C-20D
Vertical 2-axis FPV Gimbal
Tusi Taiala

C-20D Vertical 2-Axis FPV Gimbal

Fa'aaogaina o lenei Tusi Ta'iala – Tala

Taua  Fautuaga  Fa'amatalaga
Toe Iloilo Tala'aga

Aso	Fa'amatalaga Fa'amaumauga
2024.11.19	V1.1
Aso	Fa'amatalaga Fa'amaumauga
2024.12.19	V1.2
Aso	Fa'amatalaga Fa'amaumauga
2025.01.16	V1.3

Fa'aeteete
Always stay alert when using C-20D Vertical 2-axis FPV Gimbal and its accessories to control an unmanned aerial vehicle (UAV) or other carriers.
Careless may result in serious harm to yourself and others.

1. Make sure that the external power supply for the gimbal is a lithium battery (2S-6S) with an input voltage between 7.4V-26.4V. Otherwise, the gimbal may work abnormally or be damaged.
2. AUA LE pu'upu'u le paoa ma le GND. A leai, e ono fa'aleagaina mea faigaluega ma e le mafai ona lelei.
3. Mulimuli i faʻatonuga i totonu o le tusi faʻaoga pe a faʻapipiʻi le gimbal. E le sa'o le fa'apipi'iina e ono mafua ai ona le galue lelei le gimbal.
4. Ia mautinoa o lo'o fa'amautu uma feso'ota'iga ma o lo'o lelei vaega uma.
5. Ia mautinoa e te malamalama atoatoa ma usitaʻia tulafono ma tulafono faʻalotoifale aʻo leʻi faʻaaogaina lenei oloa.
6. O lenei oloa e le fa'amoemoe mo tamaiti.

Folasaga

The C-20D Vertical 2-axis FPV Gimbal is compatible with a variety of digital FPV systems such as DJI O4 Pro, Walk snail Avatar, Walk snail Moonlight, and 19mm wide analog cameras. With a 2-axis mechanical stabilization structure and high-torque motors, the C-20D is able to provides an extreme stabilization effect against the vibration and high-speed air impact.
With the Headtracker, the C-20D provides an immersive high-quality first-person control experience.
Ata
Gimbal

1. Fa'aleleia le Taulaga
2. Power Out / CVBS (BM03B-SRSS-TB, AV)
3. Malosi-Feso'ota'iga Taulaga (BM08B-SRSS-TB)
4. Coaxial Cable Air Unit End (O4 Pro / O4 / O3 / Standard)
5. Coaxial Cable Camera End (O4 Pro / O4 / O3 / Standard)
6. Uaea Meapueata Analog (MX1.25-3P, AV)

Mea fa'aoga

1. O4 Pro Lens Luma Fale (O4 Pro)
2. O4 Pro Lens Tuafale Fale (O4 Pro)
3. O4 Pro mo tioata Puipuiga (O4 Pro)
4. O4 Mata tioata (O4)
5. O4 Papa Oomi (O4)
6. O3 Mata tioata (O3)
7. O3 tioata Puipui Mama (O4 / O3)

Fa'apipi'i

04 Pro

1. Aveese fa'amau fa'amau o le meapueata (tasi i itu ta'itasi) ma fa'eseese le pito i luma ma tua o le meapueata.
   Do not separate the housings too far or may damage the camera.
2. Fa'aoga le fa'alava i totonu o le afifi e motusia ai le uaea coaxial mai le meapueata ma aveese le fale pito i tua.
   O le uaea coaxial ma ona so'oga e vaivai. Fa'amolemole fa'aeteete pe a motusia ma fa'afeso'ota'i le uaea.
3. Ave'ese fa'amau fa'amau tioata i totonu o le fale pito i luma ma ave i fafo le tioata.
4. Fa'apipi'i le mama puipui tioata i luma o le fa'amauga tioata.
5. Fa'amau le tioata i totonu o le fa'afale pito i luma o tioata fa'atasi ai ma fa'ailoga M1.4 x L3mm fa.
   O le faʻapipiʻiina o le tioata i le faʻapipiʻi tioata e tulaga ese. Fa'amolemole matau le feso'ota'iga i le va o pou su'e tioata ma pu e su'e ai i totonu o le fa'amauga tioata.
   
6. Fa'afeso'ota'i le pito i luma ma le pito i tua fa'amau fa'ailoga M1.4 x L2.5mm.
7. Connect the gimbal pre-built coaxial cable on the lens.
   The space is a narrow on this step. Please be careful not to pull the cable.
8. Fa'amau le meapueata i luga o le gimbal fa'atasi ma sikulima M1.4 x L5mm tolu.
   Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmooth or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
9. Vaevae le pito i luga ma lalo o le fale o le ea, ona faʻaaoga lea o le crowbar e momotu ai le coaxial cable mai le ea ma aveese.
   Do not separate the housings too far or may damage the air unit.
10. Faʻafesoʻotaʻi le cable coaxial mai le gimbal i le ea ma faʻapipiʻi le ea.

O4

1. Fa'aoga le fa'alava i totonu o le afifi e motusia ai le uaea coaxial mai le meapueata ma aveese le fale pito i tua.
   O le uaea coaxial ma ona so'oga e vaivai. Fa'amolemole fa'aeteete pe a motusia ma fa'afeso'ota'i le uaea. O lo'o i ai le kelu i luga o le so'oga mo le fa'amauina. E mafai ona fa'aoga se fana vevela e fa'avevela ai le kelu i le 150 ℃ ma aveese i tweezers pe a uma ona fa'amalulu.
2. Connect the gimbal pre-built coaxial cable on the lens.
3. Fa'apipi'i le mama puipui tioata i luma o le fa'amauga tioata.
   The space is a narrow on this step. Please be careful not to pull the cable.
4. Fa'aulu fa'amau fa'amau M1.4 x L3mm se lua i totonu o le ipu oomi ma fa'apipi'i le tioata i totonu o le fa'amau.
5. Fa'amau le meapueata i luga o le gimbal ma fa'amau fa'amau M1.4 x L5mm.
   Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmooth or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
6. Fa'aoga le crowbar i totonu o le afifi e motusia ai le coaxial cable mai le ea iunite ma aveese le fale pito i tua.
   O le uaea coaxial ma ona so'oga e vaivai. Fa'amolemole fa'aeteete pe a motusia ma fa'afeso'ota'i le uaea. O lo'o i ai le kelu i luga o le so'oga mo le fa'amauina. E mafai ona fa'aoga se fana vevela e fa'avevela ai le kelu i le 150 ℃ ma aveese i tweezers pe a uma ona fa'amalulu.
7. Faʻafesoʻotaʻi le uaea coaxial mai le gimbal i le iunite ea.

O3

1. 5Remove the housing fixing screws of the camera (one on each side) and separate the front and rear housings of the camera.
   Do not separate the housings too far or may damage the camera.
2. Fa'aoga le fa'alava i totonu o le afifi e motusia ai le uaea coaxial mai le meapueata ma aveese le fale pito i tua.
   O le uaea coaxial ma ona so'oga e vaivai. Fa'amolemole fa'aeteete pe a motusia ma fa'afeso'ota'i le uaea.
3. Ave'ese fa'amau fa'amau tioata i totonu o le fale pito i luma ma ave i fafo le tioata.
4. Fa'apipi'i le mama puipui tioata i luma o le fa'amauga tioata.
5. Fa'amau le tioata i totonu o le fa'amau tioata fa'atasi ai ma fa'ailoga M1.4 x L3mm fa.
   O le faʻapipiʻiina o le tioata i le faʻapipiʻi tioata e tulaga ese. Fa'amolemole matau le feso'ota'iga i le va o pou su'e tioata ma pu e su'e ai i totonu o le fa'amauga tioata.
6. Connect the gimbal pre-built coaxial cable on the lens.
   The space is a narrow on this step. Please be careful not to pull the cable.
7. Fa'amau le meapueata i luga o le gimbal ma fa'amau fa'amau M1.4 x L5mm.
   Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins unsmooth or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
8. Aveese le ufiufi o le uaea coaxial i le pito i lalo o le iunite o le ea, ona faʻaaoga lea o le crowbar e momotu ai le uaea mai le iunite ea ma aveese.
9. Connect the coaxial cable from the gimbal to the air unit and reinstall the cover back.

Tulaga
Ave le Walksnail Moonlight kit e fai ma mea muamuaampLe:

1. Tatala fa'ailoga fa i tua o le meapueata ma aveese le fale pito i tua.
2. Fa'aoga le fa'alava i totonu o le afifi e motusia ai le uaea coaxial mai le meapueata ma aveese le uaea.
   O le uaea coaxial ma ona so'oga e vaivai. Fa'amolemole fa'aeteete pe a motusia ma fa'afeso'ota'i le uaea.
3. Connect the gimbal pre-built coaxial cable on the lens.
   Faamolemole ia faaeteete ia aua nei toso le uaea.
4. Fa'amau le meapueata i luga o le gimbal ma fa'amau fa'amau M1.4 x L5mm.
   Determine the mounting direction of the camera on the gimbal by usage scenario (gimbal upward / downward mounting). Avoid squeezing the cable when installing the camera. If the pitch motor of the gimbal spins smoothly or rebounds, it is generally caused by a tense coaxial cable. Please organize the cable and try again.
5. Aveese le ufiufi o le uaea coaxial i le pito i luga o le iunite o le ea, ona faʻaaoga lea o le crowbar e momotu ai le uaea mai le meapueata ma aveese.
6. Connect the coaxial cable from the gimbal to the air unit and reinstall the cover back.

AV
O le faʻapipiʻiina o mea puʻeata analog e tutusa ma tulaga masani.

Puleaina o le C-20D

The C-20D supports Headtracker direct/private protocol control, S.BUS/CRSF control, PWM control and MAVLink control, with the priority of the four control methods above decreasing in order.
Headtracker Pulea tuusao
Please refer to Headtracker User Manual.
Pulea Maliega Tumaoti
Fa'amolemole tagai ile Gimbal Private Protocol.
S.BUS/CRSF Control
Connect the PWM1 in power-communication port to the S.BUS or CRSF_Tx of the receiver, which needs 5 channels to control gimbal mode, gimbal sensitivity, roll, pitch and yaw respectively. Channel mapping can be done in the Gimbal Config software.
PWM Pulea
The PWM1-PWM4 are channels to control gimbal mode, gimbal sensitivity, gimbal pitch and gimbal yaw respectively.
Pulea MAVLink
Connect the UART_Tx and UART_Tx in power-communication port to the Tx and Rx in a certain serial port of the autopilot respectively, which needs 5 channels to control gimbal mode, gimbal sensitivity, roll, pitch and yaw respectively. Channel mapping can be done in the Gimbal Config software.
Na'o ArduPilot firmware ma PX4 firmware o lo'o lagolagoina nei. Ole fa'atulagaina ole MAVLink o lo'o fa'amatala auiliili ile Fa'aopoopo 3.
Faiga Gimbal
There are three operating modes of the C-20D as below:
FPV Mode (Mode 0)
All three axes follow the movement of the carrier with eliminating slight shaking.
Horizon Mode (Mode 1/2)
Only the yaw axis follows the movement of the carrier with eliminating slight shaking.
Gimbal Sensitivity
O le maualuga o le maaleale, o le vave foi lea o le tali a le gimbal e mulimuli i le gaioiga a le ave taavale, ae o le itiiti ifo o le aveesea o le galu o le ave.
O le lagona o le gimbal e aoga ile FPV mode.
Avea AHRS Fusion
Pe a o'o i se uta tele fa'alava, e mafai ona fa'aalia e le gimbal's attitude algorithm ni mea fa'apitoa, e i'u ai i se uiga fa'afefe. Ina ia faʻasaʻo lenei faʻasesega, e manaʻomia le tuʻuina atu o faʻamatalaga faʻamaonia AHRS (e manaʻomia ona lelei le faʻatulagaina o le GNSS) i le gimbal e ala i le MAVLink protocol. O lo'o maua le fusu'aga a le Carrier AHRS i metotia fa'atonutonu uma.
Fa'atulagaina, Fa'avasegaina & Fa'afou le Firmware
Configure the gimbal and upgrade firmware of the gimbal with the Gimbal Config software.
Ia mautinoa o loʻo faʻapipiʻi le avetaʻavale o le Config Module i luga o le komepiuta aʻo leʻi faʻatulagaina, faʻavasega pe faʻaleleia.

Faʻafesoʻotaʻi le Gimbal

1. Faʻafesoʻotaʻi le gimbal upgrading port ma le komepiuta ma le J1.0 Config Module. Malosi le gimbal.
2. Run the Gimbal Config software. Select the COM port corresponding to the Config Module. Click “Start Debug” and confirm the software and the gimbal being connected.

O le Config Module e fa'atau ese'ese. Mo nisi ituaiga o uaea Type-C lua, atonu e iai tulaga e le mafai ai e le komepiuta ona iloa le Config Module. Fa'amolemole taumafai e sui i le Type-A i le Type-C cable.
Parameter Configuration Fa'agaoioiga Autu
A maeʻa ona fesoʻotaʻi le gimbal i le polokalama Gimbal Config, o le polokalama o le a otometi lava ona sii mai le parakalafa mai le gimbal, pe mafai ona e kiliki "Download Param" e faʻatino ai le faʻagaioiga download.
Kiliki "Save Param" e faʻasaoina le faʻaaliga faʻaalia o loʻo iai nei o se faʻalapotopotoga file.
Click “Open Param” to read a locally saved parameter file.
After selecting a new option in the drop-down box, the parameter will be  automatically uploaded to the gimbal and take effect. After entering a new parameter in the parameter frame, press Enter key or click “Upload Param” to upload the parameter.
A maeʻa ona tuʻuina atu le parakalafa, kiliki "Save Param To Flash" e faʻamaeʻa ai i le gimbal.
O le lagona o le gimbal e na'o le to'i e mulimuli i le gaioiga a le ave.
Gimbal Presets
(Fa'aulu sa'o, S.BUS/CRSF & MAVLink pule)
E galue le gimbal e tusa ai ma tulaga fa'atulagaina pe a leai se fa'ailo fa'ailo po'o leai se fa'afanua ala fa'atulagaina. A mae'a ona toe fa'afo'i mai le fa'ailoga, ona alu ese lea o le gimbal i le tulaga fa'atulaga. O fa'asologa o le gimbal e le aoga ile pulega MAVLink.
Preset gimbal mode: M0- FPV mode; M1- Pitch-lock mode; M2- Horizon mode.
Fa'atonu le lagona o le gimbal: seti laina -1.0 ~ 1.0, fa'atasi ai ma se iugafono o le 0.1.
Faʻatonu le taʻavale, pitch ma le yaw angle: seti laina -180° ~ 180°, faatasi ai ma se iugafono o le 1°.
O pito fa'atonu lelei e fa'avae i luga o le maualuga o le taamilosaga o le gimbal.
Afai e te manaʻo e faʻaaoga i taimi uma tulaga faʻatulagaina mo nisi auala, faʻafanua laina tutusa i le NULL.
Faʻafanua auala
(Fa'aulu sa'o, S.BUS/CRSF & MAVLink pule)
Filifili auala e fetaui ma le gimbal mode, gimbal sensitivity, roll, pitch ma yaw. Mo le fa'atonu sa'o a Headtracker (e ala i datalink po'o le Air Unit), e tatau ona fa'afanua uma auala ile CH01.
Ituaiga Fa'amau
The mounting type of the gimbal is AUTO by default, and the gimbal will automatically switch to DOWN/UP mode according to its attitude at power-on.
The mounting type can also be manually set as DOWN or UP mode.
Mo va'alele VTOL si'u si'usi'u, e tatau ona tu'u le fuselage i se tulaga lele lele ma malosi i luga, po'o le setiina ma le lima le ituaiga fa'apipi'i o le gimbal.
A maeʻa ona faʻatulagaina ma le lima le ituaiga faʻapipiʻi, ia mautinoa o le ituaiga faʻapipiʻi moni e ogatasi ma le faʻatulagaina, a leai o le a ulufale le gimbal i le tulaga puipuia.
Puipuiga Fa'asaga (Pitch-loka & Faiga Fa'asao)
When the tilt of the mounting plane of the gimbal exceeds the protect angle, the gimbal will enter the protection state, at this time the gimbal will be neutralized and uncontrollable. When the tilt of the mounting plane is smaller than the protect angle, the gimbal will automatically exit the protection state.
Tilt protection is effective in Pitch-lock mode and Horizon mode, not in FPV mode.
The protection angle can be modified according to the actual use. The setting range is 0° ~90° with a resolution of 1° . ≤ 15° means disabling the tilt protection.
A uma ona fa'agata le puipuiga fa'asaga, e ono galue le gimbal pe a lapopo'a le fa'ailoga o le va'a.
Fa'alogoina o Parameter
Mo meapueata e tele le taimi o le inertia, fa'apipi'i i luga o le gimbal e mafai ona luluina le gimbal. I ia tulaga, o le faateleina o le tau maua e mafai ona faʻaleleia ai aʻafiaga faʻamautu.
E matua fautuaina lava e fa'aoga le fa'agata fa'amaumau fa'amauina pe a le mana'omia.
Fa'avasegaina & Fa'aleleia le Firmware
Afai o le uiga o le gimbal tilts po'o fa'ase'e lemu pe a leai se fa'ailo fa'ailo fa'atonutonu, e tatau ona fa'avasega le gimbal.

1. E fa'avasega le gimbal. Taofi le gimbal. Kiliki "Gyro Calibration" ma faʻatali mo le faʻatulagaina e maeʻa.
2. Ina ia faʻaleleia le firmware. Kiliki "Tatala Firmware". Filifili le firmware file. Kiliki "Amata Faʻaleleia" ma faʻatali mo le faʻaleleia e maeʻa.

Fa'aopoopo 1 Fua

Fa'aopoopo 2 Meapue Lagolago

O4 Pro	DJI O4 Air Unit Pro
O4	DJI O4 Air Unit
O3	DJI O3 Air Unit
Tulaga	Walk snail Moonlight Kit
	Walks nail Avatar HD Kit V2 (Dual Antennas Version)
	Walk snail Avatar HD Pro Kit (Dual Antennas Version)
	Walk snail Avatar HD Pro Kit
	Walk snail Avatar HD Kit V2
	CADDXFPV Polar Starlight Vista Kit
	CADDXFPV Nebula Pro Vista Kit
	Run Cam Link Phoenix HD Kit
	Run Cam Link Wasp Kit
	Run Cam Link Night Eagle Kit

Fa'aopoopo 3 MAVLink Configuration
ArduPilot

SERIAL1
SERIAL1_BAUD	115
SERIAL1_OPTIONS	1024
SERIAL1_PROTOCOL	2
SR1
SR1_ADSB	0 Hz
SR1_EXIT_STAT	0 Hz
SR1_EXTRA1	0 Hz
SR1_EXTRA2	0 Hz
SR1_EXTRA3	0 Hz
SR1_PARAMS	0 Hz
SR1_POSITION	0 Hz
SR1_RAW_CTRL	0 Hz
SR1_RAW_SENS	0 Hz
SR1_RC_CHAN	0 Hz

E mafai ona suia numera o le taulaga Serial e tusa ai ma le tulaga moni.
PX4

MAVLink
MAV_1_CONFIG	TELEM2
MAV_1_MODE	Aganu'u / Gimbal
MAV_1_RATE	115200 B/s
Fa'asologa
SER_TEL2_BAUD	115200 8N1

O le MAV_1_MODE ua fautuaina e fai ma Aganuu.

Pepa / Punaoa

Robot C-20D Vertical 2-Axis FPV Gimbal [pdf] Tusi Taiala O4 Pro, O4, O3, C-20D Vertical 2-Axis FPV Gimbal, C-20D, Vertical 2-Axis FPV Gimbal, 2-Axis FPV Gimbal, Axis FPV Gimbal, FPV Gimbal

Fa'asinomaga

• Tusi Taiala