User Manual

IM_100.CCF.20170512-EN C45

Using the Software PC/MAC – Digital Filter

Note

Example for the setting of a notch filter:

Assuming that the behaviour of the Pilotfly C45 with camera is stable,

but if the camera is inclined to approx. 60° downwards, strong

vibrations occur.

1. Firstly find out which axis is causing the most vibrations. To do this go to the register card

“Monitoring” on the user surface (GUI) and switch on the following graphics: RMS_ERR_R

(ROLL-Axis), RMS_ERR_P (PITCH-Axis), RMS_ERR_Y (YAW-Axis). First select

“Receive extended debug info” by marking the check box so these parameters can be

seen.

2. Tip the camera slowly to the angle where the vibrations begin. The axis at which the

vibrations increase the strongest is the primary responsible axis. In this example it is the

parameter RMS_ERR_P, therefore the pitch axis.

3. While you let the Gimbal vibrate further unaltered in this position, observe the frequency

display and check other parameters in the same register card: FREQ_P. This displays the

main frequency of the vibration (in our case for example 100).

4. Now enter the values for the first notch filter on the pitch axis in the register card

“Stabilization”: Frequency 100, width 10, gain: 80 and activate the filter using the check

box “enabled”.

5. Transfer the parameter for your Pilotfly Gimbal by pressing on the “WRITE” button.

6. Now attempt to provoke the vibrations again. You can now see for example that the

vibration at 100 Hz has been reduced significantly but is still there at 105 Hz. Repeat the

procedure while changing the frequency parameter to the value 105. You can now see

that the vibration has shifted to 95Hz. Therefore reset the frequency to the value 100 and

increase the filter range to the value 20. The vibration should now have disappeared

completely at the resonance frequency. Set the range as narrow as possible. If the range

is too broad it can cause a lower efficiency in PID controlling.

7. After the resonance has been eliminated you can continue the increase of the PID

amplification using the parameters P and D. The second resonance now occurs, for

example at 140 Hz, when you tilt the camera upwards. Repeat the procedure from step 1

to 6 and enter the parameters for the second notch filter on the pitch axis.