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Gimbal: Added rc channel control readme #104

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Sep 11, 2024
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Gimbal: Added rc channel control readme #104

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41 changes: 41 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -232,6 +232,47 @@ Display the streamed video:
gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false
```

View the streamed camera frames in [QGC](http://qgroundcontrol.com/):

`Open QGC > Application Settings > Video Settings > Select UDP h.264 Video Stream & use port 5600`
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![qgc_video_settings](https://github.com/user-attachments/assets/61fa4c2a-37e2-47cf-abcf-9f110d9c2015)


### 4. Using 3d Gimbal

The Iris model is equipped with a 3d gimbal and camera that can be controlled directly in MAVProxy using the RC overrides.

#### Run Gazebo

```bash
gz sim -v4 -r iris_runway.sdf
```

#### Run ArduPilot SITL with a specified parameter file

```bash
cd ardupilot

sim_vehicle.py -D -v ArduCopter -f JSON --add-param-file=$HOME/ardupilot_gazebo/config/gazebo-iris-gimbal.parm --console --map
```

Control action for gimbal over RC channel:

| Action | Channel | RC Low | RC High |
| ------------- | ------------- | ------------- | ------------- |
| Roll | RC6 | Roll Left | Roll Right |
| Pitch | RC7 | Pitch Down | Pitch Up |
| Yaw | RC8 | Yaw Left | Yaw Right |

Example usage:

`rc 6 1100` - Gimbal rolls left

`rc 7 1900` - Gimbal pitch upwards

`rc 8 1500` - Gimbal yaw neutral

## Models

In addition to the Iris and Zephyr models included here, a selection
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6 changes: 1 addition & 5 deletions config/gazebo-iris-gimbal.parm
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Expand Up @@ -25,12 +25,8 @@ RC7_OPTION 213 # Mount1 Pitch
RC8_MAX 1900
RC8_MIN 1100
RC8_OPTION 214 # Mount1 Yaw
RC8_REVERSED 0 # Normal
RC9_MAX 1900
RC9_MIN 1100
RC9_OPTION 0 # Do Nothing

# Gimbal servo out
SERVO9_FUNCTION 8 # Mount1Roll
SERVO10_FUNCTION 7 # Mount1Pitch
SERVO11_FUNCTION 6 # Mount1Yaw
SERVO11_FUNCTION 6 # Mount1Yaw
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