2e:null 2f:["$","title",null,{"children":"Mōvi Pro Pan/Tilt Limits - Beta Firmware | Nikolai Nekrutenko | Observable"}] 34:T4d0,--- ## Firmware Flashing There are two zip files in your email for flashing the Mōvi Pro and Mōvi Controller: - **Movi_Pro_v2_3_151_BETA.zip** - Pan/Tilt Limits for Mōvi Pro - **Movi_Controller_v4_4_106_BETA.bin.zip** - Pan/Tilt Limits for Mōvi Controller [Mōvi Pro firmware flashing instructions](https://docs.google.com/presentation/d/14GxkVSKb-3CIB2DHrLXp2NIKerkC3NvzYTxioVgccBQ/edit?usp=sharing)². Version number **v2.3.151** should appear on the version screen after a successful flash. [Mōvi Controller firmware flashing instructions](https://freeflysystems.com/wp-content/uploads/2016/10/MoVI-Controller_FirmwareUpdate_UpdateGuide_v1.1.2.0.pdf). Version number **v4.4.106** should appear on the home screen after a successful flash. If you would like to revert to production firmware for any reason, here are links to download the latest production firmware: - Latest Mōvi Pro v2.1.0 Firmware: [Dropbox Download Link](https://www.dropbox.com/scl/fi/0u3rato4dsnqiesrdxixf/Movi_Pro_v2.1.0.zip?rlkey=uzpwpeuxi4rnpusw5hzujrjjs&dl=0) - Latest Mōvi Controller v4.3.0 Firmware: https://freeflysystems.com/support/movi-controller-support _²A MicroSD Card is required to flash the Mōvi Pro_35:Te32,--- ## Menu User Guide The P/T Limits settings are near the end of the Mōvi Expert Menu Here is a table breaking down each item: | Menu Item | Unit | Values | Function | User Input | | ----------------- | ---- | ---------------------------------- | -------------------------------------------------------------------------- | ------------------------------------------------------------------------ | | P/T Limits | N/A | "None", "In & Out", "In" | None: Deactivated; In & Out: Active both in & out; In: Active in | Menu Set Increment | | | Timer | m:s | 0:00 to 10:00; "Armed" or "Disarm" | Counts down first time a limit is hit when Armed, then disables P/T Limits when done | Menu Set Increment sec, Menu Set Press min; User 3 Switch³ | | Min Pan Lim | ° | -180° to Max Pan Lim | Minimum Pan Limit Angle | Menu Set Increment, Menu Set Press @ current pos (disarmed) | | Max Pan Lim | ° | Min Pan Lim to 180° | Maximum Pan Limit Angle | Menu Set Increment, Menu Set Press @ current pos (disarmed) | | Min Tilt Lim | ° | -180° to Max Tilt Lim | Minimum Tilt Limit Angle | Menu Set Increment, Menu Set Press @ current pos (disarmed) | | Max Tilt Lim | ° | Min Pan Lim to 180° | Maximum Tilt Limit Angle | Menu Set Increment, Menu Set Press @ current pos (disarmed) | | Pan Curve | % | 0% to 100% | % of the Pan range (°Min Lim to °Max Lim) where input rate is adjusted | Menu Set Increment | | Pan Smooth | % | 0% to 100% | % of the Pan curve which is quadratically smoothed | Menu Set Increment | | Tilt Curve | % | 0% to 100% | % of the Tilt range (°Min Lim to °Max Lim) where input rate is adjusted | Menu Set Increment | | Tilt Smooth | % | 0% to 100% | % of the Tilt curve which is quadratically smoothed | Menu Set Increment | The User 3 Switch Disarm/Arm operates with rising edge logic, where it must be flipped on then off to toggle the **Armed** or **Disarm** once. The **Max Tilt**, **Min Tilt**, and **Max Roll** menu items near the start of the Mōvi Expert Menu have nothing to do with the **Min Pan Lim**, **Max Pan Lim**, **Min Tilt Lim**, and **Max Tilt Lim** menu items from the Pan/Tilt Limits. _³To use the User 3 Switch, P/T Limits must be selected on the USER 3 Function._36:T434,function pt_limits(lim_max, lim_min, c_st_pct, c_sm_pct, x) { let d_lim_max = 0; let d_lim_min = 0; let stop_dist = 0; let s_start_angle = 0; let lim_acc = 0; let lim_angle = 0; let adj_rate = 1; let c_st = c_st_pct / 100; let c_sm = c_sm_pct / 100; d_lim_max = (lim_max * Math.PI) / 180 - (x * Math.PI) / 180; d_lim_min = (x * Math.PI) / 180 - (lim_min * Math.PI) / 180; stop_dist = (((lim_max * Math.PI) / 180 - (lim_min * Math.PI) / 180) * c_st) / 2; s_start_angle = ((1 - c_sm) / (1 + c_sm)) * stop_dist; lim_acc = (1 + c_sm) / (2 * stop_dist); lim_angle = lim_angle_func(stop_dist, d_lim_max, d_lim_min); let radical = 0; let rate = 1; if (lim_angle != 0) { radical = 1 - 2 * lim_angle * lim_acc; if (lim_angle < s_start_angle && radical >= 0) { rate = Math.sqrt(radical); } radical += ((lim_acc * lim_acc) / c_sm) * (lim_angle - s_start_angle) * (lim_angle - s_start_angle); if (lim_angle >= s_start_angle && radical >= 0) { rate = Math.sqrt(radical); } } return rate; }37:[] 32:{"id":"6463e485785aabff","slug":"ptlimits","title":"Mōvi Pro Pan/Tilt Limits - Beta Firmware","thumbnail":"e85235b707812f45d59fc672313e34356fc882256df001860a4b9ac18cd2c5df","access_level":"public","create_time":"$D2023-08-09T21:46:03.246Z","update_time":"$D2024-08-13T19:10:48.108Z","view_time":null,"first_public_time":"$D2023-08-09T21:46:03.246Z","has_unpublished_edits":null,"fork":false,"stars":0,"starred":false,"owner":{"type":"team","id":"abfd2a4c021d66ca","login":"nikolaiteslovich","name":"Nikolai Nekrutenko","avatar_url":"https://avatars-next.observableusercontent.com/0bafa58e62c1f685eb831aeb2f011622aa0bb254e8e7c84fff49f040b5a58b1c","tier":"starter_2024"},"version":802,"publish_version":null,"role":null,"authored":false,"authors":[{"type":"individual","id":"cf28f71ca8e6a61b","login":"nikolaiteslovich","name":"Nikolai Nekrutenko","avatar_url":"https://avatars-next.observableusercontent.com/0bafa58e62c1f685eb831aeb2f011622aa0bb254e8e7c84fff49f040b5a58b1c","tier":null}],"members":[{"type":"individual","id":"cf28f71ca8e6a61b","login":"nikolaiteslovich","name":"Nikolai Nekrutenko","avatar_url":"https://avatars-next.observableusercontent.com/0bafa58e62c1f685eb831aeb2f011622aa0bb254e8e7c84fff49f040b5a58b1c","tier":null,"role":"editor"}],"comments":[],"custom_thumbnail":false,"trashed":false,"lapsed":null,"subscribed":null,"forks":1,"collection":null,"type":"notebook","body":{"title":"Mōvi Pro Pan/Tilt Limits - Beta Firmware","cells":[{"id":0,"value":"# Mōvi Pro Pan/Tilt Limits - Beta Firmware\n\n_Nikolai Nekrutenko - Freefly Systems - November 3nd, 2023_\n\nAdjustable limits for your Mōvi Pro that are as ***silky smooth*** or as ***scarily snappy*** as you need them to be!\n\nHere is a short video explanation and demo¹:\nhttps://youtu.be/7P_ka9fk7zw\n\n_¹The counter feature was removed due to reliability issues._","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":260,"value":"## Rate Multiplier vs Gimbal Position","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":9,"value":"Plot.plot({\n width: 900,\n height: 450,\n y: {\n domain: [-0.01, 1.05],\n grid: true,\n label: \"rate multiplier\"\n },\n x: {\n domain: [lim_min, lim_max],\n grid: true,\n label: \"gimbal angle (°)\"\n },\n marks: [\n Plot.line(\n build_samples(\n (x) => pt_limits(lim_max, lim_min, c_st_pct, c_sm_pct, x),\n lim_min + 0.001,\n lim_max - 0.001,\n { N: parseInt((lim_max - lim_min) * 10) }\n ),\n {\n strokeWidth: 3,\n stroke: \"steelblue\"\n }\n ),\n Plot.ruleX([0]),\n Plot.ruleX([lim_min]),\n Plot.ruleY([0]),\n Plot.axisY({ x: lim_min })\n ]\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":523,"value":"Mōvi Pro Pan/Tilt Limits for each axis (Pan & Tilt) are defined by four parameters:","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":267,"value":"**Maximum Axis Limit:**","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":5,"value":"viewof lim_max = Inputs.range([-175, 180], {\n value: 45,\n step: 5,\n label: tex`lim_{max}:`\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":270,"value":"**Minimum Axis Limit:**","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":34,"value":"viewof lim_min = Inputs.range([-180, lim_max - 5], {\n value: -45,\n step: 5,\n label: tex`lim_{min}:`\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":273,"value":"**Axis Curve Percentage:**","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":60,"value":"viewof c_st_pct = Inputs.range([0, 100], {\n value: 50,\n step: 5,\n label: tex`c_{st}:`\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":272,"value":"**Axis Smoothing Percentage:**","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":62,"value":"viewof c_sm_pct = Inputs.range([0, 100], {\n value: 50,\n step: 5,\n label: tex`c_{sm}:`\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":576,"value":"$34","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":479,"value":"$35","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":482,"value":"example_photo = html`

`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":780,"value":"---\n\n## Asks\n**Please:**\n- Ensure data logging stays on. Data logging should be on by default. You may double-check with the Movi App. Connect to your gimbal. Go to General. Then Expert. Double check data logging is on.\n- Send photos of your setups. We want to know how you’re rigging Movi.\n- Revert to the original FW before taking it on any real jobs, and perform a quick function test before your next job.\n- Send your criticism. We’re big kids. We can handle it.\n- Let us know what you love about it.\n - What new shots does this enable?\n - Does this enable new payload options?\n - How much more do you smile?\n","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":770,"value":"---\n\n## Caution\n\n**This is still in Beta:**\n- While we have done significant internal testing before allowing it in your hands, we would not recommend taking this on jobs just yet.\n\nThings to keep in mind with the current beta implementation:\n- If **Pan/Tilt Curve [%]** or **Pan/Tilt Smoothing [%]** is set too low, the gimbal will overshoot the limit and start oscillating\n - The motor does not have enough torque to stop in such a short window, software to calculate the minimum stopping window is underway³\n\n_³All of these will be addressed in future firmwares_\n","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":788,"value":"---\n\n## Having Issues?\nCall, text, or email us anytime. We’ve included a link to the current Mōvi Pro production firmware above if you need to revert.\n","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":790,"value":"---\n\n## Damage to your Mōvi Pro \nIf the FW upgrades cause any damage to your Mōvi Pro, we will replace or repair it. Your choice. Thank you for testing!\n","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":321,"value":"---\n\n## Math & Physics Principles\n\nThe following relationships are established from 1-D kinematics:\n\n${tex.block`v^2 = v_o^2+2ax`}\n\n- ${tex`v`} is the velocity at the current position\n- ${tex`v_o`} is the initial velocity\n- ${tex`a`} is the acceleration\n- ${tex`x`} is the distance from the starting position\n\nRewriting the function in terms of a scaling factor (${tex`v_{adj} = v/v_o`}) normalized about 1, and given that the acceleration is negative since we are slowing down:\n\n${tex.block`v_{adj}^2 = 1 - 2ax \\Rightarrow v_{adj} = \\sqrt{1 - 2ax}`}\n\nFurther generalizing this expression:\n\n${tex.block`v_{adj} = \\sqrt{1 - f(a, x)}`}\n\nWhere to stop in the least amount of distance given an acceleration:\n\n${tex.block`f(a, x) = 2ax`}\n\nIf the acceleration is to be smoother (non-linear), a quadratic function can be used:\n\n${tex.block`f(a, x) = 2ax - a^2x^2`}\n","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":355,"value":"---\n\n## Implementation in the Code\n\nConstants are defined by letters: [${tex`lim_{max}`}, ${tex`lim_{min}`}, ${tex`c_{st}`}, ${tex`c_{sm}`}, ${tex`a`}]\n\nChanging values are defined by symbols: [${tex`θ`}, ${tex`θ_{max}`}, ${tex`θ_{min}`}, ${tex`θ_{stop}`}, ${tex`θ_{smooth}`}, ${tex`\\dot{θ}`}, ${tex`\\dot{θ}_{adj}`}, ${tex`\\dot{θ}_{in}`}]","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":423,"value":"**User & gimbal-provided provided values and their respective allowable ranges:**\n\n${tex`lim_{max} \\rightarrow [lim_{min}, \\pi]`} is the max limit in rad (from °)\n\n${tex`lim_{min} \\rightarrow [-\\pi, lim_{max}]`} is the min limit in rad (from °)\n\n${tex`c_{st} \\rightarrow [0, 1]`} is the stopping coefficient (from %)\n\n${tex`c_{sm} \\rightarrow [0, 1]`} is the smoothing coefficient (from %)\n\n${tex`θ \\rightarrow [0, 2\\pi]`} is the current position of the gimbal","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":426,"value":"**Calculated values:**\n\n${tex`θ_{max} = lim_{max} - θ`} is the distance from the max limit in rad\n\n${tex`θ_{min} = θ - lim_{min}`} is the distance from the min limit in rad\n\n${tex`θ_{stop} = (lim_{max} - lim_{min})* c_{st} / 2`} is the distance to stop\n\n${tex`θ_{smooth} = (1 - c_{sm})/(1 + c_{sm}) * θ_{stop}`} is the position to start smoothing\n\n${tex`a = (1 + c_{sm})/2θ_{stop}`} is the acceleration required to stop","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":429,"value":"**Conditionally calculated values:**\n\nIf the gimbal is within ${tex`θ_{stop}`} from the max limit (${tex`θ_{max} \\le θ_{stop}`}):\n\n${tex`θ_{lim} = θ_{stop} - θ_{max}`} is the distance past the start of the curve towards the max limit\n\nElse if the gimbal is within ${tex`θ_{stop}`} from the max limit (${tex`θ_{min} \\le θ_{stop}`}):\n\n${tex`θ_{lim} = θ_{stop} - θ_{min}`} is the distance past the start of the curve towards the min limit\n","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":420,"value":"**Adjusted velocity calculations:**\n\nIf either of the conditions above are true, the adjusted rate is computed: \n\n${tex`\\dot{θ}_{adj} = \\sqrt{1 - 2aθ_{lim}}`}\n\nThen, once ${tex`θ_{lim} > θ_{smooth}`}:\n\n${tex`\\dot{θ}_{adj} = \\sqrt{1 - 2aθ_{lim} + a^2(θ_{lim} - θ_{smooth})^2/c_{sm}}`}\n\nThe commanded gimbal rate then becomes ${tex`\\dot{θ}`}, where ${tex`\\dot{θ}_{in}`} is the original commanded rate: \n\n${tex`\\dot{θ} = \\dot{θ}_{adj}\\dot{θ}_{in}`}","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":310,"value":"---\n\n## To Do\n\nA list of ideas to be integrated/worked on in the future:\n\n- Go through the motion, pressing a button once for the start limit, and next for the end limit\n- Automatically calculate the max possible acceleration based on autotune parameters","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"","database":"$undefined"},{"id":18,"value":"import { build_samples } from \"@mcmcclur/adaptive-plotter\"","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":127,"value":"function lim_angle_func(stop_dist, d_lim_max, d_lim_min) {\n let angle = 0;\n if (d_lim_max <= stop_dist) {\n angle = stop_dist - d_lim_max;\n } else if (d_lim_min <= stop_dist) {\n angle = stop_dist - d_lim_min;\n }\n return angle;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":184,"value":"$36","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"}],"files":"$W37","stdlib":"1","titling":"auto"}} 33:"$32:body"