default is 5. 50 5 objname:CameraStabSettings fieldname:DecelTime element:Roll buttongroup:1 Pitch servo feed forward deceleration time constant Range: 0-50ms, default is 5. 50 5 objname:CameraStabSettings fieldname:DecelTime element:Pitch buttongroup:1 Yaw servo feed forward deceleration time constant Range: 0-50ms, default is 5. 50 5 objname:CameraStabSettings fieldname:DecelTime element:Yaw buttongroup:1 Gimbal Type: Qt::StrongFocus Gimbal type Used to limit feed forward acceleration at extreme angles. Generic type provides no limit. objname:CameraStabSettings fieldname:GimbalType buttongroup:1 Yaw-Roll-Pitch FF Max Acceleration Feed forward maximum acceleration Range: 0-1000, default is 500. The same value is used for all axes. 1000 500 objname:CameraStabSettings fieldname:MaxAccel buttongroup:1 Input configuration also provides smoothing for controls. Look for RT options on the RC Input tab. 0 50 16777215 16777215 Messages false Qt::Vertical 20 40 4 Qt::Horizontal 288 18 0 0 25 25 true :/core/images/helpicon.svg:/core/images/helpicon.svg 25 25 Ctrl+S false true button:help url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration 0 0 16777215 16777215 Load default CameraStabilization settings except output channels into GCS. Loaded settings are not applied automatically. You have to click the Apply or Save button afterwards. Reset To Defaults button:default buttongroup:1 0 0 16777215 16777215 Reloads saved CameraStabilization settings except output channels from board into GCS. Useful if you have accidentally changed some settings. Loaded settings are not applied automatically. You have to click the Apply or Save button afterwards. Reload Board Data button:reload buttongroup:1 0 0 16777215 16777215 Send settings to the board but do not save to the non-volatile memory Apply button:apply 0 0 16777215 16777215 Send settings to the board and save to the non-volatile memory Save false button:save enableCameraStabilization rollChannel pitchChannel yawChannel rollOutputRange pitchOutputRange yawOutputRange rollInputChannel pitchInputChannel yawInputChannel rollStabilizationMode pitchStabilizationMode yawStabilizationMode rollInputRange pitchInputRange yawInputRange rollInputRate pitchInputRate yawInputRate MaxAxisLockRate rollResponseTime pitchResponseTime yawResponseTime rollFeedForward pitchFeedForward yawFeedForward rollAccelTime pitchAccelTime yawAccelTime rollDecelTime pitchDecelTime yawDecelTime gimbalType maxAccel camerastabilizationResetToDefaults pushButton camerastabilizationSaveRAM camerastabilizationSaveSD