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Lucien Renaud 2022-05-24 14:04:33 +02:00
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# DJI Gimbal FOC
The aim of this project is to be able to use the 3-axis DJI gimbal with a custom open source controller. This high quality gimbal is very tiny and easy to find as replacement part which makes it very suitable for DIY projects.
The aim of this project is to be able to use the 3-axis DJI gimbal with a custom open source controller like [SimpleFOC](https://docs.simplefoc.com/). This high quality gimbal is very tiny and easy to find as a replacement part which makes it very suitable for DIY projects.
## Description
todo
![](docs/overview.jpg)
## Pinout identification
The Gimbal is composed of a flex PCB with a main connector and 3 smaller for each motor. The main end connector is a 40-pin mezzanine board to board connectors. In order to work easily I have designed a breakout board which open to a 2.54" header.
![Setup](docs/setup.jpg)
Here is the strategy I followed to find the pinout:
1. Find all equipotential pins with a multimeter set to continuity tests, and test all the combinations
@ -97,3 +96,9 @@ float dist_angle(float newAngle, float prevAngle) // return the difference modul
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## Tuning the PIDs
To achive position control it is necessary to have first, a velocity controller well tuned, as they are in cascade. (SimpleFOC implementation and diagram)
![Closed loop position diagram from SimpleFOC](docs/angle_loop_v.png)
However, the motors of the gimbal have hard stop and can only rotate of around a half turn. It was so necessary to remove these mecanical stops. I drilled with a 1.6mm drill the two little holes to remove it. Then the motor was able to rotate freely.
![Drilling](docs/drilling.jpg)

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