Software - Tuning

• 01. Software - Tuning
  After the camera is balanced on the Gremsy, it’s time to fine tune some parameters for best performance.

   
• 02. Stiffness Tuning
  Stiffness setting has a significant impact on the performance of the S1. This setting adjusts the degrees to which the gimbal tries to correct for unwanted camera movement and hold the camera stable. The higher you can run the setting without vibration or oscillation, the better.

   

   

  General Method

  Start with a low value of 20 for all axes 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.

  

   

   

  Step 01 - Tilt Stiffness

  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.

   

   

  Step 02 - Roll Stiffness

  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.

   

   

  Step 03 - Pan Stiffness

  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 presented.

   

   

   
• 03. Filter

  The purpose of the filters is to eliminate noise and vibration due to structural resonances in the camera, lens, or gimbal.

  Setting the filters too high or too low can cause signal disturbances that can reduce the overall stabilization.

   

   

  Gyro Filter

  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.

   

   

  Output Filter

  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.

   

   

  Default Values

  Gyro Filter	2
  Output Filter	3

   

   

   
• 04. Expert / Advanced Settings

  There are some expert parameters that normally do not need to be adjusted. Leave these parameters at default settings unless they are required for troubleshooting.

   

   

  Hold Strength

  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.

   

   

   

  Gain

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

  

   

   

  Default Settings

  HOLD STRENGTH	TILT	ROLL	PAN
  	40	40	40
  GAIN	120
  AUTO POWER ADJUSTMENT: ENABLED

   

   

   
• 05. Follow Mode Settings

  The most widely used mode of single operation is Follow mode where the gimbal operator controls to pan and tilt of the camera. The camera movement will mimic the user’s input from the top-mount while the footage remains stable. The follow mode can be configured to be either very linear and robotic, or smooth and cinematic.

  Follow mode settings is available for Tilt axis and Pan axis.

   

   

  Speed

  Defines how fast camera will follow the movement.

   

  Smooth

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

   

  Window

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

   

  Tilt Lock

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

   

  AIRBORNE

  This feature is not available on the S1.

  

   

   

   
• 06. Rotation Limit
  Travel of Tilt and Roll axis can be limited using UP LIMIT and DOWN LIMIT. The Pan axis keeps the ability to pan 360 degrees itself.

  

   

   

  UP LIMIT

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

   

   

  DOWN LIMIT

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

   

   

  ROLL OFFSET

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

   

   
• 07. IMU Sensor

  The IMU sensor used in the S1 is a combination of a high precision 3 axis gyroscope sensor and a 3 axis accelerometer sensor.

  IMU board is enclosed in a weather proof case and being heated where the temperature inside is controlled around 50°C with 0.2°C accuracy. Thanks to this feature, gyro calibration is no longer required in most situations.

  In order to provide extra high precision data output, the IMU is performed 6-point calibration at Gremsy factory.

  

  The S1 controller has a special algorithm to provide attitude estimation based on input data from the IMU sensor. This attitude estimation helps the controller to command motor output to compensate for camera movement.

   

   

  Gypro Calibration

  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 GREMSY S1

  

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

  

   

   

  Accelerometter Calibration

  

  Do not use this function, please contact Gremsy Support Engineers.
  Accelerometer sensor was calibrated properly at the factory to achieve an accurate horizon level with special and precise equipment. Users do not need to do this unless it’s required for troubleshooting.