# HOW TO USE?

Connect the Gimbal or Payloads to your PC and Press **SEARCH**

## SETTINGS

<mark style="color:blue;">**BASIC TAB**</mark>

### 1. STIFFNESS TAB

Stiffness setting has a significant impact on the performance of the gimbal. 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.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FA4modXjUXnEOQXSuPh0M%2Fimage.png?alt=media&#x26;token=17cb1249-cf0f-48c3-9fd3-8a71638d7482" alt=""><figcaption></figcaption></figure>

#### GENERAL METHOD

You can press the button **AUTO TUNE** twice or (3) times to find the best parameter.

Or by manual tuning: using your hand to touch on each motor. Start with 20 for each axes and then slowly increase this setting until you feel an oscillation in that motor, then reduce the setting until the oscillation subsides. Make sure there is no vibration when moving the camera in any orientation. Increase the stiffness, setting 5-10 points at a time until oscillation appears, then reduce 5 points until oscillation subsides.

{% hint style="info" %}
If the **AUTO TUNE** can not use, please follow step by step as below:
{% endhint %}

**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 gimbal 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 gimbal about 20 degrees from the verticality and make sure that no vibrations are present.

{% hint style="info" %}
The Stiffness should be : Tilt < Roll < Pan.
{% endhint %}

#### 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.

#### 1. 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.

#### 2. OUTPUT FILTER

Defines the strength of the filter applied to motor 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.

{% hint style="info" %}
The FILTER,It should be set with default values, do not change.
{% endhint %}

<mark style="color:blue;">**EXPERT TAB**</mark>

#### 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 the 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.

NOTE: 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.

**Default Hold Strength ( Tilt/Roll/Pan ) :**&#x20;

\+ H series : 40/40/40&#x20;

\+ T series : 40/40/40

\+ S series : 35/35/40

\+ Pixy series : 30/30/35

#### GAIN

You should keep it at default **120.**

In case the vertical vibration occurs from the system, you can adjust the Gain to reduce it but please note that the gimbal cannot completely reduce this type of vibration. It depends on your system.

### 2. FOLLOW TAB

In Follow Mode, the gimbal’s yaw axis is synchronized with the aircraft’s heading.

When the aircraft yaws, the gimbal yaws proportionally, maintaining alignment with the nose of the aircraft.

The gimbal behaves as if rigidly mounted to the aircraft’s forward direction.

The operator may apply a yaw offset to introduce a fixed angular difference between the gimbal and the aircraft heading. This offset is user-adjustable but does not disable the follow behavior.

Result: The gimbal continuously tracks the aircraft heading while allowing the operator to fine-tune the pointing direction by adjusting the offset.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FWA7fql7GM02nVfAeUGw9%2Fimage.png?alt=media&#x26;token=0ac9a370-912f-4f30-94b9-901a498363ca" alt=""><figcaption></figcaption></figure>

#### **Follow Mode Settings**

* **Follow Pan** – Enables or disables follow mode for the **pan** (yaw) axis.
* **Follow Tilt** – Enables or disables follow mode for the **tilt** (pitch) axis.

#### **Speed**&#x20;

{% hint style="success" %}
Recommended Parameter: Speed ​​= 0:
{% endhint %}

The gimbal responds immediately to the drone's heading, with no additional processing delay.

Keeping the nature of Follow Mode: the gimbal is considered "fixed" to the drone's nose, only adding offset if the operator adjusts.

#### **Smoothness**

Controls how smoothly the gimbal transitions between movements.

* Higher values make the gimbal follow the drone’s motion more quickly and responsively.
* Lower values result in slower, more delayed responses.

**Window**

* **The window range in gimbal Follow mode** is the angular tolerance that allows the aircraft to rotate within a certain limit without the gimbal rotating with it. While the aircraft’s yaw stays inside this window range, the gimbal holds its direction to filter out small oscillations and keep the footage smooth; once the rotation exceeds this limit, the gimbal begins to follow the aircraft’s movement.&#x20;
* Recommend using: 1-5
* **Window = 0** means there is **no deadband** in Follow mode. **It's not recommend**

  In this case, **any yaw movement of the aircraft—no matter how small—will be followed immediately by the gimbal**. This makes the gimbal extremely sensitive, often resulting in jittery motion, reduced smoothness, and higher motor workload. For this reason, a window value of 0 is generally **not recommended** unless very fast and precise following behavior is specifically required.

### 3. CONTROLS TAB

The **Control Tab** in gTune Desktop allows you to configure how the gimbal receives control commands. The available options—**SBUS, SPKT, PPM, LB2, Herelink, and MAVLink**—represent different communication protocols for controlling the gimbal from external devices like RC transmitters, autopilots, and ground control stations.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FORJQI8lxUQ64Cm6q96xV%2Fimage.png?alt=media&#x26;token=e6fd5982-4017-4d8c-a70b-7d3b9102d030" alt=""><figcaption></figcaption></figure>

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F9GO7gEMDY02S76sSBiQK%2Fimage.png?alt=media&#x26;token=f8364a88-1dbf-4e1b-ab4c-2fb5bcba6d77" alt=""><figcaption></figcaption></figure>

### 4. IMU TAB

The **IMU Tab** in **gTune Desktop** is used to monitor and calibrate the **Inertial Measurement Unit (IMU)** of your Gremsy gimbal. The IMU is responsible for **stabilization, motion detection, and orientation tracking**.&#x20;

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F8NqBxIJGj3fHDvvpn1mn%2Fimage.png?alt=media&#x26;token=8861cdbc-0456-4999-90da-72c9081020d6" alt=""><figcaption></figcaption></figure>

Displays the **current status** of the IMU

**Gyroscope & Accelerometer Readings**

* Shows Offset **data**.
* Helps diagnose unwanted drift or balance issues.

**When to Calibrate IMU and GYRO**

* After **firmware updates**&#x20;
* If you notice **drift, instability, or vibration**.
* When operating in **extreme temperatures**.

### **How to Perform IMU Calibration**

1. **Power on the gimbal** and ensure it is **completely still**.
2. Open **gTune Desktop** and go to the **IMU Tab**.
3. Click **Calibrate IMU**.
4. Wait for the process to finish (**do not move the gimbal!**).
5. Once done, restart the gimbal and test stability.

### 5. ROTATION TAB

Rotation Tab in gTune Desktop is mainly used to set the movement limits of the gimbal

Tilt Angle Range (Up/Down Limit – TILT)

* Controls how far the camera can look up or down.

Roll Angle Range (Side Tilt Limit – ROLL)

* Adjusts the range of side tilting.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FSd3b7gSx5uA7K74HghTi%2Fimage.png?alt=media&#x26;token=dd7db3a6-c59b-4409-81ba-e94fc3c6e085" alt=""><figcaption></figcaption></figure>

### 6. MOTOR TAB

* This section allows you to fine-tune the motor offsets for Tilt, Roll, Pan, and Home positions.
* It helps correct small misalignments in motor positions to ensure perfect stabilization.

**Explanation of Each Setting**

* **Tilt Offset (TILT)** → Adjusts the tilt motor alignment.
* **Roll Offset (ROLL)** → Corrects any roll axis misalignment.
* **Pan Offset (PAN)** → Fine-tunes the pan axis center position.
* **Home Offset (HOME)** → Adjusts the default "home" position of the gimbal.

**"CALIB MOTOR" Button**

Please contact **"<support@gremsy.com>"** for instructions.

## MONITOR

### 1. CHARTS

Live **graphing** of angles, motor power each axis

### 2. DIAGNOSTIC

System health check

## MODE

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### 1. LOCK

In **Lock Mode**, the gimbal maintains the current orientation of the camera **regardless of aircraft yaw, pitch, or roll**

### 2. FOLLOW

The **gimbal gradually follows** the movement of the drone or controller.

* **Tilt Follow** → Gimbal follows only tilt movement.
* **Pan Follow** → Gimbal follows only pan movement.

### 3. MAPPING

Used for **aerial mapping**

The gimbal **locks in a downward (nadir) position** to capture consistent images.

Ideal for **orthomosaic mapping** with drones.

### 4. SETTINGS

You can adjust parameters for **mapping, home return, drift reduction, and pan axis behavior**. Here's what each setting does:

#### **🔹 MAPPING ANGLE**

* Sets the angle for **mapping mode**
* You can adjust it if your mapping requires an oblique (angled) view.

#### **🔹 HOME RETURN**

* **ON:** The gimbal will automatically reset to a predefined position when the drone returns home.
* **OFF:** The gimbal will stay in its last commanded position.

#### **🔹 REDUCE DRIFT by DRONE**

* **ON:** The gimbal compensates for unwanted drift caused by drone movement.
* **OFF:** The gimbal does not correct for drift.

#### **🔹 PAN AXIS**

* **ON:** Allows pan-axis movement in mapping mode.
* **OFF:** Locks the pan axis to maintain a fixed direction.

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2FdhX78gS9Ieqa0Fon3iw1%2Fimage.png?alt=media&#x26;token=4f19642b-a1cc-447f-8808-3e123c8e5f08" alt=""><figcaption></figcaption></figure>

## PROFILES

**IMPORT GIMBAL PROFILE**

Load a profile from an external file.&#x20;

Type: .xml file

**EXPORT GIMBAL PROFILE**

Save the current profile

<figure><img src="https://3309772875-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnikHUDUd2JXqkOsnOi7l%2Fuploads%2F2FhX80aGEPxNJp6xR5sZ%2Fimage.png?alt=media&#x26;token=466366c2-5fd3-436f-9e03-99f99886e458" alt=""><figcaption></figcaption></figure>

## INFO

Show the current Gimbal firmware and gTune version

## UPGRADE

**AUTOMATIC UPGRADE**

The software will check for the latest firmware and update automatically.

**MANUAL UPGRADE**

* Download the `.hex` firmware file from **Gremsy's GitHub** or official website.
* Click **UPGRADE** in gTune Desktop.
* Select the `.hex` file and start the update.

{% embed url="<https://github.com/Gremsy>" %}

#### **Important Notes:**

* Make sure the gimbal is balanced
* Make sure the gimbal is powered on and properly connected.
* Do not disconnect or turn off the gimbal during the update.
* After upgrading, restart the gimbal and check if the firmware version updated correctly.