MombasaFlash
Heli's & Tele's bloke
Is there a particular reason why you want Picloc to be mounted on the camera plate? It is invariably more reliable and less prone to 'weird' behaviour when mounted off-axis. Also, although it is supposed to work mounted either way, it is easier to setup with it sideways, i.e. the arrow facing the Roll axis. Some folks claim to use it mounted lengthways and I even seem to remember reading somewhere that it is designed primarily to operate that way (with arrow towards Tilt) but in my experience (and plenty others around here) it was just too confusing with Roll and Tilt servos getting horribly mixed up inside the Toolz software.
Perhaps it is different now with the later software.
Anyway, if you have space somewhere on either the gimbal or the airframe, I would at least try mounting it off-axis so that it is not subjected to any camera tilt or roll. It does work On-Axis but it is just more troublesome.
It looks like you have modified servos with external feedback potentiometers. This means they are 360° servos, they are effectively normal proportional servos, but with an extended range by virtue of the multi-turn pots. The choice of using slew or proportional depends a) on the transmitter control and b) your preference.
If the transmitter controls are self-centering sticks, then slew is preferred - particularly for the Tilt axis where you may wish the camera to stay at a given angle. But if you are using rotary pots or sliders then you must set the servos in Functions within Toolz to proportional.
As for the whole setup procedure, really make sure you have the correct version of Toolz to match the firmware version. Virtually EVERY firmware version has its own specific and individual Picloc Toolz version and programming cannot be done if they are not compatible. If in doubt download the matched pair and reinstall the firmware.
Next, start Toolz and turn off 'Continuous Update' in Options. Then plug in Picloc and click 'Connect' in Toolz. Nothing much will appear to be happening but this is because 'Continuous Update' is off. Then do a Factory Reset. Once this has completed disconnect Picloc. Then reconnect it and re-enable 'Continuous Update'. Enable Magnetometer and restart. Then calibrate the magnetometer with the special turning it around in circles procedure that is outlined in Toolz.
Save and Restart.
Disable magnetometer, Save and Restart.
Now reset radio channels (which will have all changed), receiver type and axis heirarchy. Save and Restart.
Next, in SERVOS, set servo centers, select 360° if necessary and set servo directions. Don't change ATV's yet. Note that there are TWO ATV settings. One in SERVOS and one in FUNCTIONS. The ATV's under SERVOS are to limit servo travel in auto mode, i.e. when Picloc is compensating. The ATV's under FUNCTIONS are to limit servo travel from Tx stick commands. You can come back to these later.
Go back to FUNCTIONS and select slew or proportional for each axis. Verify that the servos respond to Tx stick commands. If they do, go to GAINS (if they don't stand on a bin, scream helplessly and stamp your feet). Also verify that Picloc tries to compensate each axis. If there is only small movement check that you do not have the RTH switch on (Return To Home). If there is no movement at all check that you don't have the same switch in the 'Freeze' position.
Now you can go to GAINS and start adjusting the amount that Picloc compensates in each axis. Do not be tempted to whack in high amounts of gain. Leave it around the default values of 200 for now. The more that value is increased the more unstable the system becomes. You can always experiment later. The only important setting at this stage is the degree of compensation. Tilt or Roll the mount and adjust the gain sliders until the camera plate is brought level in both axes.
If everything is working at this stage you can now adjust the ATV's in SERVOS to limit the amount that Picloc drives the servos. 10°-15° is generally more than adequate on the Roll axis for example. Needing any more than that means it is either far too windy or you're flying like an idiot.
Have you tried really basic stuff like taking picloc off the mount and just connecting a single, standard servo and receiver with battery to establish whether or not it works at all with the transmitter? And have you watched George's videos? Best thing is to right-click download them so you don't have to keep waiting for the internet, and then follow the entire process from the very beginning as George explains the setup procedure.
