Gimbal deviation over Yaw axis

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Shay Lavi

• 2023年12月03日 12:19

Hello
I have noticed that when I am looking froward (bearing 0) the horizon is in the center of the screen as it should be. but when I am looking at bearing +90 the horizon drops below the center of the screen and -90 bearing the horizon is above the center.
I have tried to log this deviation but I dont see any mathematical regularity.

I have tried to calibrate the IMU and gimbal but nothing helps.

Drone Model - Matrice 30T

Thanks

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  DJI Developer Support

  • 2023年12月04日 11:44

  What does "the horizon" refer to? Can you provide us with a video to help us understand it visually? Here is the upload address where you can upload the video: https://pan-sec.djicorp.com/s/D8XZkKnWcC3tjJw password：dji123

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  Shay Lavi

  • 2023年12月04日 11:53

  I have uploaded the video
  as you can see the horizon is getting "higher".
  The camera movement is only in the yaw axes.
  Gimbal pitch is 0 degrees through out the entire video

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  DJI Developer Support

  • 2023年12月05日 09:11

  Can you tell me what does this deviation mean to you? I think this is a normal phenomenon. When the camera is facing the horizon, the red line coincides with the horizon. When you rotate the camera, the distance and angle between the camera and the horizon change, causing the position of the horizon in the frame to also change. The effect presented by the camera is related to the camera's position, angle, and whether it is the same horizon.

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  Shay Lavi

  • 2023年12月05日 09:20

  Thanks for the reply.
  The horizon should not change in vertical axes of the camera when gimbal pitch is 0.
  The horizon is supposed to be in the center of the screen no matter the yaw of the aircraft / gimbal.
  
  The horizon distance is only depended of the altitude of the observer by this formula:
  R = Earth radius
  h = Drone Altitude

  sqrt((2 * R * h) +h**2)

  in summary
  the horizon line should always be in the center of the screen if the gimbal pitch is 0.

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  DJI Developer Support

  • 2023年12月06日 08:29

  Could you keep the horizon in the center of the frame when using other cameras? Rotating the camera around its yaw axis will change the camera's viewing angle, causing a change in the relative position between the camera and the horizon. Therefore, there will be corresponding changes in the image captured by the camera. If the camera is moved horizontally, this change will not occur.

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  Shay Lavi

  • 2023年12月06日 08:36

  In the video provided, the camera is only moving horizontally.
  The gimbal does not report the correct pitch angle of itself.
  
  When I put a coin on the camera at yaw (bearing) pitch and roll 0 degrees the coin remains stationary and level.
  Then I rotate the gimbal horizontally only (pitch and roll 0 and yaw -90) the coin slips and fall as the pitch angle changes effectively and is not 0 degrees (not as a result of the rotation speed).
  
  So  effectively the gimbal reports wrong pitch angles.

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  DJI Developer Support

  • 2023年12月07日 06:27

  Would there be any similar issues when using the remote control dial to control the rotation of the gimbal on the Pilot 2? furthermore, I would like to clarify that the horizontal movement refers to the overall horizontal direction of the aircraft, while the movement of the gimbal around the yaw axis itself is a form of rotation.

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