Gyro Camera for Motorcycle

108,008

398

53

Introduction: Gyro Camera for Motorcycle

As seen in MotoGP Race, the rider is seen riding through corners while laying aside his bike to the left and right. But there is an interesting moment when the motor looks to collapse sideward, the front views remain horizontally. How could that be?
Such onboard camera applies GYRO system, where the camera will be fixed perpendicular to the gravity of the earth.

Step 1: BUILD YOUR OWN GYRO CAMERA

We could build our own Gyro Camera by using GYRO and ACCELEROMETER modules.
They are two separate modules, hence we have to use two modules simultaneously. Then we make Gyro Chip and Accelerometer Chip in one module (there are two chips in one module). In latest version they are made in one chip only, thus minimizing the distortion of movement calculation

In this article, the module is Triple Axis Accelerometer & Gyro Breakout – MPU-6050, which has 3-axis gyroscope and 3-axis accelerometer in one chip, supplied by power of 3.3volt.

In addition to module MPU6050, the following similar modules could also be applied:
• IMU Fusion Board – ADXL345 & IMU3000
• IMU Digital Combo Board – 6 Degrees of Freedom ITG3200/ADXL345

Module MPU6050 with its tiny size of 20mm x 15mm and height of 1.6mm.

The components are:
• Triple Axis Accelerometer & Gyro Breakout – MPU-6050
• Arduino UNO R3
• Digital Servo (use good and powerful servo)
• Breadboard Mini
• 9v Battery + Switch
• Box and other accessories.

If you using different board than Arduino Uno R3, SCL and SDA pins of MPU are also different:

VDD : +3.3V
VIO : +3.3V
GND : GND
SDA : Pin A4 (Arduino Uno, Ethernet) / Pin 20 (Mega2560, Due) / Pin 2 (Leonardo)
SCL : Pin A5 (Arduino Uno, Ethernet) / Pin 21 (Mega2560, Due) / Pin 3 (Leonardo)


Step 2: PROGRAMMING

After having completely assembled, it is time now to upload the program to Arduino.

This circuit is only to drive servo in axis-X only. However, data from Axis Y and Z are still required for the respective Gyroscope and Accelerometer. I tried to combine them by applying Kalman Filter calculation so as to reduce ‘noise’ output from Gyroscope + Accelerometer so that servo movement is smooth and no unwanted movement.


CODE:

/*
  GYRO CAMERA - saft7.com

  Demonstrates auto-leveling Camera Video by using Gyro & Accelerometer with Arduino

  The circuit:
  Servo controlled by Arduino, using Gyro and Accelerometer as reference of movement.

  Created March 12, 2013
  by Firmansyah Saftari
  www.saft7.com

  This code and complete article can be found at:

  http://www.saft7.com/
 
  Programming Language: C++
 
  */


#include <Servo.h>
Servo xservo;

#include <Wire.h>
#include "Kalman.h"
Kalman kalmanX;
Kalman kalmanY;

uint8_t IMUAddress = 0x68; // MPU6050 Address

/* IMU Data */
int16_t accX;
int16_t accY;
int16_t accZ;
int16_t tempRaw;
int16_t gyroX;
int16_t gyroY;
int16_t gyroZ;

int moveX;
int mapX;
int correctionX;

double accXangle;
double accYangle;
double gyroXangle = 9;      
double gyroYangle = 180;
double compAngleX = 90;    
double compAngleY = 90;
double kalAngleX;
double kalAngleY;
uint32_t timer;




// ----------  VOID SETUP START -------------- /
void setup() { 
  Serial.begin(115200);
  xservo.attach(10);
 
 
  Wire.begin(); 
  i2cWrite(0x6B,0x00);           // Disable sleep mode 
  if(i2cRead(0x75,1)[0] != 0x68) {   // Read "WHO_AM_I" register
    Serial.print(F("MPU-6050 with address 0x"));
    Serial.print(IMUAddress,HEX);
    Serial.println(F(" is not connected"));
    while(1);
  }     
  kalmanX.setAngle(90);  // Set starting angle
  kalmanY.setAngle(90);
  timer = micros();
}

// ----------  VOID SETUP END -------------- /


// ---------------------- VOID LOOP START -------------- /
void loop() {
  /* Update all the values */
  uint8_t* data = i2cRead(0x3B,14); 
  accX = ((data[0] << 8) | data[1]);
  accY = ((data[2] << 8) | data[3]);
  accZ = ((data[4] << 8) | data[5]); 
  tempRaw = ((data[6] << 8) | data[7]); 
  gyroX = ((data[8] << 8) | data[9]);
  gyroY = ((data[10] << 8) | data[11]);
  gyroZ = ((data[12] << 8) | data[13]);
 
  /* Calculate the angls based on the different sensors and algorithm */
 
  accYangle = (atan2(accX,accZ)+PI)*RAD_TO_DEG;  
  accXangle = (atan2(accY,accZ)+PI)*RAD_TO_DEG;  
  double gyroXrate = (double)gyroX/131.0;
  double gyroYrate = -((double)gyroY/131.0); 
  gyroXangle += gyroXrate*((double)(micros()-timer)/1000000); // Calculate gyro angle without any filter 

  gyroXangle += kalmanX.getRate()*((double)(micros()-timer)/1000000); // Calculate gyro angle using the unbiased rate
  compAngleX = (0.93*(compAngleX+(gyroXrate*(double)(micros()-timer)/1000000)))+(0.07*accXangle); // Calculate the angle using a Complimentary filter
 
  kalAngleX = kalmanX.getAngle(accXangle, gyroXrate, (double)(micros()-timer)/1000000); // Calculate the angle using a Kalman filter
  timer = micros();
  mapX = map(kalAngleX, 0, 200, 0, 179);     //calculate limitation of servo mechanical
 
 
// /////////////////////////////

    correctionX = 27;     // EDIT THIS VALUE FOR SERVO CORRECTION ANGLE

// ////////////////////////////


  moveX = 270 - (kalAngleX) + correctionX;
 
// ------- SEND TO SERIAL PRINT START ----- /

  Serial.print("saft7.com X Pos: ");
  Serial.print(moveX);Serial.print("\t");
  Serial.print("\n");
 
// ------- SEND TO SERIAL PRINT END ----- / 




// ------- SEND TO SERVO START ----- /

   xservo.write(moveX);   // Send signal to servo
   delay(15);     // delay to allow servos to move (ms) 
  
// ------- SEND TO SERVO END ----- /


 
  delay(1); // The accelerometer's maximum samples rate is 1kHz
}
// ---------------------- VOID LOOP END -------------- /



// -- FUNCTIONS START --
void i2cWrite(uint8_t registerAddress, uint8_t data){
  Wire.beginTransmission(IMUAddress);
  Wire.write(registerAddress);
  Wire.write(data);
  Wire.endTransmission();                       // Send stop
}

uint8_t* i2cRead(uint8_t registerAddress, uint8_t nbytes) {
  uint8_t data[nbytes]; 
  Wire.beginTransmission(IMUAddress);
  Wire.write(registerAddress);
  Wire.endTransmission(false); // Don't release the bus
  Wire.requestFrom(IMUAddress, nbytes);   // Send a repeated start and then release the bus after reading
  for(uint8_t i = 0; i < nbytes; i++)
    data[i] = Wire.read();
  return data;
}
// -- FUNCTIONS END --

// GYROCAM BY SAFT7.COM //

// END

Step 3: Build the Camera Bracket

I use 2 mm Acrylic 2mm, bent by heating. Make the necessary holes for servo installation and for the camera bolt.


Camera bolt was taken from an unused small tripod so as to ease the camera installation.


Arduino Board is installed onto the box plate.



Arduino, Servo and MPU6050 have been installed on the box.


Video of Servo testing on box



Video on the testing of installed camera



 

Step 4: TIME TO TRY

Camera is placed on motorcycle.


Let’s ride to try …




Lessons Learned:
• Gyro + accelerometer modules should be installed firmly.
• Calibration of horizontal level should be on flat area
• Use powerful servo.
• Use heavy duty battery so hat power to servo is well supplied.

Good luck.

Saftari

Translated by Taufik Masjhur

This post was originally published on saft7.com in Bahasa Indonesia language.


Share

    Recommendations

    • Water Contest

      Water Contest
    • Metalworking Contest

      Metalworking Contest
    • Tiny Home Contest

      Tiny Home Contest

    53 Discussions

    Can I ask why you put the gyro sensor on the rigid part of the mount and not on the camera part? Instead of measuring the angle of lean, you could just control the motor until the camera was level. Open vs Closed feedback loops. I guess in the end, it all works though. I saw one of these gyro cameras on a bike running the Nuremberg track and it was very cool to see. Love the project!

    Could you use one of these instead to reduce size? http://www.ebay.co.uk/itm/MWC-ATMega328p-MPU6050w-USB-6-Axis-Gyro-accelerometer-Control-Sensor-/201333158182?pt=LH_DefaultDomain_3&hash=item2ee0643126

    Hey! could I have a ADXL345..but it doesn`t have SDA and SCL pins..only x, y, z pins. Is there a way I can adapt your code for my board?

    Thanx for the instructable

    1 reply

    @saftari : Could you give me the reference of the servo motors used in this project, please? Many thanks

    Has anyone used any gyroscopic mount (gyro-cam) that works? I'm looking forward to have one for my tracking days!

    I have hard this London company www.darewarelabs.com is making one GoPro gyro-mount, due to be released before the summer.

    Has anyone heard of them?

    Derek

    First of all, thanks for the awesome write up. I'm trying to compile this code in a sketch and I get the following errors:




    sketch_dec22a.ino:25:20: error: Kalman.h: No such file or directory
    sketch_dec22a:26: error: 'Kalman' does not name a type
    sketch_dec22a:27: error: 'Kalman' does not name a type
    sketch_dec22a.ino: In function 'void setup()':
    sketch_dec22a:71: error: 'kalmanX' was not declared in this scope
    sketch_dec22a:72: error: 'kalmanY' was not declared in this scope
    sketch_dec22a.ino: In function 'void loop()':
    sketch_dec22a:99: error: 'kalmanX' was not declared in this scope

    Do you happen to have any guidance on how to fix them? Thanks!

    7 replies

    Hi,..

    You should include kalman filter library.
    You can download from here https://github.com/TKJElectronics/KalmanFilter

    Yup! I figured it out a little bit ago and got it working great using a Nano! Thank you again so much for posting the code and instructable!

    i know this is far too late and you probably know this now but its because you dont have the kalman library installed

    Yup! That worked perfect for me. Got it to operate on an Uno and a Nano board. Probably will do the full build with the Nano. Is there anyway to smooth out the signal a little? Or is that a byproduct of using a servo (jitter) as opposed to a motor? Either way, I definitely appreciate the author taking the time to post up all this, so very helpful!

    I have heard these guys - www.darewarelabs.com are about to launch their own consumer electronic stabilizer solution for GoPro in a couple of months.

    Hi,

    I'm not such a handy man so can I buy this mount?

    Hi!, Nice to meet you , I am sam.I got
    the problem that about Gyrocam for motor
    is I am using the MPU6050+Kalman to install into a motor , If I shake the MPU6050 relatively
    strong up and down it just messes it slowly drifts the camera to one side or
    the other .it still doesn't work properly. Could you kindly tell me how
    to figure the problem out ?

    Have a nice day !!!!

    Good idea, but please it's possible to do a video without these music, because in Germany the censorship block your video. Its sad, I know.

    keren, bisa di kembangkan nggak ya supaya bisa jadi tugas akhir saya ? hehe trims mohon reply nya yaa