Yesterday I’ve mounted and connected my 3-axis handmade gimbal based on Storm32 controller.
In APM 3.4-dev (on Navio2) set mnt_type=1 (servo) and assigned RC6, RC7, RC8 input/output for pitch, yaw and mode. The gimbal worked fine holding ROLL, and I could manipulate YAW and PITCH axises using two knobs on my remote.
Today decided to check how is works in flight. That was terrible! Just armed, all 4 motors started pulsing from idle to almost maximum rpm in stabilize mode, however, that was good decision to hold the drone by hands.
Further I passed thru some experiments and found out that in case if RC_OUTPUT is 490 Hz, and RC6-11 are linked to pass through, motors are grammatically pulsing even in idle. Moreover, I’ve found that there no parameters regarding RC9 in APM.
Thus, I had to set RC_OUTPUT to 50 Hz and just after that the whole system begun to work perfectly.
Have no idea if it is related to Navio2 or APM, but I see that I cannot assign 490Hz to 1-4 output as I wish. Only 50Hz works in case I need to connect a gimbal.
On my next setup I will definitely use Mavlink protocol to manage Storm32 controller or even connect another one RC controller directly to Storm32.