Method for controlling handheld gimbal, and handheld gimbal

A handheld gimbal comprising:

• a gimbal including a gimbal base and a plurality of axis joints, each of the axis joints including a motor and an axis arm drivingly connected to the motor;
• a handle connected to the gimbal base;
• an imaging device carried by the gimbal;
• a memory storing program instructions;
• and
• a processor configured to execute the program instructions to:
• obtain an input signal;
• and
• perform a first control operation triggered by a first trigger signal in response to the input signal being a predetermined first trigger signal, wherein the first control operation is used to control a yaw axis motor disposed on the handheld gimbal to start and continue to work as to enable an imaging device carried by the handheld gimbal to start and continue a rolling rotation;
• and
• perform a second control operation triggered by a second trigger signal in response to obtaining a second predetermined trigger signal when the imaging device performs the continuous rolling rotation, wherein the second control operation includes:
• in response to the second predetermined trigger signal, detecting whether a roll angle of the imaging device is equal to 0°;
• in response to detecting that the roll angle of the imaging device is not equal to 0°, controlling the yaw axis motor to continue to work;
• and
• in response to detecting that the roll angle of the imaging device is equal to 0°, controlling the yaw axis motor to stop working to cause the imaging device to stop the continuous rolling rotation.