Gimbal control method, gimbal control device, gimbal system, and unmanned aerial vehicle

A gimbal system comprising:

• a gimbal including a rotating shaft frame;
• and
• a control device disposed on the gimbal, the control device including a processor, the processor being configured to:
• obtain a current attitude of the rotating shaft frame included in the gimbal;
• obtain a current operating mode of the gimbal;
• compare the current attitude with a threshold attitude and obtaining a comparison result of the current attitude and the threshold attitude;
• and
• control the gimbal to rotate based on the comparison result, wherein
• the current operating mode of the gimbal includes a stabilization mode and a follow mode;
• and
• controlling the gimbal to rotate based on the comparison result includes one or more of
• controlling the gimbal to rotate based on the comparison result to maintain the stabilization mode,
• controlling the gimbal to rotate based on the comparison result to maintain the follow mode, and
• controlling the gimbal to rotate based on the comparison result to switch between the stabilization mode and the follow mode.