Patent ID: 11958604
Assignee: AUTEL ROBOTICS CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 2:
3. The method according to claim 1, further comprising:
if the yaw angular speed instruction input to the unmanned aerial vehicle is zero,
obtaining, by the gimbal control system, an actual yaw angle of the unmanned aerial vehicle and an actual yaw angle of the gimbal;
generating, by the gimbal control system, a yaw angular speed control instruction of the gimbal according to the actual yaw angle of the unmanned aerial vehicle and the actual yaw angle of the gimbal;
obtaining, by the gimbal control system, an actual yaw angular speed of the gimbal;
generating, by the gimbal control system, a yaw axis motor control variable of the gimbal according to the yaw angular speed control instruction of the gimbal and the actual yaw angular speed of the gimbal; and
controlling, by the gimbal control system, the yaw axis motor of the gimbal according to the yaw axis motor control variable of the gimbal.