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James Goppert
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  • West Lafayette, Indiana
  • United States
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Developer
James Goppert left a comment for James Goppert
"The problem with the other fixedwing autopilot is probably that I don't have the airspeed hooked up correctly as you suggest. The backside autopilot is using ground speed. It is probably a unit error and if you can spot it feel free to submit a…"
Nov 15, 2013

Developer
James Goppert left a comment for James Goppert
"We actually just fixed HIL for the backside fixedwing autopilot last night, this will probably help: https://github.com/PX4/Firmware/pull/530"
Nov 15, 2013
Bharat Tak left a comment for James Goppert
"Hi!  I am running your pymavlink HILS with px4. The hils works great in manual and seatbelt mode but nose dives continuously (with its wings level) in AUTO mode. Lorentz Meier suggested that it might be due to the fact that airspeed scaling is…"
Nov 15, 2013

Developer
James Goppert commented on James Goppert's blog post PX4 Autopilot: New Software! Hardware Accelerated Extended Kalman Filter/ Sensor Level HIL/ OO Control Library
"most stable : apm 2.6 most powerful: pix hawk/ px4 (these are basically the same, think of the pix hawk as px4 2.0) vrbrain: I don't have much experience with."
Nov 6, 2013
mark sett commented on James Goppert's blog post PX4 Autopilot: New Software! Hardware Accelerated Extended Kalman Filter/ Sensor Level HIL/ OO Control Library
"I'm very confused! I have to do aerial mapping e photo..which is stablest and powerful pilot? Apm 2.6, pix hawk, px4 or vrbrain? Last 3 pilot, I've not understood if are same hw/sw ! Give me light on doubts! Thanks"
Nov 6, 2013
Jack Crossfire commented on James Goppert's blog post PX4 Segway Robot
"Someone should work on indoor mapping via rover."
Nov 5, 2013

Developer
James Goppert commented on James Goppert's blog post PX4 Segway Robot
"Jason, if you were referring to not numerically taking the derivative of the pitch signal, I'm not. I'm using the pitch rate from the gyros for the D term. I am not using the encoder wheel speed, but I get the same effect."
Nov 5, 2013

Developer
James Goppert commented on James Goppert's blog post PX4 Segway Robot
"Hey thanks Jason! I have a full simulation in scilab with PIDs working for position control but agree that it is difficult especially with a short robot. I started with a  robot about the same size as the arduroller…"
Nov 4, 2013

Profile Information

About Me:
I'm a graduate student in Aerospace engineering at Purdue University. I'm working on unmanned aerial/ ground vehicle navigation in environments without GPS.
Please tell us a bit about your UAV interest
http://hsl.dynalias.com/hsl/index.php?page=unmanned-vehicles
Hometown:
Lake Lotawana, Missouri

James Goppert's Blog

PX4 Segway Robot

Posted on November 3, 2013 at 11:00pm 7 Comments

My roboclaw/pololu based segway is working well now with the new motors. I have closed the attitude loop with the gyros and the EKF pitch estimate. I will soon close the position loop with the encoders.

PX4 Autopilot: New Software! Hardware Accelerated Extended Kalman Filter/ Sensor Level HIL/ OO Control Library

Posted on January 22, 2013 at 11:00am 58 Comments

The PX4 autopilot is an amazing open source platform for research. It is one of the first open source autopilots capable of running an on-board extended kalman filter and other advanced control and navigation algorithms. It is also mass…

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ArkToolbox now released for Windows/ Mac as well as Linux

Posted on April 2, 2012 at 11:00pm 23 Comments

ArkToolbox is a toolbox for ScicosLab/ XCos (similar to Matlab simulink, but free). ArkToolbox is useful for drone control design, simulation, and testing and is compatible with FlightGear, MAVLink (QGroundControl/ArduPilotMega), and the JSBSim Trimming GUI software. This creates a completely open source toolchain for developing aircraft models, finding…

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JSBSim Trimming Demo for F16 and Shadow UAS

Posted on February 2, 2012 at 12:30pm 3 Comments

A gui for JSBSim is demonstrated. The gui is capable of trimming any aircraft modeled in JSBSim at various flight conditions. It can simulate the aircraft at the calculated trim conditions, save the linearizations around these trim states, and output the linearization to a form readable by ScicosLab. The software is demonstrated on the standard f16 model included with JSBSim and a shadow UAV model, part of arkhangar. The linearized state space models output at the trim…

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ArduPilotMega (ArduBoat) Sailboat Autopilot Heading Hold Test

Posted on December 9, 2011 at 12:00pm 8 Comments

This is a heading hold test for the ArduPilotMega based (ArduBoat) sailboat autopilot. The boat is sailed manually on a reach and then heads downwind holding a heading of 0 degrees and performs a jibe.We have waypoint guidance working in hardware-in-the-loop, so we expect to do waypoint testing soon. We might have to figure out a better solution for our digital wind…

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Comment Wall (32 comments)

At 8:14pm on July 22, 2010, PatrickD said…
Hey James,

Thanks for the info. I am only doing a longitudinal model of the easystar in Simulinkg to check elevator responses based on an optimal controller. I am using your datcom generated tables for the lift, drag and moment coefficients needed based on the angle of attack..
At 9:14am on July 26, 2010, PatrickD said…
At the moment, i have just put in a reasonable values for the lift and pitching moment coefficients due elevator deflection seeing as I had no data. I would be interested if you have more realistic data that you are willing to share. The simulink model is based on simplified longitudinal eq. of motions in wind axis. I have a mathematical constant speed controller in my model to enable it to trim at around 15m/s. I have also implemented an elevator controller based on my supervising teacher work in optimal control.
At 1:47am on November 21, 2010, KnutL said…
Hi James
tnaks for your help. I will give it a try
At 12:12am on February 4, 2011, Tomtom Express said…
Hi James,  I am allocating some time to learn how to fly again.  In the end, I want to control the plane using controls that are connected to the computer.  Have you done anything like this ?  Thanks, Harry
At 5:43am on March 7, 2011, Lars Ulfalk said…

Hi James

While trying to get a home-built autopilot to fly airplanes without ailerons I found your model of Easystar on the oooark. I've been trying to get the autopilot to fly it safely, but it seems my autopilot favors airplanes with ailerons since it has some problems flying that model. I just wanted to check if there's any problems with the model you're aware of, or if you're saitsfied with the way it behaves in the air.

 

Best regards

/Lars

At 8:01am on May 14, 2011, dmohankkvr said…

Hi James,

I want to interface ardupilot with scilab, and control my UAV from there. Could you please tell me what toolboxes you have used to interface with ardupilot. Is this simple? and how long does it take to develop this link? i'm totally new to microcontrollers.

 

Thanks & Regards,

Mohan

At 8:17am on May 14, 2011, dmohankkvr said…

I will be using Ardupilot Mega. Does this mavsim toolbox come along with scilab? or I have to download it separately and install it. My job is to test the control algorithms for controlling the aircraft. Developing the interface is not the main idea. But if it is readily available, I want to use that one. Can I command the servos as well with this toolbox?

 

Thanks

Mohan

At 12:36pm on May 27, 2011, Junior Sammy said…

What is the accuracy of ArduRover i.e. your http://www.youtube.com/watch?v=r1iJWIKbAQc video? Are there any test results such as how close the rc car stopped at the indicated stopping waypoint? Within 1m, 2metres etc? This info will be greatly appreciated, thanks. Also in that video is the magnetometer really needed? How much accuracy does it help with?

At 8:15am on June 20, 2011, Junior Sammy said…

Hi James,

 

I checkout out revision 177 of ArduPilotOne which I believe is the Ardurover version from the youtube video but when I try to compile it I get the error:

"MAVLINK_COMM_NB_HIGH" was not declared in this scope

 

How can I fix this? One of the libraries path may be wrong or not included?

At 8:26am on June 20, 2011,
Developer
James Goppert
said…
Ok, you will need to edit the svn externals to match the ardupilotmega library revisions at that date.

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