The Solo Gimbal and the Code that Drives it. Hmmm....

[just_bruce]

would be nice if someone who has a broken gimbal, would make some photos of the IC´s on the PCB of the arms and the GoPro Plate PCB

I'm currently awaiting the arrival of a busted gimbal for just that purpose.

 

[just_bruce]

this is working with the data:

Field 1 - UINT8_T System ID = 10
Field 2 - UINT8_T Component ID = 215
Field 3 - FLOAT Delta Time = 1.02098432e-17
Field 4 - FLOAT Delta Angle X = -1.25214693e-18
Field 5 - FLOAT Delta Angle Y = 8.1417333e14
Field 6 - FLOAT Delta Angle Z = 7.482267e-26
FIeld 7 - FLOAT Delta Velocity X = 1.20986828e-24
Field 8 - FLOAT Delta Velocity Y = -6.1939391e+37
Field 9 - FLOAT Delta Velocity Z = -6053.9858
Field 10 - FLOAT ROLL joint angle = 198750944
Field 11 - FLOAT ELEVATOR joint angle = 1.6537194e15
Field 12 - FLOAT AZIMUTH joint angle = -2.09836488e-14

I forgot. On the wire it is packed doubles, then floats, then uint32, then uint16, then uint8. CRC hash is calculated after reorder, so....

Field 3-12
Field 1
Field 2
CRC

Which makes more sense since it makes the target system id Decimal 0 (broadcast) and component ID decimal 1 (Autopilot)

 

[pyrate]

So are you talking about the board behind where gopro sits?

 

[pyrate]

Watching this because I have a DIY platform with a cube 2.1 and needing a gimbal

 

[pyrate]

 

[pyrate]

I'm currently awaiting the arrival of a busted gimbal for just that purpose.

I have one guys, just tell me what you need

 

[pyrate]

Arm board

 

[just_bruce]

I have one guys, just tell me what you need

Closeup photos of all the numbered ICs of all the chips on the uppermost pcb, especially anything that looks like an accelerometer. Close up pictures of all the major ICs on the teardrops shaped sub-pcbs.

Is there anything on the back of that PCB you've got such lovely pictures of?

 

[pyrate]

I can read the chip numbers on the big board, do you mean on the shaft?

 

[just_bruce]

View attachment 6354 View attachment 6355

I can't read the numbers on U10 (lower right corner, looks like about 4x4mm) can you?

 

[pyrate]

Circle them in the pic and I will break out my magnifier
Nothing on the backs of the tears, might could tear one open

 

[SteveReno]

I don't think this is much better?

​

 

[just_bruce]

Circled

 

[pyrate]

CircledView attachment 6361

Ivensense mpu-6000

 

[pyrate]

Q403/1LC1

 

[pyrate]

Well there it is
MPU-6000, Motion Sensor - 6 Axis, TDK InvenSense

 

[just_bruce]

THAT is where it was hiding. I knew there had to be one from parsing python all night, but hadn't found it in the images that were around.

Any chance there is an identifier on the potentiometer on that motor?

 

[pyrate]

Nothing on it at all

 

[pyrate]

Steve can you check yours, no identification on mine

 

[just_bruce]

I'm pretty sure the Piccolo (the big MCU in the middle) is doing a couple of things.

1. Reading the MPU-6000
2.Interfacing with the GoPro.
3. Managing the CAN-BUS (the vp232 is a CAN transceiver)
4. Chatting with at least the Piccolo on the uppermost PCB (the one with the hole for the yaw motor)
5. Fusing the potentiometer data with the relevant axes from the MPU-6000 (OR MAYBE NOT?)
6. Outputting PWM to hold/allow motion on the arm motor.

An impressive amount for an MCU, which I guess is why it's a 32 bit jobby.