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- Oct 15, 2024
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Hi everyone,
after trying many things, researching, reverse engineering and a lot of headaches, I think I'm close to solve the yaw motor orientation problem of the phantom 4 gimbals.
Introduction
when we change the yaw motor of a phantom 4 gimbal (whether STD, PRO or V2) it is usually not pointing forward centered.
there are many posts that talk about this issue, but I don't think anyone has found a solution at the time of writing (Oct 24).
How does it work?
the motor is a brushless type and has two hall type sensors located in the pcb flex of its stator.
The signals of these sensors are connected to the ESC board through the flex of the motor.
The Roll motor works in the same way (it never fails), and serves to measure and compare the signals when the system is operating correctly.
In the forums there is a theory that the gimbal control reads both signals and moves the motor until both are the same, i.e. they have the same voltage value, that way it “should” be centered pointing forward.
Testing and research
I found the signals coming from the hall sensors (both yaw and roll) in testpoints on the ESC board.
After soldered wires and measured them with an oscilloscope, I check on one drone that works fine and on another with the problem.
I have measured sensors voltages of drones that are working and when the camera is centered facing forward, the values between each sensor are different.
In the same way you can measure this behavior in the ROLL motor.
Modification
I built a resistive divider to interrupt the signal between the sensor and the microcontroller that reads the value.
That with Y1 and Y2.
I spent hours playing with both presets and testing combinations.
Once I managed to improve the angle, I measured the value of the presets and replaced it with fixed 0402 resistors and placed them in the ESC pcb.
conclusions
Although I managed to move it a few degrees and it was operative, I could not get it centered.
Clearly it is not the definitive solution, but I wanted to share it with you and hear your opinions.
thanks for reading
after trying many things, researching, reverse engineering and a lot of headaches, I think I'm close to solve the yaw motor orientation problem of the phantom 4 gimbals.
Introduction
when we change the yaw motor of a phantom 4 gimbal (whether STD, PRO or V2) it is usually not pointing forward centered.
there are many posts that talk about this issue, but I don't think anyone has found a solution at the time of writing (Oct 24).
How does it work?
the motor is a brushless type and has two hall type sensors located in the pcb flex of its stator.
The signals of these sensors are connected to the ESC board through the flex of the motor.
The Roll motor works in the same way (it never fails), and serves to measure and compare the signals when the system is operating correctly.
In the forums there is a theory that the gimbal control reads both signals and moves the motor until both are the same, i.e. they have the same voltage value, that way it “should” be centered pointing forward.
Testing and research
I found the signals coming from the hall sensors (both yaw and roll) in testpoints on the ESC board.
After soldered wires and measured them with an oscilloscope, I check on one drone that works fine and on another with the problem.
I have measured sensors voltages of drones that are working and when the camera is centered facing forward, the values between each sensor are different.
In the same way you can measure this behavior in the ROLL motor.
Modification
I built a resistive divider to interrupt the signal between the sensor and the microcontroller that reads the value.
That with Y1 and Y2.
I spent hours playing with both presets and testing combinations.
Once I managed to improve the angle, I measured the value of the presets and replaced it with fixed 0402 resistors and placed them in the ESC pcb.
conclusions
Although I managed to move it a few degrees and it was operative, I could not get it centered.
Clearly it is not the definitive solution, but I wanted to share it with you and hear your opinions.
thanks for reading
