Лист1

Use this tool to construct and test commands of the SimpleBGC32 Serial API protocol.
Commands can be tested in the SimpleBGC32 GUI - «Debug» tab, by inserting ID and payload and pressing the “SEND” button.
(Please enable macros execution to allow this tool to work)

CMD_CONTROL — do camera movements

Action Parameter Meaning Value Command ID Payload (hex dump exl. headers and checksums)

Rotate YAW 45 degrees right CONTROL_MODE MODE_NO_CONTROL 0 67 00 00 02 00 00 00 00 00 00 00 00 00 00 00 08

with the default speed MODE_NO_CONTROL 0
MODE_ANGLE 2
SPEED_ROLL default 0
ANGLE_ROLL 0 0
SPEED_PITCH default 0
ANGLE_PITCH 0 0
SPEED_YAW default 0
ANGLE_YAW 45 2048

Rotate PITCH 90 degrees up CONTROL_MODE MODE_NO_CONTROL 0 67 00 02 00 00 00 00 00 29 00 00 F0 00 00 00 00

with the speed 5 deg./sec. MODE_ANGLE 2
MODE_NO_CONTROL 0
SPEED_ROLL default 0
ANGLE_ROLL 0 0
SPEED_PITCH 5 41
ANGLE_PITCH -90 -4096
SPEED_YAW default 0
ANGLE_YAW 0 0

Rotate PITCH 45 degrees up CONTROL_MODE MODE_NO_CONTROL 0 67 00 45 00 00 00 00 00 E1 02 00 F8 00 00 00 00

relative to the frame with the MODE_ANGLE_REL_FRAME +
speed 90 deg./sec. When CONTROL_FLAG_AUTO_TASK 69
finished, send confirmation MODE_NO_CONTROL 0
and return to normal SPEED_ROLL default 0
operation mode. 0 0
ANGLE_ROLL
SPEED_PITCH 90 737
ANGLE_PITCH -45 -2048
SPEED_YAW default 0
ANGLE_YAW 0 0

Home position: move ROLL to CONTROL_MODE MODE_ANGLE + 67 42 45 45 00 00 00 00 00 00 00 00 00 00 00 00

the horizon, PITCH and YAW CONTROL_FLAG_AUTO_TASK 66
to a neutral position relative to MODE_ANGLE_REL_FRAME +
the frame. When finished, CONTROL_FLAG_AUTO_TASK 69
send confirmation and return MODE_ANGLE_REL_FRAME +
to normal operation mode. CONTROL_FLAG_AUTO_TASK 69
SPEED_ROLL default 0
ANGLE_ROLL 0 0
SPEED_PITCH default 0
ANGLE_PITCH 0 0
SPEED_YAW default 0
ANGLE_YAW 0 0

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Leveled position: move ROLL, CONTROL_MODE MODE_ANGLE + 67 42 42 45 00 00 00 00 00 00 00 00 00 00 00 00

PITCH to horizon, YAW to CONTROL_FLAG_AUTO_TASK 66
neutral position relative to the MODE_ANGLE +
frame. When finished, send CONTROL_FLAG_AUTO_TASK 66
confirmation and return to MODE_ANGLE_REL_FRAME +
normal operation mode. CONTROL_FLAG_AUTO_TASK 69
SPEED_ROLL default 0
ANGLE_ROLL 0 0
SPEED_PITCH default 0
ANGLE_PITCH 0 0
SPEED_YAW default 0
ANGLE_YAW 0 0

CMD_EXECUTE_MENU — run menu actions

Switch Profile #3 CMD_ID MENU_CMD_PROFILE3 3 69 03

Calibrate accelerometer CMD_ID 69 06

(single point) MENU_CMD_CALIB_ACC 6

Calibrate gyroscope CMD_ID MENU_CMD_CALIB_GYRO 9 69 09

Toggle motors On/Off CMD_ID MENU_CMD_MOTOR_TOGGLE 10 69 0A

Move all axes to home CMD_ID 69 12

position (YAW centered,
ROLL and PITCH to horizon) MENU_CMD_HOME_POSITION 18

CMD_SET_ADJ_VARS_VAL – update the value of selected parameter(s) in runtime w/out saving it to EEPROM
Set the speed of remote NUM_PARAMS 3 31 03 13 64 00 00 00 14 64 00 00 00 15 64 00 00 00
control for all axes to 100 PARAM1_ID RC_SPEED_ROLL 19
PARAM1_VALUE 100 100
PARAM2_ID RC_SPEED_PITCH 20
PARAM2_VALUE 100 100
PARAM3_ID RC_SPEED_YAW 21
PARAM3_VALUE 100 100

Set the speed of follow mode NUM_PARAMS 3 31 03 0D 3C 00 00 00 0E 3C 00 00 00 0F 3C 00 00 00

control for all axes to 60 PARAM1_ID FOLLOW_SPEED_ROLL 13
PARAM1_VALUE 60 60
PARAM2_ID FOLLOW_SPEED_PITCH 14
PARAM2_VALUE 60 60
PARAM3_ID FOLLOW_SPEED_YAW 15
PARAM3_VALUE 60 60

Set PID gains to 1.5 for all NUM_PARAMS 3 31 03 2A 46 00 00 00 2B 46 00 00 00 2C 46 00 00 00

axes PARAM1_ID PID_GAIN_ROLL 42
PARAM1_VALUE 1,5 70
PARAM2_ID PID_GAIN_PITCH 43
PARAM2_VALUE 1,5 70

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Set PID gains to 1.5 for all 31 03 2A 46 00 00 00 2B 46 00 00 00 2C 46 00 00 00
axes

Лист1

PARAM3_ID PID_GAIN_YAW 44
PARAM3_VALUE 1,5 70

Change follow mode to NUM_PARAMS 1 31 01 1F 02 00 00 00

“Follow PITCH + YAW” PARAM1_ID FOLLOW_YAW_PITCH 31
PARAM1_VALUE 2 2

Change follow mode to NUM_PARAMS 1 31 01 1F 00 00 00 00

“disabled” PARAM1_ID FOLLOW_YAW_PITCH 31
PARAM1_VALUE 0 0

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