"Larger motors means larger cogging effect. What you want are "slotless" motors."
Bill Nesbitt's Discussions
UBlox 5: Velocity & Position actual timing
Started this discussion. Last reply by MechatronicsLLC Nov 6, 2010. 3 Replies 0 Likes
Bill Nesbitt's Page
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Bill Nesbitt commented on Gary Mortimer's blog post T3 season two, the multirotor one."As I said earlier the data shown in the KML are raw LAT/LON coordinates recoded from the UBlox module. We seem to getting back to the outside observer requirement rather quickly :)
I think that you will soon find out that there is more to…"
Bill Nesbitt commented on Gary Mortimer's blog post T3 season two, the multirotor one."Randy: Actually no. Steve presented two 3D plots, both of them showing the actual LAT/LON reported by the GPS module. One was showing the GPS reported altitude and the better one reported the barometer estimated altitude.…"
Bill Nesbitt commented on Gary Mortimer's blog post T3 season two, the multirotor one."I own a Dranganfly. Its performance is below everything I've seen here.
I agree that such observation is not needed in this case if all of the contestants have shown themselves. But what happens if there are other AQ entries, or…"
Bill Nesbitt commented on Gary Mortimer's blog post T3 season two, the multirotor one."Randy: AutoQuad, not AeroQuad. Two different beasts."
Bill Nesbitt commented on Gary Mortimer's blog post T3 season two, the multirotor one."R_Lefebvre: The altitude the GPS reports is what the GPS module thinks the altitude is, not the actual altitude. Just as the pressure sensor derived altitude is not the true altitude.
Unless / until you have a trusted 3rd party observation of…"
Larry Rauenhorst commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"Charles
The AQ board is available at dealers now. It's still not a board for people without a lot of experience with autopilots."
Charles lakins commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"Any news on the new batch?"
Matthew Watson commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"Hi Bill. I saw earlier you referred to the MPU6xxx sensors as high end toys, have you had any time to further research this? I ask as I am currently struggling to temperature calibrate the gyroscopes on mine, as I seem to get a completely different…"
Alexey commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"Bill, thank you. As i understand this effect is present but on the small scale and scale will be very dependent on how accurately actual sensor noise variance setup in the filter. Thanks for sharing you very non-trival code!"
Bill Nesbitt commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"Alexey: Initially I was also concerned about this, but it turns out not to be a problem for a few reasons. First, shortly after takeoff the filter learns what the acc biases are and quickly realizes that their variance is quite low so their…"
Alexey commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"Hi Bill, i noticed that you including accelerometer biases in your KF. Wonder what happens when quad-rotor hovers for prolonged time in steady wind. Since GPS position is not changing it should slowly leak into accelerometer bias. Which…"
Bill Nesbitt commented on vis.asta's blog post quadrocopter ultra-long flight (141min)"Don't know what he's using, but I've been using RCTimer 5010 360Kv motors with RCTimer 15x5.5" CF props with a minimum of 4S."
Bill Nesbitt commented on vis.asta's blog post quadrocopter ultra-long flight (141min)"This is no hoax. Victor uses a flight controller of his own design running a modified version of AQv6 firmware. Dropping spent batteries is of course what makes this demo possible. However, getting long flight times without…"
Bill Nesbitt commented on Jamie Ahmed's blog post Let's talk about Inertial Dead Reckoning!"The best navigation grade IMUs that money can buy today have a drift of over 1m per minute if left uncorrected. Making an IMU that can estimate anything useful enough for position hold without correction using cheap MEMs sensors along with the…"
Andrew Dunlop commented on Bill Nesbitt's blog post AutoQuad ESC32v2"Hi Bill,
I am puzzled at how you implement closed loop speed control at 1kHz. How do you obtain a new estimate of angular velocity to calculate the error term at this rate? At 200rpm (for example), there are only 20 zero crossings per…"
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Bill Nesbitt's Blog
AutoQuad FC fw v6.6
Posted on July 2, 2012 at 3:00pm 100 Comments 23 Likes
It's been a while since I've posted an update on the progress of the AutoQuad flight controller. The event that we've all been waiting for has arrived with ST Micro's announcement and subsequent release of their STM32F4 product line. As expected, the micro-controller is pin for pin compatible with…
Continue AutoQuad ESC32v2
Posted on June 25, 2012 at 6:14pm 55 Comments 20 Likes
I wanted to bring everyone up to date on where the ESC32 development is at this point. After a lot of testing of the version 1 design, we found that operating under high current situations, current spikes caused by commutation were introducing a lot of noise on the digital side of things. In the worse…
Continue AutoQuad ESC32 v1r5
Posted on December 6, 2011 at 9:39pm 87 Comments 30 Likes
Recently the Chinese ESC design utilizing the ATMEGA which we have been flashing with Bernard Konze's firmware has been disappearing from the market. This was the push I needed to finally decide to design and build a replacement. Collaborating with a friend, we worked on it over the summer. It is finished and I think it came out pretty well. I call it ESC32:…
Continue AutoQuad version 6.1
Posted on July 23, 2011 at 11:34am 61 Comments 15 Likes
For those following this saga, version 6.1 of the AutoQuad board is complete and has passed initial testing. I have taken the 5.0 design and added features that should make it more flexible and expandable while increasing performance. Here is a summary of specifications:
Hardware:
-…
Continue AutoQuad ver 5.6
Posted on June 29, 2011 at 10:44am 42 Comments 28 Likes
The distributors finally got in some of the new ST Micro STM32F2 series uControllers and I grabbed a few. I was able to "shoehorn" one into a ver5 board as the pinout is close to compatible with the performance STM32F1 series. Spent a few days rewriting the device drivers and am very impressed with this…
ContinueComment Wall (3 comments)
- At 4:20pm on February 7, 2011, Jan Lukas said…
very neat work, really impressive :)
- At 3:04am on July 28, 2011, Cliff Dearden said…
Hi Bill, been meaning to get back to you for some time now, just wanted to say what a great video with the Hex. and can't wait to see your next one with your new board. I hope
your going to be selling them sometime since you have two very willing customers over
here in South Africa. I'd still like to have a chat with you on the phone sometime if possible.
Thanks and cheers for now. Cliff
- At 10:21pm on December 7, 2011,
Martin Szymanski said…
You are correct. Voltage has its push (electromagnetic force) Where as current is similar to a larger capable pipe flowing. (101) I am not sure of the older ESC's but I know that some modern ESC's have ability today to do Vectoring.
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