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Ryan Beall
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  • United States
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Ryan Beall's Discussions

What is the "delay" on HH gyros

Started this discussion. Last reply by Ryan Beall Apr 21, 2011. 5 Replies

 

Ryan Beall's Page

Latest Activity


Developer
Ryan Beall commented on Chris Anderson's blog post Smart RTL comes to PX4
"It's based on distance.  Default is 60 meters of flight path retracing after lost link.  Supposedly this distance is user configurable in parameters."
Jul 5

Developer
Ryan Beall commented on Andrew Tridgell's blog post Using X-Plane 10 with ArduPilot SITL
"Perfect timing for some of my research!  Thanks and as usual, great work! "
Jul 1

Developer
Ryan Beall commented on Ryan Beall's blog post SISO Model and PID comparison
"We flew again today with the new gains.  Perfect!  Solid performance as expected.  We don't have any video but it's crazy small in the sky at 4000' agl so it would be hard to see anyway :)"
Feb 17

Developer
Ryan Beall commented on Chris Anderson's blog post APM-powered Raspberry Pi Zero flight controller from Erle
"Does it come with a raspberry pi zero, because otherwise... good luck getting your hands on one...  Great idea!"
Feb 17
Paul Meier commented on Ryan Beall's blog post SISO Model and PID comparison
"Found it : Rapid Prototyping and Quick System Identification (part 1) Is it gliding yet ? any videos ? Really cool project man"
Jan 11
Paul Meier commented on Ryan Beall's blog post SISO Model and PID comparison
"Is that a kind of mini shuttle / SpaceShipOne attached under the wing ?"
Jan 11

Developer
Ryan Beall posted blog posts
Jan 11

Developer
Ryan Beall commented on Ryan Beall's blog post SISO Model and PID comparison
"This was unapologetically a low fidelity model and I was simply trying to smartly narrow my options.  I set the N at zero but you theoretically can run the PID in discrete mode which should help your described issue. I don't think it would…"
Jan 11
Georacer commented on Ryan Beall's blog post SISO Model and PID comparison
"I think the hardest PID gain to match with Simulink is D. Simulink will accompany D with N (The low-pass filter time constant) which also depends on sampling time. Did you find any difficulties there?"
Jan 10

Developer
Andrew Tridgell commented on Ryan Beall's blog post SISO Model and PID comparison
"Along similar lines, I have been thinking it would be nice to expose a parameter vector of floats (along with a vector of names) from the various SITL simulated aircraft, and build an optimisation system that creates parameters for SITL to match a…"
Jan 10

Developer
Ryan Beall commented on Ryan Beall's blog post SISO Model and PID comparison
"Yeah that's sort of the goal for this project at face value.  I did account for 'some' of the APM specific PID specific scalings, but I'm sure you could help me find more (IE Feed Forward as recommended).  In a perfect…"
Jan 10

Developer
Andrew Tridgell commented on Ryan Beall's blog post SISO Model and PID comparison
"very nice analysis! Does this take into account some of the oddities in the ArduPilot PID code? There are quite a few weird things in their for historical reasons. Note also that APM:Plane now supports RLL2SRV_FF as a simpler alternative to a P…"
Jan 10
zheng jishi commented on Ryan Beall's blog post Rapid Prototyping and Quick System Identification (part 1)
"Great! "
Jan 10
Digital Wings commented on Ryan Beall's blog post Rapid Prototyping and Quick System Identification (part 1)
"Fantastic flight path recreation."
Jan 6
robin singh commented on Ryan Beall's blog post Rapid prototyping and Quick System Identification (part 2)
"This is amazing stuff. Identifying the system might evolve in automated pid tuning at some point. "
Jan 5

Admin
Gary Mortimer commented on Ryan Beall's blog post Rapid Prototyping and Quick System Identification (part 1)
"Ohhhhh nice Ryan"
Jan 4

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Enjoy the hobby!
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Ryan Beall's Blog

SISO Model and PID comparison

Posted on January 10, 2016 at 7:00pm 8 Comments

I did a little more refining of the model from the data previously described/collected from the Pixhawk.  The following are the results of System Identification and PID optimization.

The overall performance of the bank angle controller was suboptimal for our first flights.  It appeared to oscillate in…

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Rapid prototyping and Quick System Identification (part 2)

Posted on January 4, 2016 at 6:21pm 1 Comment

Data/Analysis

The flight data was logged on the micro sd card which was plugged into the front of the Pixhawk autopilot.  The Pixhawk is capable of logging various levels of data, but because the sd card used was 4gb, the default (all data logged) was chosen.  It was…

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Rapid Prototyping and Quick System Identification (part 1)

Posted on January 4, 2016 at 6:19pm 4 Comments



Background

I took part in a research endeavor to analyze many facets of guided/autonomous parachutes…

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Arducopter Flight data needed

Posted on January 26, 2011 at 6:02pm 36 Comments

I have been working on an improved altitude estimator for a while here but have been having issues with implementation.

 

The theory works fine but as seen above in the FFT of the accelerometer data,…

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Improved Altitude Estimate

Posted on December 5, 2010 at 7:30pm 26 Comments

The barometric sensor alone in most cases provides noisy and drift prone measurements. I have been trying to come up with a simple way to implement a fixed gain filter to utilize the acceleration measurements from the accelerometers to help clean up the noise and also add a sanity check via sensor fusion.…



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Comment Wall (5 comments)

At 9:57am on September 24, 2009,
Developer
Jordi Muñoz
said…
Hello I will have some in less than ten days.
At 12:57am on November 8, 2009,
Developer
Jordi Muñoz
said…
I use different company's for batch depends on what i want. If i need a few board but fast i use advanced circuits (super expensive). A few boards and cheap i use Batchpcb.com and mass production i use any China company like custompcb.com. Sparkfun uses goldphoenixpcb.biz/
At 12:59am on November 8, 2009,
Developer
Jordi Muñoz
said…
For diagram i use eagle cad.
At 1:24pm on November 30, 2009, Paul Mather said…
Ryan, send me an email happy@happykillmore.com
At 10:11am on August 14, 2010, marshall scholz said…
please take a look at this and tell me what you think, also any help on this project would be appreciated; http://diydrones.com/forum/topics/ardupilot-imu

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