Gremsy S1 Manual

If the status LED is blinking green, the gimbal is ready for use. By default, the gimbal is in Follow mode if the motors are turned ON by the Function Button.

If the status LED is solid red, something is wrong with the gimbal and motors cannot start. Connect to the software/apps to check details of the error message.

Read “LED STATUS INDICATOR” in the next section for more information.

LOCK MODE: a stabilization mode where the camera maintains orientation independently of the rest of the gimbal. The orientation can be changed through an external control signal from a remote control.

FOLLOW MODE: in this mode, the camera will mimic the operator’s movement and allows one person to control camera tilt and pan without using an external device such as a remote control.

SINGLE OPERATOR: using FOLLOW mode.

DUAL OPERATOR: a second operator can use a Remote Controller (SBUS, SPEKTRUM, PPM) to control the gimbal’s movement.

Gremsy S1 has 1 working operation: NORMAL

Using function button

PRESS TIMES	MODES
Once time	Turn motors ON
2 times	Lock mode
3 times	Follow mode
Hold 3 seconds	Turn motor OFF
4 times	Calibrate Gyros

Using mode channel on remote control

Using software/application

If there is a remote-control signal, changing modes or turning motors on/off by other methods such as using the function button or software will not take effect because the remote-control signal has the highest priority and will override the command.

Mobile apps are available in App Store and Google Play

App name: gTune
Searching: “gremsy gtune”

Desktop software

Download at:
www.gremsy.com -> Support -> Product Support -> Gremsy S1

Make sure the Silab USB driver is already installed. The driver can be found at:
www.gremsy.com -> Support -> Product Support -> Gremsy S1

STEPS TO CONNECT:

• 1 - Power ON the S1.
• 2 - Connect USB cable from gimbal controller to Mac/PC.
• 3 - Run the gTuneDesktop software.
• 4 - On Connection Tab, select the Serial option.
• 5 - Select the correct COM port in the list.
• 6 - Click on the “Connect” button.

ON MOBILE APP

STEPS TO CONNECT:

1 - Enable bluetooth adapter of mobile devices.

On Android: the OS will ask for Location Data permission for BLE scanning feature (updated by Google since Android 6.0)
On iOS: the OS will sometimes have issue with its Bluetooth adapter. User should check the device’s quick settings and general settings to enable the adapter and the Bluetooth icon should appear on the device’s status bar.

Start with a low value of 20 for all axes and then turn motors ON. Slowly increase this setting until you feel an oscillation in each axis, then reduce it until the oscillation subsides. You can touch the camera to feel the oscillation during tuning. Increase the stiffness setting 5-10 points at a time until oscillation appears then reduce 5 points until oscillation subsides.

Slowly increase this setting until you feel an oscillation in the tilt axis, then reduce the setting until the oscillation subsides. Make sure there is no vibration when tilting the camera up and down and when moving the gimbal in any orientation.

Slowly increase this setting until you feel an oscillation in the roll axis, then reduce the setting until the oscillation subsides. Pick the S1 up and make sure there is no vibration when you move the gimbal around.

Slowly increase this setting until you feel an oscillation in the pan axis, then reduce the setting until the oscillation subsides. Tilt the S1 about 20 degrees from the verticality and make sure that no vibrations are present.

Defines the strength of the filter applied to Gyro sensor output. If the gimbal has oscillations that cannot be corrected by adjusting stiffness settings, the Gyro Filter is used to further tune the gimbal and remove the oscillation.

Defines the strength of the filter applied to motors output. If the gimbal has oscillations that cannot be corrected by adjusting stiffness settings, the Output Filter is used to further tune the gimbal and remove the oscillation.

1. If the gimbal is vibrating at a high frequency after tuning, increase the filter values.

2. If the gimbal is oscillating or rocking at a low frequency after tuning, decrease the filter values.

If “Auto power adjustment” is enabled, “Hold strength” will be the minimum power level required for the corresponding axis. The controller will automatically adjust power level from minimum to maximum level depending on the displacement between current angle and commanded angle.

If “Auto power adjustment” is not selected “Hold strength” will be constant power level provided to the corresponding axis and should be adjusted manually. This option is only recommended for advanced users.

For heavy cameras, it’s suggested to increase hold strength for each axis around 10% than the default value. If “Auto power adjustment” is not selected “Hold strength” will be fixed power level provided to the corresponding axis and should be adjusted manually. This option is only recommended for advanced users.

Defines how fast each axis will return to commanded position. To reload default expert settings just press “Default” in the expert menu.

Defines how fast camera will follow the movement.

Smooth out the camera movement by adjusting this parameter. The higher the value, the smoother camera moves but at the expense of more delay in following the movements.

When the movement is out of the window zone, the camera starts to move. Within the window zone, the camera maintains its direction.

If this option is selected, the tilt axis will maintain its angle and only be controlled by remote control.

This feature is not available on the S1.

Set the up limit for Tilt or Roll axis (in 1 degree unit). The default values are -90 for Tilt and -45 for Roll.

Set the down limit for Tilt or Roll axis (in 1 degree unit). The default values are 90 for Tilt and 45 for Roll.

Set the Roll offset (in 0.1 degree unit) is only applicable when there is no remote control signal from remote control will override the roll angle. This is useful to fine trim the horizon. The default value is 0.

Thanks to temperature controlled and heated IMU, gyro calibration is not necessary as the gyro was calibrated at the factory and the temperature inside IMU remains constant around 50 degrees. However, if you notice drift during operation in extreme weather (below -20C or above 50C) please re-calibrate the gyro.

CALIB AT STARTUP: this feature is not available on the S1

After Gyro Calibration, Gyro Offset X, Y, Z will change to a new value depending on the temperature.

CANLINK is Gremsy’s proprietary solution to receive information from a third-party flight controller to correct horizon drift.

Without CANLINK, our gimbal can maintain locked horizon in most cases where prolonged acceleration is not present. When prolonged acceleration is present such as circular flight or prolonged bank turn (where centrifugal force appears), the horizon will drift after a certain period of time.

In order for Canlink to work properly, GPS module should be installed together with flight controller.

DJI FC

Connect the cable from CAN port on hyper quick release to CAN port on COMPASS/GPS module on DJI FC.

PIXHAWK

Connect the cable from COM2 port on hyper quick release to TELEMETRY 1/ TELEMETRY 2 on Pixhawk , Pixhawk 2. Once connected, the gimbal controller will automatically send MAVLINK message to set attitude update rate of flight controller at 10Hz.

When the motor is turned on for the first time, make sure the pan axis is aligned with the forward direction of the copter in order for the gimbal to calculate the attitude correctly. After turning on the motor, the LED status will turn to a pink color which indicates that CANLINK connection between gimbal and flight controller has been established.

There is tolerance between the gimbal’s IMU and flight controller’s IMU due to mechanical mountings error or calibration error. For example, the gimbal’s frame and the flight controller’ plane is not perfectly parallel within 1-2 degrees with the roll and pitch axis. To address this, we offer a way to fine trim the horizon in 3 steps.

Connect SBUS, PPM receiver to SBUS, PPM port which is located on the gimbal mount.

The receiver must be connected to correct wires order. The SBUS/PPM port has 5V output to power the receiver, please do not use the external power supply to power the receiver at the same time. Doing so may damage the electronics inside the gimbal.

There are 6 channels to assign: MODE, TILT, ROLL, PAN, TILT SPEED, PAN SPEED.

Assign MODE channel first then follow the order above because MODE channel is used to change operating modes of the gimbal and should be assigned to a 3-position switch as follows:

• Switch at high position: FOLLOW MODE , MOTORS ON
• Switch at middle position: LOCK MODE , MOTORS ON
• Switch at low position: MOTORS OFF

TILT and PAN channel should be in speed mode and ROLL channel in angle mode.

TILT SPEED or PAN SPEED could be assigned to the same channel and should be assigned to throttle stick, dial, or other non-centering control on the transmitter.

Below is an example of channel assignment to the Futaba T8FG.

Connect satellite receiver to the JR port on the gimbal mount as shown in the picture. Make sure satellite receiver is already bound to the transmitter (RED led is solid).

Choose 10 bit or 11 bit type resolution on the software and assign proper channels as per SBUS settings.