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BGC gimbal & Pixhawk
SToRM32 Gimbal Controller
The SToRM32-BGC is a relatively low-cost 3-axis brushless gimbal controller that can
communicate with ArduPilot (Copter, Plane and Rover) using MAVLink.
With 3-axis control and MAVLink interface, the SToRM32 offers more capabilities and
than the Tarot Gimbal. MAVLink is a richer communications format that PWM and may
be used in the future to provide additional information to the gimbal including
centrefugal force corrections leading to better performance during aggressive
maneuvers.
Please refer to the
SToRM32-BGC wiki pages
for more detailed information including
where the gimbals can be purchased. This gimbal has been tested with a
DYS 3-axis
brushless
gimbal.
Note
Support for this gimbal is included in Copter 3.3 (and higher) for gimbals
running
v067e
(or higher).
Connecting the gimbal to the Pixhawk
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Summary of Contents for OlliW SToRM32
- Page 1 BGC gimbal & Pixhawk SToRM32 Gimbal Controller The SToRM32-BGC is a relatively low-cost 3-axis brushless gimbal controller that can communicate with ArduPilot (Copter, Plane and Rover) using MAVLink. With 3-axis control and MAVLink interface, the SToRM32 offers more capabilities and than the Tarot Gimbal.
- Page 2 You will need to solder 3-pins of a DF13 6-pin cable to the gimbal controller board as shown above and then plug the other end into one of the Pixhawk’s Telemetry ports (Telem1, Telem2, Serial4). Note The remaining 3 pins (VCC, RTS, CTS) of the cable should not be connected. Configuring the gimbal...
- Page 3 In addition to the regular gimbal configuration described on the SToRM32-BGC wiki, the MAVlink heartbeats should be enabled through OlliW’s o323BGCTool’s Tools | Expert Tool screen as shown below. Set-up through the Mission Planner (MAVLink protocol) Through your GCS (i.e. MP’s Full Param List or Tree) set the following parameters...
- Page 4 SERIAL1_BAUD = "115" • SERIAL1_PROTOCOL = "1" • BRD_SER1_RTSCTS = "0" • If using Telem2: SERIAL2_BAUD = "115" • SERIAL2_PROTOCOL = "1" • BRD_SER2_RTSCTS = "0" • If using Serial4: SERIAL4_BAUD = "115" • SERIAL4_PROTOCOL = "1" •...
- Page 5 “4” to enable the SToRM32 gimbal driver (the Pixhawk must be rebooted to “4” to enable the SToRM32 gimbal driver (the Pixhawk must be rebooted to “4” to enable the SToRM32 gimbal driver (the Pixhawk must be rebooted MNT_TYPE for this change to take effect).
- Page 6 60 degrees of roll ( = -6000, = +6000) MNT_ANGMIN_ROL MNT_ANGMAX_ROL • Can point straight down ( = -9000) MNT_ANG_MIN_TIL • Can point straight up ( = +9000) MNT_ANG_MAX_TIL •...
- Page 8 For instructions for testing the gimbal moves correctly please check the similar section for the Tarot gimbal. The video below shows the SToRM32 being tested on Copter3.3. It demonstrates a few features that would not be possible on a 2-axis gimbal like the Tarot Gimbal.
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Page 9: Where To Buy
Next Previous Questions, issues, and suggestions about this page can be raised on the forums. Issues and suggestions may be posted on the forums or the Github Issue Tracker. SimpleBGC Gimbal (aka AlexMos gimbal) The SimpleBGC is a popular brushless gimbal controller that can communicate with ArduPilot (Copter, Plane and Rover) using a custom serial protocol. - Page 10 The SimpleBGC controller and accompanying 2-axis and 3-axis gimbals can be purchased from basecamelectronics.com and many other retailers. Connecting the gimbal to the Flight Controller Although the SimpleBGC can be connected using PWM (similar to the Tarot gimbal) we recommend using the serial interface connected to one of the flight controller’s Serial/Telemetry ports like Telem2 as shown above.
- Page 11 If you are unable to connect you may wish to set the following parameters although normally this should not be required: SERIAL2_BAUD to 115 (means use serial baudrate of 115200) • BRD_SER2_RTSCTS to 0 to disable flow control on Telem2 (use •...
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