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XF ROBOT C-20T User Manual

3-axis fpv gimbal
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V1.4
C-20T
2025.06
3-Axis FPV Gimbal
User Manual
©2025 XF All Rights Reserved

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Summary of Contents for XF ROBOT C-20T

  • Page 1 V1.4 C-20T 2025.06 3-Axis FPV Gimbal User Manual ©2025 XF All Rights Reserved...
  • Page 2 Using this Manual – Legend Important Tips Explanation...
  • Page 3 Revision History Date Document Version 2024.05.30 V1.0 Date Document Version 2024.11.19 V1.1 Date Document Version 2024.12.19 V1.2 Date Document Version 2025.01.16 V1.3 Date Document Version 2025.06.04 V1.4...
  • Page 4 Caution Always stay alert when using C-20T 3-axis FPV Gimbal and its accessories to control an unmanned aerial vehicle (UAV) or other carriers. Careless may result in serious harm to yourself and others. 1. Make sure that the external power supply for the gimbal is a lithium battery (2S~6S) with an input voltage between 7.4V~26.4V.
  • Page 5 Catalog Introduction Diagram Gimbal Accessories Installation O4 Pro Standard Controlling the C-20T Headtracker Direct Control Private Protocol Control S.BUS / CRSF Control PWM Control MAVLink Control Gimbal Modes Gimbal Sensitivity Carrier AHRS Fusion Configuring, Calibrating & Firmware Upgrading Connect the Gimbal...
  • Page 7 C-20 User Manual Introduction The C-20T 3-axis FPV Gimbal is compatible with a variety of digital FPV systems such as DJI O4 Pro, Walksnail Avatar, Walksnail Moonlight, and 19mm wide analog cameras. With a 3-axis nonorthogonal mechanical stabilization structure and high-torque motors, the C-20T is able to provides an extreme stabilization effect against the vibration and high-speed air impact.
  • Page 8 C-20 User Manual Accessories 1. O4 Pro Lens Front Housing (O4 Pro) 2. O4 Pro Lens Rear Housing (O4 Pro) 3. O4 Pro lens Protection Ring (O4 Pro) 4. O4 Lens Mount (O4) 5. O4 Pressing Plate (O4) 6. O3 Lens Mount (O3) 7.
  • Page 9 C-20 User Manual Installation O4 Pro 1. Remove the housing fixing screws of the camera (one on each side) and separate the front and rear housings of the camera. Do not separate the housings too far or may damage the camera. 2.
  • Page 10 C-20 User Manual 4. Install the lens protection ring on the front of the lens mount. 5. Fix the lens into the lens front housing with four M1.4 x L3mm screws. The mounting direction of the lens in the lens mount is unique. Please note the correspondence between the lens locating posts and the locating holes inside the lens mount.
  • Page 11 C-20 User Manual 7. Connect the gimbal pre-built coaxial cable on the lens. The space is a narrow on this step. Please be careful not to pull the cable. 8. Fix the camera on the gimbal with three M1.4 x L5mm screws. Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting).
  • Page 12 C-20 User Manual 9. Separate the top and bottom housing of the air unit, then use the crowbar to disconnect the coaxial cable from the air unit and remove it. Do not separate the housings too far or may damage the air unit. 10.
  • Page 13 C-20 User Manual 1. Use the crowbar in the package to disconnect the coaxial cable from the camera and remove the rear housing. The coaxial cable and its connectors are vulnerable. Please be careful when disconnecting and connecting the cable. There is glue on the connector for fixation.
  • Page 14 C-20 User Manual 5. Fix the camera on the gimbal with four M1.4 x L5mm screws. Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmoothly or rebounds, it is generally caused by a tense coaxial cable.
  • Page 15 C-20 User Manual 1. Remove the housing fixing screws of the camera (one on each side) and separate the front and rear housings of the camera. Do not separate the housings too far or may damage the camera. 2. Use the crowbar in the package to disconnect the coaxial cable from the camera and remove the rear housing.
  • Page 16 C-20 User Manual 4. Install the lens protection ring on the front of the lens mount. 5. Fix the lens into the lens mount with four M1.4 x L3mm screws. The mounting direction of the lens in the lens mount is unique. Please note the correspondence between the lens locating posts and the locating holes inside the lens mount.
  • Page 17 C-20 User Manual 8. Remove the cover of the coaxial cable on the bottom of the air unit, then use the crowbar to disconnect the cable from the air unit and remove it. 9. Connect the coaxial cable from the gimbal to the air unit and reinstall the cover back.
  • Page 18 C-20 User Manual 3. Connect the gimbal pre-built coaxial cable on the lens. Please be careful not to pull the cable. 4. Fix the camera on the gimbal with four M1.4 x L5mm screws. Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting).
  • Page 19 C-20 User Manual 5. Remove the cover of the coaxial cable on the top of the air unit, then use the crowbar to disconnect the cable from the camera and remove it. 6. Connect the coaxial cable from the gimbal to the air unit and reinstall the cover back.
  • Page 20 C-20 User Manual Controlling the C-20T The C-20T supports Headtracker direct / private protocol control, S.BUS / CRSF control, PWM control and MAVLink control, with the priority of the four control methods above decreasing in order. Headtracker Direct Control Headtracker User Manual...
  • Page 21 C-20 User Manual Gimbal Modes There are seven operating modes of the C-20T as below: FPV – Angle Control (FPVM-ANGL) The input control value to the gimbal corresponds to its rotation angle. When the input control value is 0, the gimbal's pitch, roll and yaw axes follow the carrier's movements with eliminating slight shaking.
  • Page 22 C-20 User Manual For users employing the gimbal for non-head-tracking aerial filming, it is recommended to use rate control modes to achieve an optimal handling responsiveness. Return-to-Center (GOTO-ZERO) In this mode, the camera lens maintains horizontal forward orientation while its yaw axis follows the carrier's movements with eliminating slight shaking.
  • Page 23 C-20 User Manual Configuring, Calibrating & Firmware Upgrading Configure the gimbal and upgrade firmware of the gimbal with the GimbalConfig software. Ensure the driver of the Config Module is installed on the computer before configuring, calibrating or upgrading. 1. Gimbal Presets 2.
  • Page 24 C-20 User Manual Parameter Configuration Basic Operation After the gimbal is connected to the GimbalConfig software, the software will automatically download the parameter from the gimbal, or you can click "Download Param" to perform the download operation. Click "Save Param" to save the current displayed parameter as a local file. Click "Open Param"...
  • Page 25 C-20 User Manual The actual effective preset angles are based on the maximum rotation range of the gimbal. If you want to always use the preset values for some channels, map the corresponding channels to NULL. Channel Mapping (Headtracker direct, S.BUS/CRSF & MAVLink control) Select the channels corresponding to gimbal mode, gimbal sensitivity, roll, pitch and yaw respectively.
  • Page 26 C-20 User Manual After disabling the tilt protection, the gimbal may work abnormally when the attitude angle of the carrier is large. Parameter Tuning For cameras with larger moment of inertia, mounting them on the gimbal may result in gimbal shaking. In such cases, increasing the gain value can enhance stabilization effects.
  • Page 27 C-20 User Manual Appendix 1 Dimensions 4xM2 9mm 41mm 46.5mm 19.3mm 15.8mm structural interference region NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.
  • Page 28 C-20 User Manual Appendix 2 Supported Cameras O4 Pro DJI O4 Air Unit Pro DJI O4 Air Unit DJI O3 Air Unit Walksnail Moonlight Kit Walksnail Avatar HD Kit V2 (Dual Antannas Version) Walksnail Avatar HD Pro Kit (Dual Antannas Version) Walksnail Avatar HD Pro Kit Walksnail Avatar HD Kit V2 Standard...
  • Page 29 C-20 User Manual Appendix 3 MAVLink Configuration ArduPilot SERIAL1 SERIAL1_BAUD SERIAL1_OPTIONS 1024 SERIAL1_PROTOCOL SR1_ADSB 0 Hz SR1_EXIT_STAT 0 Hz SR1_EXTRA1 0 Hz SR1_EXTRA2 0 Hz SR1_EXTRA3 0 Hz SR1_PARAMS 0 Hz SR1_POSITION 0 Hz SR1_RAW_CTRL 0 Hz SR1_RAW_SENS 0 Hz SR1_RC_CHAN 0 Hz Serial port number can be changed according to the actual situation.