IMU lag at centrifugal forces

Hardware Pixhawk family
1

Hello,

I use the PX to drive a servo gimbal (2 Axis - pitch and roll). I found out that, when the vehicle where it is mounted does curves with “high” centrifugal forces, the gimbal has a huge lag. To verify I put the naked pixhawk in a car and did some fast curves. When I roll the pixhawk during the curve to let´s say 15° roll angle and level it after the curve is finished, it takes maybe 4-5 seconds until the Pixhawk is leveled again on the parameter screen / artificial horizon. This doesn´t happen when the car just drives forward or stands still. I tested with a PX 6C and a PX4. The issue is the same. I assume that this phenomenom produces the gimbals lag as well.

I have no idea why this doesn´t happen when a PH steers a drone plane or copter. Is there any solution on this?

Hope anyone can help

Kind regards
Andreas

2

Which ArduPilot FW version are you using?

3

It is 4.2.3. With the newer versions the servo gimbal doesn´t work anymore.

4

AFAIK it is disabled by default. You need to activate it manually on custom.ardupilot.org and upload that FW to the flight controller.

It might be fixed already in 4.5.5