Issue with long exposures (> 1s) in a plan causing subsequent gimbal pitch/heading failures
Hi,
I'm experiencing problems with gimbal/drone heading and delayed gimbal pitch when taking long exposure images as part of a bracket.
The plan at https://app.dronelink.com/rob-hunter/repo01/plan/Fk5quOVg3VoCAhKCVJr2/As8mq1rQIB5sx13eU36q is copied from an on the fly functionally generated plan. The plan is to create a view downwards with 2 images at -90 degrees gimbal pitch and 6 images -64 degrees gimbal pitch.
The functionally generated plan has worked fine with short exposure times but is now behaving poorly in a reproducible manner with long exposures.
When reviewing images it is noticed that if the new direction for a bracket set involves a heading AND pitch change from the previous direction, the first image of that new set has a problem, i.e. the camera pitch is not pointing where it is supposed to be. In addition, when reviewing the EXIF XMP it is noticed that the gimbal and flight yaw can be significantly different.
It has been experienced with 1.6 (this example) and 3 second exposures.
The only theory that I can come up with is that Dronelink does not take into account exposure duration beyond a certain limit. As such the drone is instructed to change heading while still trying to take a photograph (yaw variations, i.e. drone turns but gimbal stays locked on image direction) or to change gimbal pitch while taking an image (and then gimbal does not have enough time to change pitch before next image is taken).
It seems the only way to avoid it is to insert a wait at the end of each bracket of at least as long as the length of the longest (the last) exposure.
I've noticed in the mission simulator that the timeline does not seem to take into account varying exposure times. Camera Start Capture is of fixed duration (1 second) and does not seem to take into account longer exposures.
Crucially I don't know if the EXIF detail is based on the position of the drone at beginning of or end of exposure.
Any ideas or something worth knowing (e.g. a wait is required beyond a 0.5 second exposure)? Or an indication as to where my plan is wrong? Sorry if I've made a rookie error!
Details:
Device is a Mavic 2 Pro.
Controllers are a Samsung S8 Plus and a DJI Smart Controller.
Firmwares on all up to date.
Dronelink 1.7.1.
Setting for the drone are:
- RAW
- Manual exposure
EXIF XMP for the first six images below. Important keys are:
- `drone-dji.GimbalYawDegree`
- `drone-dji.FlightYawDegree`
- `drone-dji.GimbalPitchDegree`
They show:
- the yaw (flight or gimbal) failing to change for the third image,
- the gimbal pitch failing to change for the third image,
- the flight and gimbal yaw differing by 60 degrees for the fourth image
- the gimbal pitch failing to change for the fifth image,
- the flight and gimbal yaw differing by 60 degrees for the sixth image
Image 01:
```
xmp
ModifyDate 2017-09-14
CreateDate 2017-09-14
tiff
Make DJI
Model Test_Pro
dc
format image/dng
drone-dji
GpsLatitude +51.2482671
GpsLongitude -0.8389227
AbsoluteAltitude +208.17
RelativeAltitude +85.40
GimbalRollDegree +0.00
GimbalYawDegree +155.10
GimbalPitchDegree -63.40
FlightRollDegree -0.60
FlightYawDegree +152.20
FlightPitchDegree +1.60
CamReverse 0
GimbalReverse 0
SelfData DJI Self data
crs
Version 7.0
HasSettings False
HasCrop False
AlreadyApplied False
```
Image 02:
```
xmp
ModifyDate 2017-09-14
CreateDate 2017-09-14
tiff
Make DJI
Model Test_Pro
dc
format image/dng
drone-dji
GpsLatitude +51.2482679
GpsLongitude -0.8389240
AbsoluteAltitude +208.26
RelativeAltitude +85.40
GimbalRollDegree +0.00
GimbalYawDegree +154.50
GimbalPitchDegree -63.90
FlightRollDegree -1.70
FlightYawDegree +152.10
FlightPitchDegree +1.50
CamReverse 0
GimbalReverse 0
SelfData DJI Self data
crs
Version 7.0
HasSettings False
HasCrop False
AlreadyApplied False
```
Image 03:
```
xmp
ModifyDate 2017-09-14
CreateDate 2017-09-14
tiff
Make DJI
Model Test_Pro
dc
format image/dng
drone-dji
GpsLatitude +51.2482681
GpsLongitude -0.8389239
AbsoluteAltitude +208.20
RelativeAltitude +85.40
GimbalRollDegree +0.00
GimbalYawDegree +154.30
GimbalPitchDegree -63.90
FlightRollDegree -1.40
FlightYawDegree +152.20
FlightPitchDegree +1.60
CamReverse 0
GimbalReverse 0
SelfData DJI Self data
crs
Version 7.0
HasSettings False
HasCrop False
AlreadyApplied False
```
Image 04:
```
xmp
ModifyDate 2017-09-14
CreateDate 2017-09-14
tiff
Make DJI
Model Test_Pro
dc
format image/dng
drone-dji
GpsLatitude +51.2482677
GpsLongitude -0.8389244
AbsoluteAltitude +208.25
RelativeAltitude +85.30
GimbalRollDegree +0.00
GimbalYawDegree +154.00
GimbalPitchDegree -89.60
FlightRollDegree +0.40
FlightYawDegree -148.10
FlightPitchDegree +2.40
CamReverse 0
GimbalReverse 0
SelfData DJI Self data
crs
Version 7.0
HasSettings False
HasCrop False
AlreadyApplied False
```
Image 05:
```
xmp
ModifyDate 2017-09-14
CreateDate 2017-09-14
tiff
Make DJI
Model Test_Pro
dc
format image/dng
drone-dji
GpsLatitude +51.2482675
GpsLongitude -0.8389248
AbsoluteAltitude +208.29
RelativeAltitude +85.30
GimbalRollDegree +0.00
GimbalYawDegree -143.80
GimbalPitchDegree -89.60
FlightRollDegree +0.40
FlightYawDegree -147.80
FlightPitchDegree +2.30
CamReverse 0
GimbalReverse 0
SelfData DJI Self data
crs
Version 7.0
HasSettings False
HasCrop False
AlreadyApplied False
```
Image 06:
```
xmp
ModifyDate 2017-09-14
CreateDate 2017-09-14
tiff
Make DJI
Model Test_Pro
dc
format image/dng
drone-dji
GpsLatitude +51.2482681
GpsLongitude -0.8389244
AbsoluteAltitude +208.23
RelativeAltitude +85.30
GimbalRollDegree +0.00
GimbalYawDegree -143.70
GimbalPitchDegree -64.20
FlightRollDegree +1.70
FlightYawDegree -117.80
FlightPitchDegree +1.10
CamReverse 0
GimbalReverse 0
SelfData DJI Self data
crs
Version 7.0
HasSettings False
HasCrop False
AlreadyApplied False
```
Comments
2 comments
You need to add wait components to handle this right now.
Thanks Jim.
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