CADDXFPV Avatar GM Series Gimbal Quick Start Guide

Version 1.2

Introduction

The CADDXFPV Avatar GM Series is a mechanical anti-shake gimbal designed for real-time stabilization and angle adjustment of Walksnail Avatar HD system cameras with a 19mm mounting width. The GM1 offers pitch angle stabilization and adjustment. The GM2 adds roll angle stabilization and adjustment. The GM3 provides stabilization and adjustment for pitch, roll, and yaw angles. Users are responsible for designing mounting holes and adapting the gimbal to their vehicle's mounting bracket. The gimbal automatically detects upright and inverted installations.

Camera Installation

Remove the camera cover using a Phillips screwdriver.
Carefully remove the coaxial cable from both sides of the coaxial cable interface using tweezers.
Connect the gimbal's coaxial cable to the camera.
Mount the camera onto the gimbal, ensuring the coaxial cable is placed within the internal groove.
Secure the four screws. Verify that the camera can rotate smoothly to its maximum tilt angle. If resistance is felt, reinstall the camera.
Installation is complete.

Installation Dimensions

Diagram showing dimensions for GM1, GM2, and GM3 gimbals. Key dimensions include:

GM1: 32.2x38.1x20.5mm, 16g
GM2: 46.7x41.2x26.5mm, 30g
GM3: 46.8x46.4x53.4mm, 46g
Mounting width compatibility: 19mm Avatar HD system cameras
Power input: 7V-26V

Connection and Use

The gimbal can be connected via PWM or UART. The wiring diagram shows connections for VCC, GND, RX, and TX.

PWM Control

PWM1: Selects gimbal working mode (3 modes available: Pitch and roll keep level, yaw follows; Pitch axis keeps level, roll and yaw follow; Three-axis follow). For S.BUS/CRSF control (firmware V3.4+), connect PWM1 to the receiver's S.BUS or CRSF_Tx. Channel mapping can be configured in Gimbal Config software.
PWM2: Adjusts gimbal follow sensitivity (response speed). Use a knob channel on the remote control.
PWM3: Controls the gimbal pitch axis. Use a rotary switch on the remote controller. The rotation angle range can be adjusted via the remote control's channel range settings.
PWM4: Controls the gimbal yaw axis. Use a wheel switch on the remote controller. The rotation angle range can be adjusted via the remote control's channel range settings.

Head Tracking Function

The gimbal supports head tracking via UART or PWM protocols.

UART: Requires Avatar V2 (Dual) VTX, Avatar V2 VTX, or Moonlight VTX, and goggles supporting Avatar head tracking. Connect the gimbal's serial port cable to the VTX. Upgrade goggles and VTX to version 38.43.4 or above. Enable "Gimbal" for head tracking in the goggles' menu (Settings > Head Tracking > Gimbal). The gimbal will follow the goggles' posture. Triple-click the return key to center the gimbal.
PWM: Requires a third-party head tracking module. Connect the gimbal's PWM3 and PWM4 channels to the head tracking receiver's pitch and direction channels.

Goggles Menu Settings

Head tracking: Select "PTZ" for output signal.
Reset attitude angle: Resets the gimbal to its neutral point.
Pan Ratio: Adjusts the follow ratio for the pan direction.
Tilt Ratio: Adjusts the follow ratio for the tilt direction.
PTZ Mode: Select one of the three working modes: Pan follow, Tilt axis level with roll and pan follow, or Three-axis follow.
Three-axis Follow Sensitivity: Higher sensitivity leads to quicker gimbal response but less wobble elimination. Only effective in three-axis follow mode.
Head Tracking Control Axis: Enable/disable head tracking for roll, pan, and tilt axes individually.
Locking Shortcuts (Firmware V3.6+): Double-click the down button on the 5D button to toggle gimbal lock. Locking disables stabilization, useful for takeoff/landing. Requires Gimbal Config software setup (MODE MO, SENS 1).
Calibration: Perform calibration if the gimbal exhibits long-term angle deviation. Follow prompts for gyroscope, accelerometer, and magnetometer calibration.
Return: Exit the head tracking menu.

Connect to PC for Configuration and Upgrade

Use the CH340X upgrade board (sold separately) to connect the gimbal to a PC.

Connect the CH340X upgrade board to the gimbal's upgrade port and the PC.
Download and run the GimbalConfig.exe software from www.caddxfpv.com.
Select the correct COM port and click "Open Port".
Click "Open Firmware" and select the firmware file (e.g., CwGimbalZGV2Main VX.X.cahf).
Click "Start Upgrade" and wait for the process to complete. Goggles may also require firmware upgrades.

Note: Some Type-C cables may not be recognized by the CH340X; try a Type-A to Type-C cable.

Parameter Configuration Basic Operation

Connect the gimbal to Gimbal Config software. Parameters are automatically downloaded, or click "Download Param".
Click "Save Param" to save current parameters locally, or "Open Param" to load a saved file.
Selecting new options in dropdowns or entering new parameters in the frame uploads them to the gimbal. Press Enter or click "Upload Param" for changes to take effect.
Click "Save Param To Flash" to finalize parameters in the gimbal. Uploaded parameters are lost on power off if not flashed.

Gimbal Presets

Gimbals operate with preset values when no signal is input or channels are unmapped. Presets are invalid in MAVLink control.

Preset Modes: MO (FPV), M1 (Pitch-lock), M2 (Horizon).
Preset Sensitivity: -1.0 to 1.0 (0.1 resolution).
Preset Angles: -180° to 180° (1° resolution), limited by gimbal's maximum rotation range. Map channels to NULL to always use preset values.

Channel Mapping

Map channels for gimbal mode, sensitivity, roll, pitch, and yaw. For direct head tracking (datalink/Air Unit), map all channels to CH01.

Mounting Type

Default mounting type is AUTO, switching between DOWN/UP based on power-on attitude. Manual setting (DOWN/UP) is available. For VTOL aircraft, power on in level flight attitude or set manually. Ensure manual settings match actual installation to avoid protection mode.

Tilt Protection

In Pitch-lock and Horizon modes, the gimbal enters protection (neutralized, uncontrollable) if the mounting plane tilt exceeds the protect angle. It exits protection when the tilt is within the limit. Protect angle is adjustable (0°-90°, 1° resolution). 15° disables protection. Disabling protection may cause abnormal operation at large carrier attitude angles.

Parameter Tuning

For cameras with high inertia causing gimbal shake, increasing gain values can improve stabilization. It is recommended to use default gain parameters unless necessary.

Calibration & Firmware Upgrading

Calibration: Keep the gimbal static. Click "Gyro Calibration" and wait for completion. Calibrate if the gimbal drifts without control input.
Firmware Upgrade: Click "Open Firmware", select the firmware file, and click "Start Upgrade". Follow prompts for completion. Goggles may also need firmware upgrades.

MAVLink Configuration

Configuration examples for ArduPilot and PX4 are provided, detailing serial port settings (BAUD, OPTIONS, PROTOCOL, MAV_CONFIG, MAV_MODE, MAV_RATE).

Precautions

Ensure coaxial cables have enough slack for gimbal movement and do not interfere with other objects.
Moonlight cameras require the Moonlight VTX.
UART head tracking is supported only by Avatar V2 VTX, Avatar V2 (Dual) VTX, and Avatar Moonlight VTX.
Securely fix the gimbal bracket using provided or third-party shock-absorbing balls.
Control priority: UART Head tracking > S.BUS/CRSF > PWM > MAVLink.

Specifications

GM3

Camera Compatibility: Avatar 19mm camera
Image Stabilization: ±0.005°
Max Controllable Speed: ±1500°/s
Controllable Rotation Range: Yaw: ±160°, Pitch: ±120°, Roll: ±60°
Size: 46.8x46.4x53.4mm
Weight: 46g
Control Modes: PWM/UART (V3.2), PWM/UART/S.BUS/CRSF/MAVLink (V3.4+)
Head Tracking Support: Yes
Voltage: 7-26V
Static Power Dissipation: 1.5W

GM2

Camera Compatibility: Avatar 19mm camera
Image Stabilization: ±0.005°
Max Controllable Speed: ±1500°/s
Controllable Rotation Range: Pitch: ±120°, Roll: ±60°
Size: 46.7x41.2x26.5mm
Weight: 30g
Control Modes: PWM/UART (V3.2), PWM/UART/S.BUS/CRSF/MAVLink (V3.4+)
Head Tracking Support: Yes
Voltage: 7-26V
Static Power Dissipation: 1.2W

GM1

Camera Compatibility: Avatar 19mm camera
Image Stabilization: ±0.005°
Max Controllable Speed: ±1500°/s
Controllable Rotation Range: Pitch: ±120°
Size: 32.2x38.1x20.5mm
Weight: 16g
Control Modes: PWM/UART (V3.2), PWM/UART/S.BUS/CRSF/MAVLink (V3.4+)
Head Tracking Support: Yes
Voltage: 7-26V
Static Power Dissipation: 1.0W

Support

For technical support, contact CADDXFPV via email: support@caddxfpv.com

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