Xiaomi Yi camera stabilizer for drone ZMR F450

This is a two degree of freedom drone stabilizer for Xiaomi Yi camera.
It is intended for a ZMR F450 type frame and uses two SG-90 servos to run.

In my case, I used a microcontroller (Atmega 2560 but could be another) that takes measurements from an IMU (MPU6050) to modulate the PWM signal that drives the servos and counteracts the drone's tilts.

NOTE: The complete code of the drone is accessible in the following repository. To use it alone with this gimbal it is somewhat complex, in the future I will adapt it only for this stabilizer.

Materials needed to build the stabilizer:
• 3x M4 metric countersunk head screws (2 screws of 12 mm and one of 20 mm approximately) and nuts
• 4x M2 metric screws (1 cm long approx.) and nuts to hold the servos
• 2x SG-90 type servos

Materials that I have used to make it work:
• Microcontroller (In this case ATmega 2560 provided by an Arduino Mega)
• Connection cables
• IMU (In this case an MPU6050 module was used)

If stabilization is not desired, the servo motors could be connected directly to auxiliary channels of a radio receiver to set fixed camera angles in both axes (Roll and Pitch)

I have printed it with PLA. It is necessary to use supports in some parts of the pieces.

TIP: The adjustment with the servo arms should be quite exact, even so, to prevent the bridge from coming out, it is advisable to place a drop of hot silicone before inserting it into position.