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Gimbal modes not working on Walksnail GM3 gimbal

Open hamishfagg opened this issue 7 months ago • 3 comments

Current Behavior

None of the gimbal modes (in mode tab) affect GM3 gimbal behavior when using inav 8.0.1 and gimbal FW v3.2 and v3.4.

The gimbal is always in headtracking mode. The gimbal follows by headtracker perectly, so there is definitely data being send from headtracker->vtx->inav->gimbal. So I don't believe this is a wiring issue.

Steps to Reproduce

  1. Connect walksnail moonlight vtx via MSP displayport for OSD
  2. Connect a separate uart: FC TX -> gimbal RX. FC RX -> vtx 'usb' port TX. Set port peripheral to "serial headtracker".
  3. Set gimbal_serial_single_uart = ON
  4. set headtracker_type = SERIAL
  5. The gimbal will follow the headtracker's movements. But none of the inav gimbal modes have any effect on its behavior.

Expected behavior

  • "Gimbal center" should center gimbal.
  • No gimbal mode selected should put gimbal in follow mode, not head tracking.
  • Other modes should work too.

Additional context

I am using caddx goggles X with the headtracking extension board. CLI dump: https://pastebin.com/ZC9QM0Fr

  • FC Board name and vendor: INAV/MATEKF405SE
  • INAV version string: 8.0.1 Mar 28 2025 / 09:55:06 (ae47bcba)

hamishfagg avatar May 23 '25 02:05 hamishfagg

@mmosca I would love your input on this.

The docs suggest that without configuring any gimbal RC channels, it will just obey the inav gimbal modes. But the code seems to disagree.

After configuring roll, pan, and tilt RC channels I am in a state where the gimbal still follows the head tracker always - but the "Gimbal Center" mode is successfully activated (light blue in the modes tab - and the gimbal still follows headtracker) but "Gimbal headtracking" goes dark blue when activated.

I have enabled head tracking debug mode, but the blackbox log viewer doesn't support head tracking debug mode, so im not sure how to proceed.

hamishfagg avatar May 26 '25 09:05 hamishfagg

Setting blackbox logging to a serial port causes the FC to lock up periodically and doesn't print anything over serial. Setting up logging via serial with this doc works, but doesn't print anything relevant to head tracking

hamishfagg avatar May 26 '25 09:05 hamishfagg

I confirm bug with serial headtracker. Use Inav 8.0.1, Walksnail L (ht fw 2.2), GM T3 (fw 3.8), serial 1 for HT, serial 3 for GM.

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For test

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Result

Youtube - Channels is work, gimbal - not

r1000ru avatar Oct 21 '25 09:10 r1000ru