SimpleBGC 2.

4 serial protocol
specification
Applicable for 8-bit and 32-bit boards

Revision history
• rev. 0.1 - 07.05.2013: this is first revision
• rev. 0.2 - 29.05.2013: modified R and W commands
• rev. 0.3 – 18.06.2013: add 'r' command
• rev. 0.4 – 27.06.2013: add 'g' command; add SKIP_GYRO_CAL var and re-arrange 'W' command parameters
order
• rev. 0.5 – 12.07.2013: add followMode, followDeadband, followExpoRate variables to 'W' command
• rev. 0.6 – 24.07.2013: add FOLLOW_OFFSET; add 10 reserved bytes
• rev. 0.7 – 14.08.2013: some minor errors corrected
• rev. 0.8 – 09.09.2013: errors: page 2, “modulo 256”; add control command 'C'; add battery monitoring settings
and command 'B'; add helper command 'H'; extended RC mapping settings; add RC_MIX settings; add
command 'T'; add command 'M' and 'm'; add 'E' command; modified 'D' command;
• rev. 0.9 - 30.11.2013: updated 'C' command description and example code;
• rev. 0.10 - 07.12.2013: command IDs replaced by their definitions; add commands for board ver.3.x
• rev. 0.11 - 03.01.2014: angle units were changed in commands I, D, C, H to 14-bits per turn; add
BOOSTER_POWER parameter; add MENU_CMD_MOTOR_XX menu commands; CMD_READ_PROFILE:
error in the parameters order was corrected; new control mode MODE_RC;
• rev. 0.12 - 24.01.2014: add parameter FRAME_ANGLE_FROM_MOTORS;
• rev. 0.13 – 05.03.2014: add parameter FRAME_IMU_POS; add PROFILE4, PROFILE5 menu commands;
• rev. 0.14 – 27.03.2014: add command CMD_SELECT_IMU_3; P,I,D upper limits updated to 255;
• rev. 0.15 – 07.04.2014: upper limit for RC speed was increased to 255;
• rev. 0.16 – 21.04.2014: CMD_USE_DEFAULTS was extended to erase EEPROM;
• rev. 0.17 – 17.05.2014: add commands CMD_READ_PROFILE_NAMES_3,
CMD_WRITE_PROFILE_NAMES_3, CMD_SAVE_PARAMS_3; BEEPER_MODES extended by flag
BEEP_BY_MOTORS; MENU_CMD_INVERSE_YAW renamed to MENU_CMD_FRAME_UPSIDE_DOWN;
• rev. 0.18 – 31.07.2014: updated CMD_READ_PARAMS_3, CMD_WRITE_PARAMS_3; add CMD_AUTO_PID,
CMD_READ_PARAMS_EXT, CMD_WRITE_PARAMS_EXT; CMD_SERVO_OUT; add link to more examples;
add FOLLOW_LPF parameters; FRAME_IMU_POS set was extended;
• rev. 0.19 – 14.08.2014: add info about COM-port parity setting; NOTCH_FREQ_x units is changed;
• rev. 0.20 – 21.08.2014: add REMEMBER_LAST_USED_PROFILE setting; add info for ERROR_CODE_EXT;
• rev. 0.21 – 28.08.2014: add menu commands: MENU_CMD_LOOK_DOWN, MENU_CMD_HOME_POSITION;
• rev. 0.22 – 29.09.2014: add commands: CMD_I2C_WRITE_REG_BUF, CMD_I2C_READ_REG_BUF;
CMD_DEBUG_VARS_3, CMD_DEBUG_VARS_INFO_3; CMD_WRITE_EXTERNAL_DATA,
CMD_READ_EXTERNAL_DATA; CMD_CMD_READ_ADJ_VARS_CFG, CMD_WRITE_ADJ_VARS_CFG;
CMD_API_VIRT_CH_CONTROL; add “API Virtual control source” to RC input source list; CMD_RESET was
extended;
• rev. 0.23 – 24.10.2014: CMD_READ_PARAMS_EXT specs corrected;
• rev. 0.24 – 28.10.2014: add GENERAL_FLAGS1, PROFILE_FLAGS1;

© 2013-2014 Basecamelectronics®
 • rev. 0.25 – 09.01.2015: add SPEKTRUM_MODE; add CMD_EEPROM_READ, CMD_EEPROM_WRITE;
• rev. 0.26 – 12.01.2015: CMD_READ_PARAMS_EXT extended by new parameters;

© 2013-2014 Basecamelectronics®
Message format

Communications is initiated from the GUI side (host) by sending outgoing commands. The controller board
may do some action and send response (further named as incoming commands). Each command consists
of the header and the body, both with checksum. Commands with the wrong header or body checksum, or
with the body size that differs from expected, should be ignored.

Board can work on different serial baud rate, so the GUI should find proper baud rate by sending
CMD_BOARD_INFO command on every speed ant wait for response, until valid response is received.

32bit boards with firmware version 2.40, works only with parity=EVEN COM-port setting. Starting from 2.41,
both EVEN and NONE parity are supported (NONE is default, and EVEN is detected automatically). So
beside baud rates, host should vary parity setting when connecting to boards ver.>3.0

Make a small delay after sending each command to prevent overflow of the input buffer. Delay should be
about 10-20 ms, and depends on the size of the request and response. If new serial data comes when the
input buffer is full, whole message will be lost. There is also a control of overflow of the output buffer on the
board's side: if it have to write an answer to the output buffer, it hangs until buffer will have enough space to
accept new data. If requests comes with too big rate, it may negatively affect normal operation of the board
and impact stabilization.

Input and output commands have the same format, described below:
Header:
character '>'
command ID - 1u
data_size – 1u, may be zero
header checksum = (command ID + data_size) modulo 256 - 1u
Body:
[array of bytes data_size length]
body checksum - 1u
Checksum is calculated as a sum of all bytes modulo 256.

Example: outgoing command to read Profile2:

0x3E (>) 0x52 (R) 0x01 0x53 0x01 0x01

command id data size header data body
checksum checksum
header body

Data type notation

• 1u – 1 byte unsigned

• 1s – 1 byte signed

• 2u – 2 byte unsigned (little-endian order)

• 2s – 2 byte signed (little-endian order)

• 4f – float (IEEE-754 standard)

• 4s – 4 bytes signed (little-endian order)

• string – ASCII character array, first byte is array size

© 2013-2014 Basecamelectronics®
 • Nb – byte array size N

Command ID definitions
#define CMD_READ_PARAMS 82
#define CMD_WRITE_PARAMS 87
#define CMD_REALTIME_DATA 68
#define CMD_BOARD_INFO 86
#define CMD_CALIB_ACC 65
#define CMD_CALIB_GYRO 103
#define CMD_CALIB_EXT_GAIN 71
#define CMD_USE_DEFAULTS 70
#define CMD_CALIB_POLES 80
#define CMD_RESET 114
#define CMD_HELPER_DATA 72
#define CMD_CALIB_OFFSET 79
#define CMD_CALIB_BAT 66
#define CMD_MOTORS_ON 77
#define CMD_MOTORS_OFF 109
#define CMD_CONTROL 67
#define CMD_TRIGGER_PIN 84
#define CMD_EXECUTE_MENU 69
#define CMD_GET_ANGLES 73
#define CMD_CONFIRM 67

// Board v3.x only

#define CMD_BOARD_INFO_3 20
#define CMD_READ_PARAMS_3 21
#define CMD_WRITE_PARAMS_3 22
#define CMD_REALTIME_DATA_3 23
#define CMD_SELECT_IMU_3 24
#define CMD_READ_PROFILE_NAMES 28
#define CMD_WRITE_PROFILE_NAMES 29
#define CMD_QUEUE_PARAMS_INFO_3 30
#define CMD_SET_ADJ_VARS 31
#define CMD_SAVE_PARAMS_3 32
#define CMD_READ_PARAMS_EXT 33
#define CMD_WRITE_PARAMS_EXT 34
#define CMD_AUTO_PID 35
#define CMD_SERVO_OUT 36
#define CMD_I2C_WRITE_REG_BUF 39
#define CMD_I2C_READ_REG_BUF 40
#define CMD_WRITE_EXTERNAL_DATA 41
#define CMD_READ_EXTERNAL_DATA 42
#define CMD_READ_ADJ_VARS_CFG 43
#define CMD_WRITE_ADJ_VARS_CFG 44
#define CMD_API_VIRT_CH_CONTROL 45
#define CMD_ADJ_VARS_STATE 46
#define CMD_EEPROM_WRITE 47
#define CMD_EEPROM_READ 48

#define CMD_BOOT_MODE_3 51

#define CMD_DEBUG_VARS_INFO_3 253

#define CMD_DEBUG_VARS_3 254
#define CMD_ERROR 255

* Characters are converted to unsigned bytes by their ASCII-codes

© 2013-2014 Basecamelectronics®
Incoming commands
CMD_BOARD_INFO – version and board info information

• BOARD_VER - 1u (split into decimal digits X . X, for example 10 means 1.0)

• FIRMWARE_VER - 2u (split into decimal digits X . XX . X, for example 2305 means 2.30b5)

• DEBUG_MODE - 1u (should hide DEBUG output if DEBUG_MODE = 0)

• BOARD_FEATURES – 2u

• CONNECTION_FLAGS - 1u

• reserved – 11b

CMD_BOARD_INFO_3 – additional board information for board ver 3.x

• deviceID 9b – device ID

• mcuID 12b - MCU ID

• EEPROM_SIZE - 4u

• reserved - 44b

CMD_READ_PARAMS – Receive parameters

Receive parameters for single profile together with general parameters .
Profile parameters:

• PROFILE_ID – 1u (ID of profile to read, starting from 0)

• for(axis in [ROLL, PITCH, YAW]) {

◦ P - 1u

◦ I - 1u (multiplied by 100)

◦ D - 1u

◦ POWER - 1u

◦ INVERT – 1u (checked=1, not checked=0)

◦ POLES - 1u

• }

• ACC_LIMITER - 1u

• EXT_FC_GAIN_ROLL - 1s

• EXT_FC_GAIN_PITCH – 1s

• for(axis in [ROLL, PITCH, YAW]) {

◦ RC_MIN_ANGLE - 2s

© 2013-2014 Basecamelectronics®
 ◦ RC_MAX_ANGLE - 2s

◦ RC_MODE - 1u

◦ RC_LPF – 1u

◦ RC_SPEED – 1u

◦ RC_FOLLOW - 1u

• }

• GYRO_TRUST – 1u

• USE_MODEL – 1u

• PWM_FREQ – 1u

• SERIAL_SPEED – 1u

• RC_TRIM_ROLL - 1s

• RC_TRIM_PITCH - 1s

• RC_TRIM_YAW - 1s

• RC_DEADBAND - 1u

• RC_EXPO_RATE - 1u

• RC_VIRT_MODE – 1u

• RC_MAP_ROLL – 1u

• RC_MAP_PITCH – 1u

• RC_MAP_YAW – 1u

• RC_MAP_CMD – 1u

• RC_MAP_FC_ROLL – 1u

• RC_MAP_FC_PITCH – 1u

• RC_MIX_FC_ROLL - 1u

• RC_MIX_FC_PITCH - 1u

• FOLLOW_MODE – 1u

• FOLLOW_DEADBAND – 1u

• FOLLOW_EXPO_RATE – 1u

• FOLLOW_OFFSET_ROLL – 1s

• FOLLOW_OFFSET_PITCH – 1s

• FOLLOW_OFFSET_YAW - 1s

• AXIS_TOP – 1s

© 2013-2014 Basecamelectronics®
 • AXIS_RIGHT – 1s

• GYRO_LPF – 1u

• GYRO_SENS - 1u

• I2C_INTERNAL_PULLUPS – 1u

• SKIP_GYRO_CALIB – 1u

• RC_CMD_LOW – 1u

• RC_CMD_MID – 1u

• RC_CMD_HIGH – 1u

• MENU_CMD_1 - 1u

• MENU_CMD_2 - 1u

• MENU_CMD_3 - 1u

• MENU_CMD_4 - 1u

• MENU_CMD_5 - 1u

• MENU_CMD_LONG - 1u

• OUTPUT_ROLL - 1u

• OUTPUT_PITCH – 1u

• OUTPUT_YAW – 1u

• BAT_THRESHOLD_ALARM – 2s

• BAT_THRESHOLD_MOTORS – 2s

• BAT_COMP_REF – 2s

• BEEPER_MODES – 1u

• FOLLOW_ROLL_MIX_START - 1u

• FOLLOW_ROLL_MIX_RANGE - 1u

• BOOSTER_POWER_ROLL - 1u

• BOOSTER_POWER_PITCH - 1u

• BOOSTER_POWER_YAW - 1u

• FOLLOW_SPEED_ROLL - 1u

© 2013-2014 Basecamelectronics®
 • FOLLOW_SPEED_PITCH - 1u

• FOLLOW_SPEED_YAW - 1u

• FRAME_ANGLE_FROM_MOTORS - 1u

• CUR_PROFILE_ID – 1u (profile ID which is currently active in the controller)

CMD_READ_PARAMS_3 – Receive parameters for board ver 3.x

Receive parameters for single profile together with general parameters .
Profile parameters:

• PROFILE_ID – 1u (ID of profile to read, starting from 0)

• for(axis in [ROLL, PITCH, YAW]) {

◦ P - 1u

◦ I - 1u (multiplied by 100)

◦ D - 1u

◦ POWER - 1u

◦ INVERT – 1u (checked=1, not checked=0)

◦ POLES - 1u

• }

• ACC_LIMIT - 1u

• EXT_FC_GAIN_ROLL - 1s

• EXT_FC_GAIN_PITCH – 1s

• for(axis in [ROLL, PITCH, YAW]) {

◦ RC_MIN_ANGLE - 2s

◦ RC_MAX_ANGLE - 2s

◦ RC_MODE - 1u

◦ RC_LPF – 1u

◦ RC_SPEED – 1u

◦ RC_FOLLOW - 1u

• }

• GYRO_TRUST – 1u

• USE_MODEL – 1u

• PWM_FREQ – 1u

• SERIAL_SPEED – 1u

© 2013-2014 Basecamelectronics®
 • RC_TRIM_ROLL - 1s

• RC_TRIM_PITCH - 1s

• RC_TRIM_YAW - 1s

• RC_DEADBAND - 1u

• RC_EXPO_RATE - 1u

• RC_VIRT_MODE – 1u

• RC_MAP_ROLL – 1u

• RC_MAP_PITCH – 1u

• RC_MAP_YAW – 1u

• RC_MAP_CMD – 1u

• RC_MAP_FC_ROLL – 1u

• RC_MAP_FC_PITCH – 1u

• RC_MIX_FC_ROLL - 1u

• RC_MIX_FC_PITCH - 1u

• FOLLOW_MODE – 1u

• FOLLOW_DEADBAND – 1u

• FOLLOW_EXPO_RATE – 1u

• FOLLOW_OFFSET_ROLL – 1s

• FOLLOW_OFFSET_PITCH – 1s

• FOLLOW_OFFSET_YAW - 1s

• AXIS_TOP – 1s

• AXIS_RIGHT – 1s

• FRAME_AXIS_TOP – 1s

• FRAME_AXIS_RIGHT – 1s

• FRAME_IMU_POS - 1u

• GYRO_LPF – 1u

• GYRO_SENS - 1u

• I2C_INTERNAL_PULLUPS – 1u

• SKIP_GYRO_CALIB – 1u

• RC_CMD_LOW – 1u

© 2013-2014 Basecamelectronics®
 • RC_CMD_MID – 1u

• RC_CMD_HIGH – 1u

• MENU_CMD_1 - 1u

• MENU_CMD_2 - 1u

• MENU_CMD_3 - 1u

• MENU_CMD_4 - 1u

• MENU_CMD_5 - 1u

• MENU_CMD_LONG - 1u

• OUTPUT_ROLL - 1u

• OUTPUT_PITCH – 1u

• OUTPUT_YAW – 1u

• BAT_THRESHOLD_ALARM – 2s

• BAT_THRESHOLD_MOTORS – 2s

• BAT_COMP_REF – 2s

• BEEPER_MODES – 1u

• FOLLOW_ROLL_MIX_START - 1u

• FOLLOW_ROLL_MIX_RANGE - 1u

• BOOSTER_POWER_ROLL - 1u

• BOOSTER_POWER_PITCH - 1u

• BOOSTER_POWER_YAW - 1u

• FOLLOW_SPEED_ROLL - 1u

• FOLLOW_SPEED_PITCH - 1u

• FOLLOW_SPEED_YAW - 1u

• FRAME_ANGLE_FROM_MOTORS - 1u

• RC_MEMORY_ROLL – 2s

• RC_MEMORY_PITCH – 2s

© 2013-2014 Basecamelectronics®
 • RC_MEMORY_YAW – 2s

• SERVO1_OUT – 1u

• SERVO2_OUT – 1u

• SERVO3_OUT – 1u

• SERVO4_OUT – 1u

• SERVO_RATE – 1u

• ADAPTIVE_PID_ENABLED – 1u

• ADAPTIVE_PID_THRESHOLD – 1u

• ADAPTIVE_PID_RATE – 1u

• ADAPTIVE_PID_RECOVERY_FACTOR – 1u

• FOLLOW_LPF_ROLL – 1u

• FOLLOW_LPF_PITCH – 1u

• FOLLOW_LPF_YAW – 1u

• GENERAL_FLAGS1 – 2u

• PROFILE_FLAGS1 - 2u

• SPEKTRUM_MODE - 1u

• RESERVED_BYTES - 2b

• CUR_IMU - 1u (currently selected IMU)

• CUR_PROFILE_ID – 1u (profile ID which is currently active in the controller)

CMD_READ_PARAMS_EXT – read extended set of params for board ver. 3.x

• PROFILE_ID – 1u (ID of profile to read, starting from 0)

• for(1..3) {

◦ NOTCH_FREQ[3] – 1u * 3

◦ NOTCH_WIDTH[3] – 1u * 3

• }

• LPF_FREQ[3] – 2u * 3

• FILTERS_EN[3] – 1u * 3

• ENCODER_OFFSET[3] – 2s * 3

© 2013-2014 Basecamelectronics®
 • ENCODER_FLD_OFFSET[3] – 2s * 3

• ENCODER_MANUAL_SET_TIME[3] – 1u * 3

• MOTOR_HEATING_FACTOR[3] - 1u * 3

• MOTOR_COOLING_FACTOR[3] – 1u * 3

• ENCODER_TYPE – 1u

• ENCODER_CFG – 1u

• RESERVED – 1b

• MOTOR_MAG_LINK[3] – 1u * 3

• MOTOR_GEARING[3] – 2u * 3

• ENCODER_LIMIT_MIN[3] – 1s * 3

• ENCODER_LIMIT_MAX[3] – 1s * 3

• NOTCH1_GAIN[3] – 1u * 3

• NOTCH2_GAIN[3] – 1u * 3

• NOTCH3_GAIN[3] – 1u * 3

• RESERVED – 28b

CMD_REALTIME_DATA - receive real-time data

• for(axis in [ROLL, PITCH, YAW]) {

◦ ACC – 2s

◦ GYRO – 2s

• }

• SERIAL_ERROR_CNT – 2u

• ERROR_CODE_EXT – 2u

• <RESERVED> – 4b

• RC_ROLL - 2s

• RC_PITCH - 2s

• RC_YAW - 2s

• RC_CMD – 2s

• EXT_FC_ROLL – 2s

• EXT_FC_PITCH – 2s

• ANGLE_ROLL – 2s

• ANGLE_PITCH – 2s

© 2013-2014 Basecamelectronics®
 • ANGLE_YAW – 2s

• RC_ANGLE_ROLL - 2s

• RC_ANGLE_PITCH - 2s

• RC_ANGLE_YAW - 2s

• CYCLE_TIME - 2u

• I2C_ERROR_COUNT - 2u

• ERROR_CODE – 1u

• BAT_LEVEL - 2u

• OTHER_FLAGS - 1u

• CUR_PROFILE - 1u

CMD_REALTIME_DATA_3 - receive real-time data for board ver.3.x

• for(axis in [ROLL, PITCH, YAW]) {

◦ ACC – 2s

◦ GYRO – 2s

• }

• DEBUG1 – 2s

• DEBUG2 – 2s

• DEBUG3 – 2s

• DEBUG4 – 2s

• RC_ROLL - 2s

• RC_PITCH - 2s

• RC_YAW - 2s

• RC_CMD – 2s

• EXT_FC_ROLL – 2s

• EXT_FC_PITCH – 2s

• ANGLE_ROLL – 2s

• ANGLE_PITCH – 2s

• ANGLE_YAW – 2s

• FRAME_ANGLE_ROLL – 2s

• FRMAE_ANGLE_PITCH – 2s

• FRAME_ANGLE_YAW – 2s

• RC_ANGLE_ROLL - 2s

• RC_ANGLE_PITCH - 2s

© 2013-2014 Basecamelectronics®
 • RC_ANGLE_YAW - 2s

• CYCLE_TIME - 2u

• I2C_ERROR_COUNT - 2u

• ERROR_CODE – 1u

• BAT_LEVEL - 2u

• OTHER_FLAGS - 1u

• CUR_IMU - 1u

• CUR_PROFILE – 1u

• MOTOR_POWER_ROLL – 1u

• MOTOR_POWER_PITCH – 1u

• MOTOR_POWER _YAW- 1u

CMD_CONFIRM – confirmation of previous command

• CMD – 1u

• DATA – depends on CMD

Board sends confirmation on commands: A, G, P, W, etc. DATA is empty unless mentioned in command
description.

CMD_ERROR – error on executing previous command

• ERROR_CODE – 1u

• ERROR_DATA – 4b
Data depends on error type.

CMD_GET_ANGLES - Information about actual RC control state

• for(axis in [ROLL, PITCH, YAW]) {

◦ ANGLE - 2s

◦ RC_ANGLE - 2s

◦ RC_SPEED - 2s

• }
CMD_READ_PROFILE_NAMES_3 – receive profile names from EEPROM
Each name is encoded in UTF-8 format and padded with '\0' character to 48 byte size
• PROFILE1_NAME – 48b
• PROFILE2_NAME – 48b
• PROFILE3_NAME – 48b
• PROFILE4_NAME – 48b
• PROFILE5_NAME – 48b

CMD_GET_PARAMS_3 – receive information about configurable parameters: type, range, etc.

© 2013-2014 Basecamelectronics®
--not yet implemented--

CMD_I2C_READ_REG_BUF – result of reading from I2C device (board ver. 3.x).

• DATA – 1..255 byte, depends on the DATA_LEN parameter in the request.

CMD_AUTO_PID – progress of PID auto tuning

• P_ROLL – 1u
• P_PITCH – 1u
• P_YAW – 1u
• I_ROLL – 1u
• I_PITCH – 1u
• I_YAW – 1u
• D_ROLL – 1u
• D_PITCH – 1u
• D_YAW – 1u
• RMS_ERR_R – 2u
• FREQ_R – 2u
• RMS_ERR_P – 2u
• FREQ_P – 2u
• RMS_ERR_Y – 2u
• FREQ_Y – 2u
• RESERVED – 36b

CMD_DEBUG_VARS_INFO_3 – receive specification of the debug variables

• DEBUG_VARS_NUM – 1u - number of debug vars
for(i=0; i<DEBUG_VARS_NUM; i++) {
• VAR_NAME – string
• VAR_TYPE – 1u (see definitions below)
• RESERVED – 2b
}

CMD_DEBUG_VARS_3 – values of some variables reflecting a state of the system.

A set and an order of variables is not strictly defined, and may vary depending on the firmware version. Use
CMD_DEBUG_VARS_INFO_3 to get a specification of the variables.
for(i=0; i<DEBUG_VARS_NUM; i++) {
• VAR_VALUE – <size and type from CMD_DEBUG_VARS_INFO_3 structure>
}

CMD_READ_EXTERNAL_DATA – receive user data, stored in the EEPROM

• data – 128b

CMD_READ_ADJ_VARS_CFG – receive configuration of mapping of control inputs to adjustable

variables
There are 10 “trigger” slots and 15 “analog” slots. “Trigger” type is used to execute action depending on the
RC signal level, where full range is split into 5 levels (see Available actions). “Analog” type is used to adjust
parameter by RC signal. MIN_VAL and MAX_VAL specify a working range, that is combined with the native
range of particular parameter (see List of available parameters)

for(i=0; i<10; i++) {

• SRC_CH – 1u
• ACTION1 – 1u
• ACTION2 – 1u
• ACTION3 – 1u
• ACTION4 – 1u

© 2013-2014 Basecamelectronics®
 • ACTION5 – 1u
}
for(i=0; i<15; i++) {
• SRC_CH – 1u
• PARAM_ID – 1u
• MIN_VAL – 1u
• MAX_VAL – 1u
}
• RESERVED – 8b

CMD_RESET – notification on device reset

Device sent this command when goes to reset. There is a delay 1000ms after this command is sent.
External application can free up resources and properly close the serial connection.

CMD_EEPROM_READ – receive block of data from EEPROM at the specified address.

• ADDR – 4u, 64-byte aligned
• DATA – any size, as specified in the CMD_EEPROM_READ outgoing command.

© 2013-2014 Basecamelectronics®
Outgoing command
CMD_BOARD_INFO – request version information

CMD_REALTIME_DATA – request real-time data

CMD_CALIB_ACC – calibrate accelerometer

CMD_CALIB_EXT_GAIN – calibrate EXT_FC gains

CMD_USE_DEFAULTS – reset to factory defaults

• PROFILE_ID – 1u – profile to reset, 0..NUM_PROFILE-1

Special values:
253 – erase EEPROM
254 – reset current profile

CMD_CALIB_POLES – calibrate poles and direction

CMD_READ_PARAMS – request parameters from the board

CMD_READ_PARAMS_3 – for board ver 3.x
CMD_READ_PARAMS_EXT – for board ver. 3.x, extended params

• PROFILE_ID – 1u – profile to load

CMD_WRITE_PARAMS - write parameters to board and saves to EEPROM

CMD_WRITE_PARAMS_3 – for board ver. 3.x
CMD_WRITE_PARAMS_EXT – for board ver. 3.x, extended params
Data structure is the same as for corresponding CMD_READ_PARAMS_xx incoming command.

CMD_RESET – reset device

• CONFIRM* – 1u
• DELAY_MS* - 2u
* Without parameters, device goes to reset without delay and confirmation. If CONFIRM=1, command
CMD_RESET will be sent back, and after 1000ms device will be reset. External application can free up
resources and properly close the serial connection.

CMD_CALIB_OFFSET – calibrate follow offset

CMD_CALIB_BAT - calibrate battery (voltage sensor)

• ACTUAL_VOLTAGE - 2u

CMD_CONTROL – control gimbal movement

• CONTROL_MODE – 1u

© 2013-2014 Basecamelectronics®
 • SPEED_ROLL – 2s
• ANGLE_ROLL – 2s
• SPEED_PITCH – 2s
• ANGLE_PITCH – 2s
• SPEED_YAW – 2s
• ANGLE_YAW – 2s

CMD_TRIGGER_PIN - trigger output pin

• PIN_ID - 1u
• STATE - 1u
Confirmation is sent only if pin is not used for input and is really triggered.

CMD_MOTORS_ON - switch motors ON

Confirmation send 'M'

CMD_MOTORS_OFF - switch motors OFF

Confirmation send 'm'

CMD_EXECUTE_MENU - execute menu command

• CMD_ID - 1u

CMD_HELPER_DATA – pass helper data

• FRAME_ACC_X – 2s
• FRAME_ACC_Y – 2s
• FRAME_ACC_Z – 2s
• FRAME_ANGLE_ROLL – 2s
• FRAME_ANGLE_PITCH – 2s

CMD_GET_ANGLES - Request information about angles and RC control state (board ver. 3.x)
See description for incoming command.

CMD_SELECT_IMU_3 – Select which IMU to configure (board ver. 3.x)

• IMU_TYPE – 1u

CMD_READ_PROFILE_NAMES_3 – Request profile names stored in EEPROM (board ver. 3.x)

CMD_WRITE_PROFILE_NAMES_3 – Writes profile names to EEPROM (board ver. 3.x)

Each name is encoded in UTF-8 format and padded with '\0' character to 48 byte size
• PROFILE1_NAME – 48b
• PROFILE2_NAME – 48b
• PROFILE3_NAME – 48b
• PROFILE4_NAME – 48b
• PROFILE5_NAME – 48b

CMD_GET_PARAMS_3 – Request information about configurable parameters: type, range, current

value (board ver. 3.x)
In response, board may send multiple CMD_GET_PARAMS_3 commands if all data will not fit to single
command.
--not yet implemented--

© 2013-2014 Basecamelectronics®
CMD_SET_ADJ_VARS – Change the value of selected parameter(s) (board ver. 3.x)
This command is intended to change parameters on-the-fly during system operation, and does not save
parameters to EEPROM. You need to send CMD_SAVE_PARAMS_3 to do this. List of available parameters
.
• NUM_VARS - 1u
• PARAM1_ID – 1u
• PARAM1_VALUE – 4s
• PARAM2_ID – 1u
• PARAM2_VALUE – 4s
...repeat for remaining parameters...
On success, confirmation is sent in response.

CMD_SAVE_PARAMS_3 – Saves current params from volatile memory to EEPROM, to the active
profile slot. (board ver. 3.x)

CMD_AUTO_PID – Starts automatic PID calibration (board ver. 3.x)

• PROFILE_ID – 1u - switch to this profile before start of calibration
• CFG_FLAGS – 1u
• GAIN_VS_STABILITY – 1u
• RESERVED - 16b

CMD_SERVO_OUT – Output PWM signal on the specified pins (board ver. 3.x).
Although it takes 8 values, the real number of hardware outputs depends on board version and may be less.
• SERVO1_TIME – 2s - shared with FC_ROLL
• SERVO2_TIME – 2s - shared with FC_PITCH
• SERVO3_TIME – 2s - shared with RC_PITCH
• SERVO4_TIME – 2s - shared with AUX1
• SERVO5_TIME – 2s - reserved
• SERVO6_TIME – 2s - reserved
• SERVO7_TIME – 2s - reserved
• SERVO8_TIME – 2s - reserved

CMD_I2C_WRITE_REG_BUF – writes data to any device connected to I2C line (board ver. 3.x).
• DEVICE_ADDR – 1u , where 1..7th bits specify address, 0th bit selects I2C port: 0 for main (sensor)
port, 1 for second (EEPROM) port
• REG_ADDR – 1u address of register
• DATA – 1..253 bytes
On successful writing, confirmation CMD_CONFIRM is sent in response.

CMD_I2C_READ_REG_BUF – requests reading from any device connected to I2C line (board ver. 3.x).
• DEVICE_ADDR – 1u, the same as for corresponding write command
• REG_ADDR – 1u address of register
• DATA_LEN – 1u length of the data to be read, 1..255

On successful reading, CMD_I2C_READ_REG_BUF command is sent in response.

CMD_BOOT_MODE_3 - restart system in the “bootloader” mode to load firmware

CMD_DEBUG_VARS_INFO_3 – request information about debug variables

CMD_DEBUG_VARS_3 – request values of debug variables

© 2013-2014 Basecamelectronics®
CMD_WRITE_EXTERNAL_DATA – stores any user data to the dedicated area in the EEPROM
• data – 128b

CMD_READ_EXTERNAL_DATA – request user data, stored in the EEPROM

• data – 128b

CMD_API_VIRT_CH_CONTROL – update a state of 32 virtual channels that named “API_VIRT_CHXX”

in the GUI
These channels can be selected as RC source to control camera or to do other tasks.
• VAL_CH1 – 2s
• …
• VAL_CH32 - 2s

CMD_READ_ADJ_VARS_CFG – request configuration of mapping of control inputs to adjustable

variables
CMD_READ_ADJ_VARS_CFG incoming command is sent in response.

CMD_WRITE_ADJ_VARS_CFG – writes configuration of mapping of control inputs to adjustable

variables
• Data format is the same as in corresponding CMD_READ_ADJ_VARS_CFG incoming command.
On success, confirmation is sent in response.

CMD_EEPROM_WRITE – writes a block of data to EEPROM to specified address

• ADDR – 4u, 64-byte aligned
• DATA – any size, 64-byte aligned
On success, confirmation CMD_CONFIRM is sent with parameters CMD_EEPROM_WRITE, ADDR.

CMD_EEPROM_READ – request a reading of block of data from EEPROM at the specified address
and size.
• ADDR – 4u, 64-byte aligned
• SIZE – 2u, 64-byte aligned
On success, CMD_EEPROM_READ is sent. See its description.

© 2013-2014 Basecamelectronics®
Variables description and range

Name Type Min Max Possible values, remarks

CMD_BOARD_INFO - Version information
BOARD_VER 1u Multiplied by 10: 3.0 => 30
FIRMWARE_VER 2u major_ver = (int)(FIRMWARE_VER/1000);
minor_ver = (int)((FIRMWARE_VER%1000)/10);
beta_ver = FIRMWARE_VER%10;

BOARD_FEATURES 2u Bit set:

BOARD_FEATURE_3AXIS = 1
BOARD_FEATURE_BAT_MONITORING = 2

CMD_READ_PARAMS, CMD_WRITE_PARAMS

PROFILE_ID 1u profile ID to read or write. To read or write current (active)

profile, specify 255. Possible values:
board ver < 3.x: 0..2
board_ver >=3.x: 0..4
P 1u 0 255
I 1u 0 255 divided by 100 when displayed in the GUI
D 1u 0 255
POWER 1u 0 255
INVERT 1u 0 1
POLES 1u 0 255
ACC_LIMITER 1u 0 200 Multiplied by 5 when displayed in the GUI. 0 - disabled
EXT_FC_GAIN 1s -127 127

RC_MIN_ANGLE 2s -180 180

RC_MAX_ANGLE 2s -180 180

RC_MODE 1u 0..2 bits – mode:

RC_MODE_ANGLE = 0
RC_MODE_SPEED = 1
3rd bit – control is inverted, if set to 1
RC_LPF 1u 0 16

RC_SPEED 1u 0 255

RC_FOLLOW 1u -127 127 ROLL, PITCH: this value specify follow rate
for flight controller.
YAW: if value != 0, “follow motor” mode is
enabled.

GYRO_TRUST 1u 0 255

USE_MODEL 1u 0 1

PWM_FREQ 1u PWM_FREQ_LOW = 0

© 2013-2014 Basecamelectronics®
 PWM_FREQ_HIGH = 1
PWM_FREQ_ULTRA_HIGH = 2 (BOARD_VER>=30)
SERIAL_SPPED 1u 115200 = 0
57600 = 1
38400 = 2
19200 = 3
9600 = 4
RC_TRIM_ROLL 1s -127 127
RC_TRIM_PITCH
RC_TRIM_YAW

RC_DEADBAND 1u 0 255

RC_EXPO_RATE 1u 0 100

RC_VIRT_MODE 1u Mode of RC_ROLL input pin operation:

RC_VIRT_MODE_NORMAL = 0
RC_VIRT_MODE_CPPM = 1
RC_VIRT_MODE_SBUS = 2 (BOARD_VER >= 30)
RC_VIRT_MODE_SPEKTRUM = 3 (BOARD_VER >= 30)
RC_VIRT_MODE_API = 10 (BOARD_VER >= 30)

RC_MAP_ROLL 1u Assigns pin input or virtual channel (in

RC_MAP_PITCH serial modes), and specifies input mode.
RC_MAP_YAW
RC_MAP_CMD INPUT_NO = 0
RC_MAP_FC_ROLL
PWM source
RC_MAP_FC_PITCH RC_INPUT_ROLL = 1
RC_INPUT_PITCH = 2
EXT_FC_INPUT_ROLL = 3
EXT_FC_INPUT_PITCH = 4
RC_INPUT_YAW = 5 (BOARD_VER >= 30)

Analog source
Input number + 32 (5th bit is set)
BOARD_VER < 30:
RC_INPUT_ROLL = 33
RC_INPUT_PITCH = 34
EXT_FC_INPUT_ROLL = 35
EXT_FC_INPUT_PITCH = 36

BOARD_VER >= 30:

ADC1 = 33
ADC2 = 34
ADC3 = 35

RC Serial source (CPPM/SBUS/SPEKTRUM):

Virtual channel (1..31) + 64 (6 th bit is set)

API Virtual control source

Virtual channel (1..31) + 128 (7 th bit is set)
RC_MIX_FC_ROLL 1u Add FC channel to selected RC channels with
RC_MIX_FC_PITCH given rate.
bits 0..5: mix rate. For example,
0 - no mix (100% RC)

© 2013-2014 Basecamelectronics®
 32 - 50% RC, 50% FC,
63 - 0% RC, 100% FC
bits 6,7: target RC channel
0 - no mix
1 - ROLL
2 - PITCH
3 - YAW
FOLLOW_MODE 1u FOLLOW_MODE_DISABLED=0
FOLLOW_MODE_FC=1
FOLLOW_MODE_PITCH=2
FOLLOW_DEADBAND 1u 0 255

FOLLOW_EXPO_RATE 1u 0 100

FOLLOW_OFFSET_ROLL 1s -127 127

FOLLOW_OFFSET_PITCH
FOLLOW_OFFSET_YAW

FOLLOW_ROLL_MIX_ST 1u 0 90
ART

FOLLOW_ROLL_MIX_RA 1u 0 90
NGE

AXIS_TOP 1s Main IMU and frame IMU orientation:

AXIS_RIGHT X = 1
Y = 2
FRAME_AXIS_TOP Z = 3
FRAME_AXIS_RIGHT -X = -1
-Y = -2
-Z = -3
FRAME_IMU_POS 1u Location of the frame IMU:
FRAME_IMU_DISABLED = 0
FRAME_IMU_BELOW_YAW = 1
FRAME_IMU_ABOVE_YAW = 2
FRAME_IMU_BELOW_YAW_PID_SOURCE = 3
GYRO_LPF 1u 0 5 0 means no LPF, 5 means LPF at maximum

I2C_INTERNAL_PULLUP 1u 0 1
S

SKIP_GYRO_CALIB 1u 0 1

RC_CMD_LOW 1u Available actions:

RC_CMD_MID MENU_CMD_NO = 0
RC_CMD_HIGH MENU_CMD_PROFILE1 = 1
MENU_CMD_PROFILE2 = 2
MENU_CMD_PROFILE3 = 3
MENU_CMD_1..5
MENU_CMD_SWAP_PITCH_ROLL = 4
MENU_CMD_LONG MENU_CMD_SWAP_YAW_ROLL = 5
MENU_CMD_CALIB_ACC = 6
MENU_CMD_RESET = 7
MENU_CMD_SET_ANGLE = 8
MENU_CMD_CALIB_GYRO = 9
MENU_CMD_MOTOR_TOGGLE = 10
MENU_CMD_MOTOR_ON = 11
MENU_CMD_MOTOR_OFF = 12

© 2013-2014 Basecamelectronics®
 MENU_CMD_FRAME_UPSIDE_DOWN = 13
MENU_CMD_PROFILE4 = 14
MENU_CMD_PROFILE5 = 15
MENU_CMD_AUTO_PID = 16
MENU_CMD_LOOK_DOWN = 17
MENU_CMD_HOME_POSITION = 18
MENU_CMD_RC_BIND = 19
OUTPUT_ROLL 1u DISABLED = 0
OUTPUT_PITCH ROLL = 1
OUTPUT_YAW PITCH = 2
YAW = 3
BAT_THRESHOLD_ALARM 2s -3000 3000 Negative means means alarm is disabled
Units: 0.01V
BAT_THRESHOLD_MOT 2s -3000 3000 Negative value means function is disabled
ORS Units: 0.01V

BAT_COMP_REF 2s -3000 3000 Negative value means compensation is disabled.

Units: 0.01V
BEEPER_MODES 1u BEEPER_MODE_CALIBRATE=1
BEEPER_MODE_CONFIRM=2
BEEPER_MODE_ERROR=4
BEEPER_MODE_ALARM=8

BEEP_BY_MOTORS=128
(if this flag is set, motors emit sound instead of internal buzzer)
BOOSTER_POWER_ROLL 1u 0 255 Additional power to correct broken synchronization
BOOSTER_POWER_PITCH
BOOSTER_POWER_YAW

FOLLOW_SPEED_ROLL 1u 0 255
FOLLOW_SPEED_PITCH
FOLLOW_SPEED_YAW

CUR_IMU 1u IMU_TYPE_MAIN=1
IMU_TYPE_FRAME=2
FRAME_ANGLE_FROM_ 1u 0 1
MOTORS

RC_MEMORY_ROLL 2s -36767 32767 Initial angle that is set at system start-up, in 14bit
RC_MEMORY_PITCH resolution
RC_MEMORY_YAW
Units: 0,02197265625 degree
SERVO1_OUT 1u Disabled = 0
SERVO2_OUT 1..32 - Virtual channel number as source of data to be
SERVO3_OUT output
SERVO4_OUT

SERVO_RATE 1u 5 40 PWM frequency, 10 Hz per unit.

ADAPTIVE_PID_ENABLE 1u Set of bits (0 – disable all):

D EN_ROLL = 1
EN_PITCH = 2
EN_YAW = 4
ADAPTIVE_PID_THRES 1u 0 255

© 2013-2014 Basecamelectronics®
HOLD

ADAPTIVE_PID_RATE 1u 1 255

ADAPTIVE_PID_RECOV 1u 0 10
ERY_FACTOR

FOLLOW_LPF_ROLL 1u 0 16
FOLLOW_LPF_PITCH
FOLLOW_LPF_YAW

CUR_PROFILE 1u 0 Active profile

0..2 (board ver <3.0)
0..4 (board ver >=3.0)
GENERAL_FLAGS1 2u REMEMBER_LAST_USED_PROFILE = (1<<0)
UPSIDE_DOWN_AUTO = (1<<1)
SWAP_FRAME_MAIN_IMU = (1<<2)
PROFILE_FLAGS1 2u ADC1_AUTO_DETECTION = (1<<0)
ADC2_AUTO_DETECTION = (1<<1)
ADC3_AUTO_DETECTION = (1<<2)
SPEKTRUM_MODE 1u 0 Auto-detection (default)
1 DSM2/11ms/10bit
2 DSM2/11ms/11bit
3 DSM2/22ms/10bit
4 DSM2/22ms/11bit
5 DSMX/11ms/10bit
6 DSMX/11ms/11bit
7 DSMX/22ms/10bit
8 DSMX/22ms/11bit
CMD_READ_PARAMS_EXT, CMD_WRITE_PARAMS_EXT - Extended parameters for board ver.3.x

NOTCH_FREQ 1u 0 255 Center frequency, x2 Hz (value 10 means 20Hz)

NOTCH_WIDTH 1u 0 255 Width of -3dB gain band, Hz

LPF_FREQ 2u 0 1000 Low-pass filter -3dB cut-off frequency, Hz

FILTERS_EN 1u Set of bits (0 – disable all):

EN_NOTCH1 = 1
EN_NOTCH2 = 2
EN_NOTCH3 = 4
EN_LPF = 8
NOTCH_GAIN 1u 0 100 Notch gain, in percentage

ENCODER_OFFSET 2s Units: 0,02197265625 degree

ENCODER_FLD_OFFSE 2s Units: 0,02197265625 degree

T

ENCODER_MANUAL_SE 1u 0 255 Units: 10ms

T_TIME

MOTOR_HEATING_FACT 1u 0 255
OR

MOTOR_COOLING_FAC 1u 0 255

© 2013-2014 Basecamelectronics®
TOR

ENCODER_TYPE 1u Bits 0..3:

ENC_TYPE_AS5048A = 1
ENC_TYPE_AS5048B = 2
ENC_TYPE_AS5048_PWM = 3
ENC_TYPE_AMT203 = 4
ENC_TYPE_MA3_10BIT = 5
ENC_TYPE_MA3_12BIT = 6
Bit 4:
SKIP_DETECTION = 1
ENCODER_CFG 1u SPI_SPEED_1MHz = 0
SPI_SPEED_2MHz = 1
SPI_SPEED_4MHz = 2
SPI_SPEED_500kHz = 3
MOTOR_MAG_LINK 1u 0 255

MOTOR_GEARING 2u Real number encoded as 8.8 fixed point (1.0f → 256)

ENCODER_LIMIT_MIN 1s -127 127 Units: 3 degree

ENCODER_LIMIT_MAX 1s -127 127 Units: 3 degree

CMD_REALTIME_DATA - Real-time data

ACC 2s raw data from sensors

GYRO
RESERVED_SENSOR

DEBUG 2s debug variables

RC_ROLL 2s 1000 2000 RC control channels values (PWM or normalized analog)

RC_PITCH
RC_YAW

RC_CMD 2s 1000 2000 RC command channel value (PWM or normalized analog)

EXT_FC_ROLL 2s 1000 2000 External FC PWM values. May be zero if their inputs are
EXT_FC_PITCH mapped to RC control or command.

ANGLE_ROLL 2s -32768 32767 Camera angles in 14-bit resolution per full turn
ANGLE_PITCH
ANGLE_YAW Units: 0,02197265625 degree

RC_ANGLE_ROLL 2s -32768 32767 RC angles, in 14-bit resolution

RC_ANGLE_ROLL
RC_ANGLE_ROLL Units: 0,02197265625 degree

FRAME_ANGLE_ROLL 2s -32768 32767 Frame angles, detected by the second IMU or encoders,
FRAME_ANGLE_PITCH in 14-bit resolution.
FRAME_ANGLE_YAW
Units: 0,02197265625 degree
(BOARD_VER>=30 only)
CYCLE_TIME 2u

© 2013-2014 Basecamelectronics®
I2C_ERROR_COUNT 2u Number of registered errors on I2C bus

ERROR_CODE 1u Set of bits ( 0 – no error):

ERROR_CODE_EXT 2u ERR_NO_SENSOR (1<<0)
ERR_CALIB_ACC (1<<1)
ERR_SET_POWER (1<<2)
ERR_CALIB_POLES (1<<3)
ERR_PROTECTION (1<<4)
ERR_SERIAL (1<<5)
Beside that, extended error contains bits:
ERR_LOW_BAT1 (1<<6)
ERR_LOW_BAT2 (1<<7)
ERR_GUI_VERSION (1<<8)
ERR_MISS_STEPS (1<<9)
ERR_SYSTEM (1<<10)
BAT_LEVEL 2u Battery voltage
Units: 0.01 volt
OTHER_FLAGS 1u bit0 set - motors turned ON
bit1..7 - reserved
CUR_PROFILE 1u 0 Active profile
0..2 (board ver <3.0)
0..4 (board ver >=3.0)
CUR_IMU 1u Currently selected IMU
IMU_TYPE_MAIN=1
IMU_TYPE_FRAME=2

(BOARD_VER>=30 only)
CMD_CONTROL - Control

CONTROL_MODE* 1u MODE_NO_CONTROL=0
MODE_SPEED=1
MODE_ANGLE=2
MODE_SPEED_ANGLE=3
MODE_RC=4

• MODE_SPEED – camera travels with the given

speed until the next C command comes. Given
angle is ignored.
• MODE_ANGLE – camera travels to the given
angle with the given speed. All calculations are
made by the internal motion planner.
• MODE_SPEED_ANGLE – camera travels with
the given speed while the actual angle matches
the given angle. Additionally, PID controller
keeps the given angle. This mode allows the
most precise and error-proof control.
• MODE_RC - angle parameter overrides RC
signal input data. Should be in range -500...500.
Speed parameter is ignored.
* See Fig.1 below
SPEED_ROLL 2s - - Speed of rotation. If acceleration limiter is enabled in the
SPEED_PITCH - - settings, given speed may be limited.
SPEED_YAW - -
Units: 0,1220740379 degree/sec
ANGLE_ROLL 2s -32768 32767 Target angle. Ignored in the MODE_SPEED mode.
ANGLE_PITCH If mode=MODE_RC, it specifies RC data in range

© 2013-2014 Basecamelectronics®
ANGLE_YAW -500..500

Units: 0,02197265625 degree.

Notes:

• Serial control overrides RC control. To switch back to RC, send this command with the
mode=MODE_NO_CONTROL and all data set to zeros.

• Send this command with rate 50Hz or less

• See Appendix A for source code example

CMD_TRIGGER_PIN - Trigger pin

PIN_ID 1u Triggers pin only if it is not used for input

RC_INPUT_ROLL = 1
RC_INPUT_PITCH = 2
EXT_FC_INPUT_ROLL = 3
EXT_FC_INPUT_PITCH = 4
RC_INPUT_YAW = 5 (BOARD_VER >= 30)
PIN_AUX1* = 16
PIN_AUX2* = 17
PIN_AUX3* = 18
PIN_BUZZER* = 32
PIN_SSAT_POWER** = 33

* On boards v1.x (based on Atmega328p) PIN_AUX1..3 are not

present as outputs, and should be soldered to pin2, pin11,
pin12 of MCU correspondingly. PIN_BUZZER is mapped to
pin32 of MCU.
** PIN_SSAT_POWER triggers 3.3V power line in the Spektrum
connector (low state enables power)

STATE 1u LOW = 0
HIGH = 1

LOW - pin can sink up to 40mA

HIGH - pin can source up to 40mA

CMD_GET_ANGLES - RC control state

ANGLE_ROLL 2s -32768 32767 Actual angle measured by IMU. After 2 full turns, angle is
ANGLE_PITCH cycled
ANGLE_YAW
Units: 0,02197265625 degree.
RC_ANGLE_ROLL 2s -32768 32767 Target angle that gimbal should keep. Angle is set by RC
RC_ANGLE_PITCH or control command 'C'.
RC_ANGLE_YAW
Units: 0,02197265625 degree.
RC_SPEED_ROLL 2s - - Target speed that gimbal should keep. Speed is set by
RC_SPEED_PITCH - - RC or control command 'C'. Zero speed means control is
RC_SPEED_YAW - - idle (target is reached)

Units: 0,1220740379 degree/sec

CMD_EXECUTE_MENU - Execute menu command

CMD_ID 1u Executes a menu command (acts like the menu button or

RC control channel)
See the RC_CMD_LOW parameter inside the 'R'
command for available menu commands.

© 2013-2014 Basecamelectronics®
CMD_SELECT_IMU_3 - Select IMU to configure

IMU_TYPE 1u IMU_TYPE_MAIN=1
IMU_TYPE_FRAME=2
If selected IMU is not connected, command is ignored.
CMD_SET_ADJ_VARS - Select IMU to configure

NUM_PARAMS 1u 1 40 Number of parameters in command

PARAM<N>_ID 1u ID of parameter. Full list is in Appendix B.

PARAM<N>_VALUE 4b Value depends on type of parameter. Types and min, max

range should be requested from board by
CMD_GET_PARAMS_3 command.

Values are packed according to C-language memory

model, little-endian order. 1- or 2-byte types converted
to 4byte using C-language type conversions. Floats
packed according to IEEE-754.
CMD_AUTO_PID - Start automatic PID calibration

PROFILE_ID 1u

CFG_FLAGS 1u Set of bits:

AUTO_PID_STOP = 0
AUTO_PID_CFG_ROLL = 1
AUTO_PID_CFG_PITCH = 2
AUTO_PID_CFG_YAW = 4
AUTO_PID_CFG_SEND_GUI = 8
AUTO_PID_CFG_KEEP_CURRENT = 16
GAIN_VS_STABILITY 1u 0 255

CMD_SERVO_OUT - Output PWM signal on the specified pin

SERVO1_TIME 2s -1 20000 value < 0: free up this pin and make it floating
SERVO2_TIME value = 0: configure this pin as output and set it to 'Low'
SERVO3_TIME state
value > 0: PWM pulse time, us. Should be less than
SERVO4_TIME
PWM period, configured by the “SERVO_RATE”
SERVO5_TIME parameter. Regular servo accept values in range about
SERVO6_TIME 500..2500 us, 1500 us is neutral position, PWM period is
SERVO7_TIME 20000 us or less.
SERVO8_TIME

CMD_DEBUG_VARS_INFO_3 – definition of debug variables passed in CMD_DEBUG_VARS_3

DEBUG_VARS_NUM 1u 1 255
VAR_NAME strin 1st byte is size, following by ASCII characters
g
VAR_TYPE 1u Type (0..3 bits):
VAR_TYPE_UINT8 = 1
VAR_TYPE_INT8 = 2
VAR_TYPE_UINT16 = 3
VAR_TYPE_INT16 = 4
VAR_TYPE_UINT32 = 5

© 2013-2014 Basecamelectronics®
 VAR_TYPE_INT32 = 6
VAR_TYPE_FLOAT = 7 (IEEE-754)

Flags (4..7 bits):

VAR_FLAG_ROLL = 16 its belong to ROLL axis
VAR_FLAG_PITCH = 32 its belong to PITCH axis
VAR_FLAG_YAW = 48 its belong to YAW axis
VAR_FLAG_ANGLE14 = 64 its an angle (14bit per turn)

© 2013-2014 Basecamelectronics®
ARR_SIZE 2u

CMD_API_VIRT_CH_CONTROL – update a state of all virtual channels that named

“API_VIRT_CHXX” in the GUI
VAL_CH1 2s -500 500 Value may go outside these limits and will be clipped.
.. Use a special value “-10000” to mark that channel has
VAL_CH32 “undefined” state (its treated as “signal lost” like with RC
inputs)

CMD_HELPER_DATA - Pass helper data from an outer system

Used to increase precision of the stabilization

FRAME_ACC_X 2s - - Linear acceleration of the gimbal measured in the 'outer'

FRAME_ACC_Y system. Relationship between the outer system and the
FRAME_ACC_Z sensor's system is shown on the fig.2. Note: The Y axis
of the outer system always points the same direction as
ROLL axis. It means that ACC vector, measured in the
ground system, should be translated to 'outer' system by
rotating it around Z axis by the YAW angle.

Units: 1g/512 ≈ 0,019160156 m/s2

FRAME_ANGLE_ROLL 2s -32768 32767 Inclination of the outer frame in the 'outer' system.
FRAME_ANGLE_PITCH
Units: 0,02197265625 degree.
Notes:

• FRAME_ANGLE is used only if “External FC Gain” setting is zero.

• FRAME_ACC is used only if “Acceleration compensations” setting is disabled.

• This command is useless for 3-axis systems, until YAW encoders will be implemented to know
exact YAW angles.

• Send this command with rate 50Hz or less

© 2013-2014 Basecamelectronics®
* The difference between control modes is illustrated on the picture below:

given angle given speed real angle

MODE_ANGLE MODE_SPEED_ANGLE

SPEED=10

time SPEED=0 SPEED=0 time

SPEED=-10

Fig.1 – Control modes

Z Z'' Z — global axis

Y',X' — after YAW rotation
YAW X'',Y'' — after ROLL rotation
Y'
PITCH
ROLL

X'

X''

Fig.2 – relationship between the gimbal axes and the ground system axes

© 2013-2014 Basecamelectronics®
Appendix A: Examples and libraries
Examples can be downloaded from the link:
http://www.basecamelectronics.com/files/SBGC_Serial_API_Examples.zip
See README.txt in the zip package for details.
Currently, examples provided for Arduino platform only.

Libraries
C/C++ library included as a part of examples folder.

© 2013-2014 Basecamelectronics®
Appendix B: Definition of dynamically
configurable parameters
Used in CMD_SET_ADJ_VARS, CMD_GET_PARAMS_3, CMD_READ_ADJ_VARS_CFG,
CMD_WRITE_ADJ_VARS_CFG
WARNING: this is not final and complete specification. Use CMD_GET_PARAMS_3 to receive actual
list of parameters supported by current firmware.

NAME ID TYPE MIN MAX REMARK

P_ROLL 0 1u 0 255
P_PITCH 1 1u 0 255
P_YAW 2 1u 0 255
I_ROLL 3 1u 0 255
I_PITCH 4 1u 0 255
I_YAW 5 1u 0 255
D_ROLL 6 1u 0 255
D_PITCH 7 1u 0 255
D_YAW 8 1u 0 255
POWER_ROLL 9 1u 0 255
POWER_PITCH 10 1u 0 255
POWER_YAW 11 1u 0 255
ACC_LIMITER 12 1u 0 200
FOLLOW_SPEED_ROLL 13 1u 0 255

FOLLOW_SPEED_PITCH 14 1u 0 255

FOLLOW_SPEED_YAW 15 1u 0 255

FOLLOW_LPF_ROLL 16 1u 0 16

FOLLOW_LPF_PITCH 17 1u 0 16

FOLLOW_LPF_YAW 18 1u 0 16

RC_SPEED_ROLL 19 1u 0 255

RC_SPEED_PITCH 20 1u 0 255

RC_SPEED_YAW 21 1u 0 255

RC_LPF_ROLL 22 1u 0 16

RC_LPF_PITCH 23 1u 0 16

RC_LPF_YAW 24 1u 0 16

RC_TRIM_ROLL 25 1s -127 127

RC_TRIM_PITCH 26 1s -127 127

© 2013-2014 Basecamelectronics®
RC_TRIM_YAW 27 1s -127 127

RC_DEADBAND 28 1u 0 255

RC_EXPO_RATE 29 1u 0 100

FOLLOW_MODE 30 1u 0 2 0 – disabled
1 – Follow flight controller
2 – “Follow PITCH,ROLL” mode
RC_FOLLOW_YAW 31 1u 0 1 0 – disabled
1 - “Follow YAW” mode
FOLLOW_DEADBAND 32 1u 0 255

FOLLOW_EXPO_RATE 33 1u 0 100

FOLLOW_ROLL_MIX_START 34 1u 0 90

FOLLOW_ROLL_MIX_RANGE 35 1u 0 90

GYRO_TRUST 36 1u 0 255

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