Doug Weibel
  • Male
  • Longmont, CO
  • United States

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Doug Weibel's Groups

Doug Weibel's Discussions

APMega - 1.0.1 alpha now in the repository

Started this discussion. Last reply by Uwe Gartmann Aug 16, 2010. 19 Replies

ArduPilot Firmware Version 2.6

Started this discussion. Last reply by Ground Loop Oct 8, 2010. 244 Replies

SuperStar EP Power System questions

Started this discussion. Last reply by Doug Weibel Aug 5, 2009. 3 Replies


Doug Weibel's Page

Profile Information

About Me:
UAS researcher at the University of Colorado, Boulder
Full scale plane and sailplane pilot
RC plane and heli pilot
Please tell us a bit about your UAV interest
UAS as scientific research measurement platforms.
High accuracy state estimation using low cost sensors.

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Doug Weibel's Blog

Proof of Concept test - Extremely accurate 3D velocity measurement with a ublox 6T module.

Posted on December 2, 2012 at 5:30pm 31 Comments


When the ublox 6 series modules were released, I noted that the 6T and 6P modules provided access to the raw carrier phase measurements, and I started thinking about how to use this capability.  My connections through my university research appointment weren't strong enough to get ublox to sample a dev kit to me (they generally don't sample them at all).  Jordi and Chris from were kind enough to use…


Annual Public Service Announcement

Posted on October 19, 2012 at 4:28pm 1 Comment

It is that time of the year when for many of us the furnaces have been turned on for the coming winter and the indoor air is getting dry, so it must be time for my annual ESD Public Service Announcement.


What is ESD?  Electrostatic Discharge!  That little spark you sometimes get when you touch a…


Lemon-RX UART and PPM output

Posted on October 19, 2012 at 4:17pm 5 Comments

I have had a Lemon-RX (previously known as Orange-RX) DSM2 6-Channel Receiver (PPM + UART)

sitting around for a bit, and finally got around to hooking it up to my logic analyzer and checking it out today.  I was interested in this RX as an inexpensive option if you need PPM output and run Spektrum/JR gear.  I knew from the spec sheet that the channel resolution on…


Best Quads doing stuff video

Posted on March 21, 2012 at 10:00am 2 Comments

In response to Chris' post of the best AP video ever, I have this offering

Difficulty with using Ultrasonic Ranging (Sonar) for landing flare control.

Posted on January 29, 2012 at 1:30pm 51 Comments

A feature frequently requested is to add support to ArduPlane for using sonar to control the landing flare.The answer, unfortunately, is probably no.  Take a look at this graph I obtained yesterday...

This has been on my to-do list for ages as I have never gotten around to getting some real world…


Comment Wall (15 comments)

At 8:57am on October 22, 2009, Greg Gibbons said…
Doug, please send your debugged IMU code, and let me know what to fix in Labview, I have 8.6 Pro Dev Suite. I noticed your in Longmont, I live in Windsor CO. We should get together and fly, I have been developing an autopilot and Ground control station for about 5 years.

Greg Gibbons
At 4:08pm on October 22, 2009, automatik said…
Hi Doug,
I would like a copy of revised ArduIMU code. I'll add you as a friend here in order to send you my emaill addy....As for LabVIEW code, i think there was a mixup between Z and indicators (if memory serves me right) and I remember seeing one more thing...
At 8:13pm on October 22, 2009, Dan Wilson said…

I would like to have a look at your IMU code.

Do your subtle changes greatly affect performance?

I have recently been flight testing the algorithm in my own application. With Jordis gains I noticed pitch estimate problems at full throttle due to what I assume was engine vibration affecting the accelerometers. I turned down the gains to about 30% what they were and it seems to have remedied the problem.

At 3:25pm on December 4, 2009,
William Premerlani
Hi Doug,

You asked:

"Hi Bill,

We (some of us in the ArduIMU community) are having a friendly disagreement over what positive acceleration means relative to a reference frame. I'm afraid none of us may know the correct convention. If you have an IMU sitting on your desk and you begin to move it in the positive X coordinate direction, while you are accelerating it is that a positive or negative acceleration from the IMU’s perspective?"

The short answer is that many accelerometers, such as the MMA7260 that I use in the UAV DevBoard, actually measure gravity MINUS acceleration. So, in the case that you cite, the acceleration is positive, so the accelerometer will give you a negative output.

Best regards,
At 4:18pm on December 7, 2009, Danilo Marques Figueiredo said…
Hi Doug,

Did your arduIMU works fine with your ardupilot?!
My project is walking and I'm thinking to replace the thermopiles with arduIMU, Is it complicated to do it?!


At 10:52pm on December 7, 2009,
Gary Mortimer
Hey Doug messaging is down so I shall have to try here, unfortunately there's lots of rip off's of the original Vtail, if its from the USA that's what it will be. There are flat spars in the original about 6mm wide that are placed in the slot that runs on the underside of the wing for that purpose, also the from of the fins also receive the same treatment thats to stop them flexing. For hinging simply use some UHUpor and run two beads of it on each surface wait for it to dry and then bring together. Works really well. Please don't hesitate to ask any more questions, although as I say most being sold in the USA are not from the designer sadly!! Hooray for China, actually another country in this case, but the less said!
At 7:56am on December 17, 2009, john bero said…
Yes, it has four flights on it. It was a challenge to keep it under 6#. Came in @ 6.01#.
The first flight was good, had issues with take-off due to the high location of the motor and poor angle of attack with the wing. Even with this it performed quite well. Have a video of first flight. It is a heavy plane for its size; however it is very stable after the two issues were taken on with a small amt. of tinkering. I think I want to build a larger one, but foam wing is the way to go, coroplast is just too heavy for anything larger than this.
At 8:24am on December 17, 2009, john bero said…
Wild-thing specs.
48” wing span
11” cord
1” ailerons
48” length overall
36” X .75” alum. Channel
5 servo’s (slave for steering)
Basswood saddle for servos
.125 OD music wire (landing gear)
2.25” wheels
Landing gear offset 1.5” for camera clearance
Monsterpower 32 out-runner kv 770
11 X 7 prop
14.8 lipo four cell
80 amp esc
6 channel receiver
2” gutter pipe
Walmart paint ball magazine (motor housing)
Soda straws
.5” poly urethane firewall (Wal-Mart cutting board)
Yellow monocoat.
Misc. nylon screws, nylon spacers, glue, Velcro, etc
At 6:29pm on March 11, 2010,
William Premerlani
I am responding to your comment about putting a plane through a windshield. Its a bit off topic, so I am putting it here.
The guy who runs the local hobby shop in my town, Daryl, sold a plane to someone. Daryl drove out to the field on the day the customer took the plane up for its first flight.
Shortly after Daryl got there, the plane went out of control, busted through Daryl's windshield, and landed in the front seat of Daryl's car. Guess he lost money on that sale.
There is a picture of the plane, taken looking through the hole in the windshield, that is up in Daryl's shop, with the caption, "shit happens".
Daryl says there is no way to know for sure what happened, but his guess is that the crystal shook loose from the receiver.
At 8:26am on June 29, 2010, Dave Whittington said…
A couple of things
1. I should be able to understand the code as necessary
2. I don't have ailerons - only rudder - but it turns very well as is
3. I only have a DX6i transmitter, so I will only be able to test MANUAL/other mode - one at a time.
4. I do have a gumstick video camera to record the flight along with the flash log
5. I will take my laptop along as necessary to download various versions - but I can't run the ground station as I didn't get telemetry hardware.
6. I will probably fly out slightly over the ocean - see - but how close can my waypoints be for a figure eight ( I want to keep it in tight and over the beach).
Dave Whittington

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