Kontrolcü

Dağıtılmış kontrol mimarisi.

Merkezi MCU duruş tahmini ve stabilizasyonu üstlenir; her eksen için ayrı FOC modülleri motor kontrolünü yönetir. Modüller arası iletişim deterministik SPI üzerinden sağlanır; böylece her eksen donanım seviyesinde izole kalır.

10kHz

Stabilizasyon

40kHz

FOC akım döngüsü

21bit

Mutlak enkoder · 5.1 µs SPI hat

Ana MCU STM32H743
FOC modülleri 2 × STM32G474
Sürücüler 2 × DRV8316
Enkoderler MT6835 mutlak
IMU 2 × ICM-42688-P
Kontrolcü PCB · v1.2

Kontrolcü PCB · v1.2

Vision

Onboard detection and tracking.

Detection and tracking happen entirely on the gimbal — no cloud, no ground-station GPU. The video pipeline is split in two: image processing at the sensor head, inference and tracker on the main board where heat can be managed. Both stages communicate over a dedicated video link.

1080p30

sustained

Detection

Multi-target

simultaneous

Tracking

On-device

no cloud, no GPU

Inference

Detection Onboard YOLO-class object detector
Tracking Multi-target, simultaneous
Models Bring your own or use the bundled detector
Image pipeline Full ISP — handles exposure, color and noise on-chip
Sensors RGB today · thermal-ready (B-330)
Architecture Two-stage FPGA · open IP · no vendor lock-in
Integration Ethernet video (RTP) · MAVLink commands

Built on permissively licensed open IP — no encrypted vendor blobs, no single-supplier lock-in. Detection models are swappable: train and deploy your own without replacing the platform.

Vision subsystem · v1.0