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Ryan Beall
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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

shawngu commented on Ryan Beall's blog post Position & Wind Extended Kalman
"hi,my name is shawngu,i work for a agriculture automation agency in china. basically,we provide automation solutions for billions of chinese farmers to  improve their farming efficiency. see,china is a big agricultural nation,so the profit in…"
Mar 13

Developer
Ryan Beall commented on Graham Dyer's blog post ArduPilot formation flying attempt
"Try closing on the plane on the 30-45 degree bearing line.  Flying form is really hard from the 6 o'lock position.  If you close on the 45 deg bearing line you can more accurately judge your closer speed.  Never just drive…"
Jan 3

Developer
Ryan Beall commented on Earl's blog post PX4 launch with tongue...
"Congrats Earl!"
Jul 18, 2013

Developer
Ryan Beall commented on Jason Short's video
Thumbnail

Roller 2

"Nice man! "
Jan 21, 2013

Developer
Ryan Beall commented on Trent at MyGeekShow's blog post MyGeekShow's New APM Airplane
"Beings you can cut tapered wings why not implement that into the design?  The closer you can get it to look like an ellipse the lower your induced drag will be.  Just don't forget to put some washout in the tips.  Also the swept…"
Nov 28, 2012

Developer
Ryan Beall commented on Chris Anderson's blog post Nice retractable pan/tilt mount
"And this is why patents were created!  Got to love the spread of a novel idea turned into something even more novel!  Love it!  I'll buy 6."
Aug 31, 2012

Developer
Ryan Beall commented on leonardthall's blog post Acro Mode PID Options and "Fly by Wire"
"I can't speak to quads because I've only run some of the old stock code, but your feed forward approach should work pretty well depending upon how you write the adhoc logic and error saturation stuff.  I wrote the exact same PID setup…"
Aug 31, 2012
Vũ Minh Phong commented on Ryan Beall's blog post Improved Altitude Estimate
"Hello Mr. Ryan, I'm a student who are working on a quadrocopter project. I think your article is very amazing. However, I couldn't understand all of those 6 line of code. what kind of filter are you using to combine the data from…"
Aug 9, 2012

Developer
Ryan Beall commented on Trent at MyGeekShow's blog post GPS Interference Testing
"Just to add a little more emphasis on hdop:  I pay attention to sats on the map page, but I mostly pay attention to hdop.  For the Mtek gps, I didn't feel comfortable launching until I saw below 200 for hdop.  When you…"
Jul 7, 2012

Developer
Ryan Beall commented on Trent at MyGeekShow's blog post GPS Interference Testing
"I've noticed the same issue with the Mtek gps not giving a 3d fix with 4 sats. It's really not an issue I guess because I wouldn't fly with less than 6 in most cases anyway. With that being said, APM is reporting the number of sats…"
Jul 7, 2012

Developer
Ryan Beall commented on John Wiseman's blog post Browser-based map module for mavproxy
"Well yeah that's an obvious fix, however then you have to have a wifi router as part of your groundstation setup.  With planner I just connected to an adhoc wifi directly to the coputer and skipped the need for a router which was super…"
Jun 24, 2012

Developer
Ryan Beall commented on John Wiseman's blog post Browser-based map module for mavproxy
"Cool, how do you get the iphone on the same wifi as the laptop?  Planner has a hidden feature that spits the hud and the map over a similar jpeg server.  I only got my iphone to connect via adhoc network once and it worked but for some…"
Jun 24, 2012

Developer
Ryan Beall commented on Chris Anderson's blog post Dealing with GPS blocking/jamming
"It seems like INS is almost garbage from the above description.  The drift rates for common INS in military aircraft including uav's are really quite phenomenal.  Range of the aircraft dependent, you could easily get yourself out…"
Jun 14, 2012

Developer
Ryan Beall commented on Trent at MyGeekShow's blog post Flying Wing Testing - No Stabilizers and Expos
"One thing to think about with this kind of design is the aero going on around the tips.  Ideally you have a little twist in the wing to reduce the lift distribution at the tips to prevent tip stall.  Winglets in this case also will help…"
May 26, 2012

Developer
Ryan Beall commented on Jason Short's blog post ArduCopter Loiter Tuner / SIM
"And you can tweak it if you want by doing something like this: SOG_estimate = SOG_now + K*(SOG_now - SOG_old); Where K is some gain typically 1 or less and always positive. "
May 19, 2012

Developer
Ryan Beall commented on Jason Short's blog post ArduCopter Loiter Tuner / SIM
"Jason, That's not exactly what you want to do.  You don't want to derive a separate state from the gps measurements.  You want to smooth the ones you already have!  So Speed would output a smoothed speed and…"
May 19, 2012

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Ryan Beall's Blog

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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Improved Wind/Position EKF

Posted on July 25, 2010 at 2:00pm 6 Comments

I posted this earlier but did some tweaking on it to compare the Extended Kalman to my Fixed Gain Observer filters. I haven’t finished the FGO position filter but am really starting to lean more on EKF because the performance really is significantly better.…

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Improved Heading Controller

Posted on March 31, 2010 at 11:35pm 7 Comments

http://www.youtube.com/watch?v=cipTQAUM-v4

Note** these are 100meter orbits with really strong winds to provide a…

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No Baro altitude filter for ArduPilot

Posted on March 8, 2010 at 8:18pm 7 Comments

I wrote down a napkin sketch of an altitude filter a while back and finally got around to testing it in the simulator. I designed it to improve the sensed altitude of the ardupilot. It is based on a fixed gain observer model and shows very promising results. The idea is to use the "lagless" airspeed sensor to give you a less noisy lagless altitude estimate. Enjoy!

K_alt = -0.01;

avg_aoa = 0.52*(pi/180); //alpha =…

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Comment Wall (5 comments)

At 9:57am on September 24, 2009,
3D Robotics
Jordi Muñoz
said…
Hello I will have some in less than ten days.
At 12:57am on November 8, 2009,
3D Robotics
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,
3D Robotics
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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