BaseCam (AlexMos) SimpleBGC 3rd axis V3 32bit controller

2.56b7

GUI (Windows, OS X, Linux): SimpleBGC_GUI_2_56b7.zip (8Mb 20.01.2016)
User Manual (English): SimpleBGC_32bit_manual_2_5x_eng.pdf (1Mb 24.12.2015)

• Support of ICM20608 gyroscope+accelerometer sensor.
• New option "I2C high-speed". Use it carefully: high-speed mode may cause I2C errors.
• Support for saving and restoring of calibration data to the IMU's EEPROM (if present).
• Support of analog encoder (rotary position sensor) on YAW axis in the regular firmware.
• New option "Advanced" → "Order of hardware axes" that supports several configurations besides the standard "Camera - PITCH - ROLL - YAW" configuration.
• Support of magnetometer sensor (compass) to prevent drift of gyroscope. Can be combined with the frame IMU or the main IMU.

Control algorithms:

• New setting: "RC" -> "Order of Euler angles" that allows extending the possible trajectories of a camera and the range of working angles.
• Improved the precision of RC control in the "Follow" mode
• New option "Follow" - "Apply an offset correction when an axis is not following."
• New option "Follow" - "Follow rate inside dead-band" to apply very soft control to keep camera always in the center of the dead-band.
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Sensors calibration:

• Regular calibration of Accelerometer and gyroscope does not discard the results of temperature calibration but improves it.
• ACC calibration at "normal" Z-top position does not discard the results of 6-point calibration.
• Magnetometer (compass) calibration was significantly improved:
  • you do not need a GUI connection (allows to calibrate in the field by menu button);
  • an ellipsoid approximation is used;
• New option to skip gyro calibration if gimbal is not fixed well during startup: it allows to start with fresh calibration for best quality, or to start immediately with the previous calibration.

IMU improvements:

• Advanced algorithms for correction of mutual drift in both IMUs.
• "2nd IMU above YAW" position is more reliable now.
• New option "ACC low-pass filter" that helps to improve the stability of the IMU angles. Under dynamic conditions like motion with short lateral accelerations.

Other functionality:

• New adjustable variables GYRO_HEADING_CORRECTION and FRAME_HEADING_ANGLE that helps to manually correct YAW axis drift.
• New option "Advanced" - "Set to the normal position on profile switch".
• Better handling of high-speed control from scripts.
• Improved the range of working angles in 1- and 2-axes systems, making use of 2nd IMU or encoders; all possible 2-axes configurations are supported now.
• New menu command: "Untwist cables".
• New checkbox "Advanced" - "Upside-down PITCH auto-rotation" to turn camera when turning frame upside-down.
• New option "Follow" - "Use frame IMU, if possible" to use 2nd IMU for the "Follow Mode" control, to make it more reliable.
• New menu command: "Center YAW axis" to move a camera to the neutral position by YAW.
• New menu command: "Level Roll, Pitch to the horizon".
• New option "Service" - "Blink profile number" - onboard LED will show currently selected profile.
• Proper handling of "gimbal lock" condition - when YAW and PITCH motor axes are parallel.
• (GUI) New "Emergency stop" option (stop motors in case of the big rate of I2C errors).
• (GUI) Serial-over-UDP connection is supported to configure remote devices via a network (WiFi, Ethernet, Internet).
• Menu button pressed 12 times in series will reset "Serial speed" setting to default value 115200.
• OuterP, OuterI gain increased 5x times.

Encoder-enabled firmware:

• Option to emergency stop if the motor angles reported by the encoder differs a lot from the angle reported by the 2nd IMU.
• Encoder-to-motor gearing ratio can be adjusted.
• In the case of geared setup, the uncertainty of the motor or the frame angle detection at startup can be removed with the help of 2nd IMU.
• Option to enable Briefcase position auto-detection on-the-fly when in "Follow" mode: just hold the camera by hand and turn frame �90 degrees.
• More reliable soft limits; option to enable/disable them for each motor independently.
• Back-EMF compensation is applied at full battery voltage amplitude. It allows getting the maximum speed from the motor (that is limited by the Kv parameter of a motor) even with the low "POWER" setting.

Serial API

• CMD_CONTROL command with the extended format allows specifying different control modes for each axis.
• CMD_AHRS_HELPER command allows accessing internal IMU attitude in DCM form, to use it in the external system or to replace or correct it by the information acquired from the high-grade external IMU.