6.9 Camera and Camera Config

The camera must be securely attached to the gimbal, yet in a way that reduces or dampens motor vibrations. Attaining both goals at the same time is difficult! A gimbal is a type of support that allows for rotation around a single axis. A set of 2 or 3 gimbals mounted at 90 degrees will keep the camera in level irrespective of the movements of the gimbals. Roll and pitch stabilization is established with 2 axis gimbal whereas, 3 axis gimbal provides the stabilization of roll, pitch and yaw.

Soft foam, stiff foam, neoprene tubes (mount camera on tube side), surgical tube, rubber bands, nylon bolt (direct firm attachment), and velcro are all common techniques for attaching the camera on the gimbal.

RPA Configuration -Camera

Select the model of a camera from a drop-down list available. Update the setting by clicking on the "Update" button.

6.9.1 Camera Settings:

• Camera Relay: Set the camera relay to "Low" or "High"

• Camera Servo On: Set Camera Servo On value in PWM from 1000 to 2000.

• Camera Servo Off: Set Camera Servo Off value in PWM from 1000 to 2000.

• Camera Trigger Type: Set Camera Trigger Type to 'Servo' or 'Relay' from a drop-down menu.

• Camera Trigger Distance: Set the camera trigger distance to trigger the camera automatically at the desired distance. The user can set a distance from 0 to 1000 m.

• Camera Trigger Duration: Set the camera trigger distance at the desired value in Desiseconds from 0 to 50.

• Camera Relay Pin: Set the Camera relay pin as per the requirements from 0 to 50.

6.9.2 Gimbal Settings:

A gimbal can assist in removing unwelcome movement along the three axes, but it cannot eliminate vertical movement. Tilt motion or pitch motion is an up-and-down motion of the camera. Roll motion means rotating the camera to the left or right.

Make sure the gimbal is completely flexible and can point the camera in any direction if you need to view structures from below, such as bridges or overpasses.

If the camera is mounted on a gimbal, you can additionally control the orientation of the gimbal or make it track a certain object. This section allows to you configure camera and gimbal related parameters. Configuration options are as below.

• Gimbal Tilt:

Gimbal and camera movement up and down. The user can set Input and Output Channel in Stabilize and Servo reverse mode.

RPA Configuration -Gimbal Tilt Settings

Select the output and input channel from the drop-down list to set the respective channel.

Output Channel: Select the channel from the drop-down list and enable

"Stabilize"' mode. If it is selected to as "Disable" then the user can not change the mode to stabilize or not.

Input Channel: Select a channel from the output channel then only you will be able to set the input channels from the drop-down list. The user can set "Servo reverse" enabled or disabled.

Gimbal Angle Limits: Set the limits for the Gimbal angle so that every image is clear.

Servo PWM Limits: Set the servo PWM limits ranging from 500 to 2200. Don't exceed the limits on either sides.

• Gimbal Roll:

Similar to Gimbal Tilt, set all the parameters for Gimbal Roll as shown in the following image. The gimbal or camera is lifted to the left or right by a positive roll angle. This allows you to set action on breach of fence.

Gimbal Roll Settings

• Gimbal PAN:

A lateral side to side movement of the gimbal / camera to the left or right. This allows you to set action on breach of fence.

• Gimbal Setting:

  • Gimbal Type: Select type of a Gimbal from the drop-down menu as shown in the image below.

Gimbal Settings

• Default Mode: Select the default mode of the Gimbal from the drop-down menu as shown in the following image.

Gimbal Settings

To summarize with the camera settings (RPAConfiguration > Camera), ranges are given following:

Gimbal Setting	Gimbal angle limits	Min	Max	Units		Cdeg
Gimbal Tilt	Gimbal angle limits	-18000	17999	-18000	17999	Cdeg
Servo PWM limits	500	2200	800	2200	Pwm
Gimbal Roll	Gimbal angle limits	-18000	17999	-18000	17999	Cdeg
Servo PWM limits	500	2200	800	2200	Pwm
Gimbal Pan	Gimbal angle limits	-18000	17999	-18000	17999	Cdeg
Servo PWM limits	500	2200	800	2200	Pwm

Type	Min	Max	Units
Camera servo off	1000	2000	Pwm
Camera servo on	1000	2000	Pwm
Camera trigger distance	0	1000	m
Camera trigger duration	0	50	deciseconds