Bill Nesbitt
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Bill Nesbitt's Discussions

UBlox 5: Velocity & Position actual timing

Started this discussion. Last reply by MechatronicsLLC Nov 6, 2010. 3 Replies

 

Bill Nesbitt's Page

Latest Activity

Bill Nesbitt commented on Max Levine's blog post Autoquad just got smaller :)
"Jack - I'd normally agree, but there is no 64pin version of the 42X.  The only real constraint of the 40X is the RAM and that's not quite a problem for AQ yet."
Aug 4
Bill Nesbitt commented on James Cotton's blog post Tau Labs Altitude control loop architecture and INS tuning
"There is a difference between dampening and isolation.  There is nothing wrong with rigidly attaching a hunk of lead to the IMU.  But isolating the IMU from the craft's frame is counter productive.  My point is that neither is…"
Mar 15
Bill Nesbitt commented on James Cotton's blog post Tau Labs Altitude control loop architecture and INS tuning
"No, I use only hard mount.  Vibration insulation will tend to create another rotational body somewhat independent of the frame.  I've found that ACC noise does not really hurt the integration if your timstep is short enough.…"
Mar 15
Bill Nesbitt commented on Bob Doiron's blog post Arducopter: Motor Response Compensation
"Randy is correct in that the best possible solution is to close the loop in the ESCs.  However, if that is not possible, then it is possible to model the motor's setpoint change performance and create an open loop controller that is tuned…"
Mar 15
Bill Nesbitt commented on James Cotton's blog post Tau Labs Altitude control loop architecture and INS tuning
"With the optical ground truth data, you have enough information to replay the flight in a ground simulation and compare and score the results against reality.  This could be used to create an iterative goal seeking function aimed at driving the…"
Mar 15
Bill Nesbitt commented on Jack Crossfire's blog post PX4flow microquad adventure
"Lorenz: Mr Crossfire was the original author of the improved SAD assembly code :) Jack: Fuse the reported optical position changes (not the reported velocity) and height measurements with the baro, ACC & GYO sensors' and you should then be…"
Oct 10, 2013
Bill Nesbitt commented on Jack Crossfire's blog post Active cooled brushless gimbal
"Larger motors means larger cogging effect.  What you want are "slotless" motors."
Jun 2, 2013
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…"
Apr 16, 2013
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.…"
Apr 16, 2013
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…"
Apr 13, 2013
Bill Nesbitt commented on Gary Mortimer's blog post T3 season two, the multirotor one.
"Randy: AutoQuad, not AeroQuad.  Two different beasts."
Apr 13, 2013
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…"
Apr 13, 2013
Larry 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."
Feb 6, 2013
Charles lakins commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6
"Any news on the new batch?"
Feb 5, 2013
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…"
Nov 29, 2012
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!"
Oct 28, 2012

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Bill Nesbitt's Blog

AutoQuad FC fw v6.6

Posted on July 2, 2012 at 3:00pm 100 Comments

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…

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AutoQuad ESC32v2

Posted on June 25, 2012 at 6:14pm 55 Comments

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…

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AutoQuad ESC32 v1r5

Posted on December 6, 2011 at 9:39pm 87 Comments

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:…

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AutoQuad version 6.1

Posted on July 23, 2011 at 11:34am 61 Comments

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:

 

-…

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AutoQuad ver 5.6

Posted on June 29, 2011 at 10:44am 42 Comments







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…

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Comment 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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