"Essentially, but that doesn't even quite describe it. Rotations are not commutative, IE they are order dependent. Direct integration takes 100's (or 1000's) of small rotations from each axis and simply adds them to a…"
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Jason Dorie
- Male
- Petaluma, CA
- United States
- Blog Posts (6)
- Discussions (4)
- Groups
- Photos
- Photo Albums
- Videos
Jason Dorie's Page
Latest Activity
Jason Dorie commented on Jason Dorie's blog post Configuration tool preview"Eventually perhaps - it's a great idea, but at the moment my quad contains only a gyro."
Tobias Krieger commented on Jason Dorie's blog post Configuration tool preview"Jason,
Looks good. You might want to consider a Magnetometer calibration option as well.
-Tobias"
Jason Dorie posted a blog postConfiguration tool preview
A number of people have expressed interest in building quads based on mine, and using my software. In order to help get them set up quickly, I've started working on a real-time diagnostic and setup tool that interacts with my quad flight software. My flight software looks like it'll be compatible with at least one commercial board (the HoverFly Sport) as we use the same MPU and gyro sensor, so you'll be able to buy their hardware and try my flight controls if you like.Here's a quick preview…See More
Kevin Vertucio commented on Jason Dorie's blog post Outdoor test video of my latest quad"Jason, looking good. I completely agree with you guys about simplicity. I have been running copter control for a few months with just gyros and no auto-leveling. Having a well tuned machine in rate mode is pretty much all you really need. "
Jason Dorie commented on Jason Dorie's blog post Outdoor test video of my latest quad"Yeah, I totally agree. I really wanted to see just how stable I could get it before adding anything else. For self leveling or autonomous flight you do need the other stuff, but I think a lot of people assume that it's necessary…"
AdminThomas J Coyle III commented on Jason Dorie's blog post Outdoor test video of my latest quad
"@simonl,
"With stability like that I have to wonder why we need all the other sensors and complicated code too!" The same thought has occurred to met too. I have followed the various quadrotor software developement from the beginning and…"
simonl commented on Jason Dorie's blog post Outdoor test video of my latest quad"Nice work Jason. With stability like that I have to wonder why we need all the other sensors and complicated code too! Can't wait for you to release the code :P"
Jason Dorie commented on Jason Dorie's blog post Outdoor test video of my latest quad"I have been working on a DCM version as well, but I'm having just as much fun (and more success) with just the gyro. The code will be open, and there's a slightly older version of it posted at the Parallax forums already. I'm going to…"
Aydin ESER commented on Jason Dorie's blog post Outdoor test video of my latest quad"Great work Jason. It seems very stable. Will your code be open ?
Are you planning to switch over DCM code ?"
Jason Dorie posted a blog postOutdoor test video of my latest quad
Here's a better video of my latest quad / code. I doubled the maximum angular rates in anticipation of some stunt flying. I probably still have to bump them higher, but I wanted to see how it handled, if it affected stability, and so on. It's just as stable, but much more nimble.See More
Jason Dorie commented on Jason Dorie's blog post Parallax Propeller based quadrotor"No method whatsoever - I think I originally used them intending the board to be mounted lengthwise and then ended up mounting it width-wise, so I just altered the code accordingly. Call my method "random chance". :)"
AdminThomas J Coyle III commented on Jason Dorie's blog post Parallax Propeller based quadrotor
"Hi Jason,
I have built several quad controllers (Aeroquad & DIY Drones Arducopter) and the gyro and accel boards seemed to be aligned with the quad pitch (Y axis) and roll (X axis) axes. From your quad pictures on the Parallax thread,…"
AdminThomas J Coyle III commented on Jason Dorie's blog post Video of my latest quad
"Hi Jason,
Thanks for the info and update. Nothing like simplicity!
Regards,
TCIII"
Jason Dorie commented on Jason Dorie's blog post Video of my latest quad"The amount of correction depends on how much breeze there is, and how close to level I can get it in the first place. If I do a good job of getting the initial level right I can often not touch the controls for several seconds. I've gone as…"
AdminThomas J Coyle III commented on Jason Dorie's blog post Video of my latest quad
"Jason,
Nice work. Looks good! Will you post updated code on the Parallax website?
Regards,
TCIII"
Profile Information
- Tell us a bit about your UAV interest
- I fly model planes and helicopters, and I'm a software developer. UAVs seemed like a pretty logical next step.
- Hometown:
- Petaluma, California
Propeller with Propellers
Here are a few videos of my custom quad rotor - scratch built and programmed.
Most recent flight (and crash) - YouTube
Last flight prior to adding heading hold on all axis - YouTube
Most recent flight (and crash) - YouTube
Last flight prior to adding heading hold on all axis - YouTube
Jason Dorie's Blog
Configuration tool preview
Posted on December 13, 2011 at 3:18am 2 Comments 0 Likes
A number of people have expressed interest in building quads based on mine, and using my software. In order to help get them set up quickly, I've started working on a real-time diagnostic and setup tool that interacts with my quad flight software. My flight software looks like it'll be compatible with at least one commercial board (the HoverFly Sport) as we use the same MPU and gyro sensor, so you'll be able to buy their hardware and try my flight controls if you…
Continue Outdoor test video of my latest quad
Posted on December 10, 2011 at 9:37pm 6 Comments 0 Likes
Here's a better video of my latest quad / code. I doubled the maximum angular rates in anticipation of some stunt flying. I probably still have to bump them higher, but I wanted to see how it handled, if it affected stability, and so on. It's just as stable, but much more nimble.
Video of my latest quad
Posted on December 9, 2011 at 1:11am 4 Comments 3 Likes
I've done some more work on the stability code in my Propeller-based quadrotor and gotten significantly better flight performance. It still needs some tuning, but all my oscillation problems are gone.
In the office:
Walking around outside the office:…
Continue Parallax Propeller based quadrotor
Posted on December 5, 2011 at 6:04pm 13 Comments 4 Likes
Here's a look at the latest iteration of my Parallax Propeller based quadrotor. The current implementation uses an ITG-3200 3-axis gyro as the only stabilization sensor.
...and an outdoor flight:
Comment Wall (1 comment)
- At 4:25pm on April 13, 2011,
Mathias said… I briefly dug through your code and let me join the long list of others in congratulating you! I too have been working on this for quite some time and can say that all the time and effort will be well worth it the first time you see it fly by itself.
I will send over my updated code soon with some basic control algorithms that you might like to take a look at. I spent quite a while testing the DCM and quaternion based estimators with flightgear (which I highly recommend for dialing in your gains and velocity correction algorithm (and it's super simple to implement)). Good luck and I hope to hear back from you!-Matt
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