Tobias Simon
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Tobias Simon's Groups

Tobias Simon's Discussions

Linux-based Quad-Rotor Control

Started this discussion. Last reply by Tobias Simon Apr 13, 2015. 4 Replies

Hi Everyone,just want to highlight our most recent developments on PenguPilot, a GNU/Linux based Multi-Rotor UAV Autopilot.A Video with horizontal GPS position stabilization and vertical ultrasonic…Continue

Tags: Quadrotor, Linux

Madgwick IMU/AHRS and Fast Inverse Square Root

Started this discussion. Last reply by Pavan Chinta Apr 14. 63 Replies

Hi Everyone,I'm currently using Madgwick's popular filter for my own AHRS project. After some experimentation with sensors and adjusting the beta gain, I've noticed some unpredictable behavior of the…Continue

Tags: IMU, AHRS, Madgwick

 

Tobias Simon's Page

Latest Activity

Pavan Chinta replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"Hi Thomas: I have fixed my error by changing the part where I calculate the orientation angles. It turns out I was estimating dT for accelerometer and magnetometer while it should only have been applied to gyroscope. I'll leave it at that for…"
Apr 14
Thomas Solley replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"Serge, I can't give the details or the data, as I'm under an NDA---but suffice to say, in our testing here at PAS we encountered similar scaling defects to the positional data (due to accelerometer scaling, perhaps?), which was unable to…"
Apr 4
Serge Belotsky replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"Hello! I'm using free-running IMU device based on LSM6DS3 (gyro and accelerometer) and LSM6DS3 (magnetometer). LSM6DS3 are configured for 2000 °/s (gyro) and 16G (accerometer). LSM6DS3 are configured for 4 gauss range. Magnetometer are…"
Mar 31
Pavan Chinta replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"Hi Jeroen van de Mortel: I'm trying to implement the Magdwick filter on on my android glasses; however, I see a VERY large overshoot in the output when the glasses are subject to external acceleration... Here's what I have done so…"
Feb 5
Jeroen van de Mortel replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"Indeed the 6DOF C code is correct, but the C code of the 9DOF not. I found there was a difference between the matlab code an the optimized C code of the 9DOF. I don't know anything about the invsqrt."
Jan 29
Keith Laidlaw replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"Let me see if I have this correctly. If we want to use SM's C code for 6DOF (Mahony algorithm as I understand), the existing code is just fine. If we want to use his C code for 9DOF (his algorithm as I understand), the code has two known…"
Jan 28
Jeroen van de Mortel replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"The code was indeed never updated by sebastian, I found there was an optimization error in de code which is opensource when using the compass version. There was only an error in the quaternion part."
Jan 28
Thomas Solley replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"You mention there has been some change to the code----yet two years later, it seems the source code has not been updated. In the versions of this C-code you claim to have found, was there any change to the Gyroscope Heading code? Your reference and…"
Jan 25
Achal Negi commented on Tobias Simon's group Linux-based Multirotors
Aug 12, 2016
Chinlin commented on Tobias Simon's group Linux-based Multirotors
"dear all,  is there any way or APIs to make a process(ex: AHRS loop) 100% use in one of the CPU cores without OS time slicing? is that possible? Thanks"
Mar 26, 2016
LiuYunjian commented on Tobias Simon's blog post Odroid U3 based Quad-Rotor
"Hello,I am a college student. I am intresting in this programm. When I download the code form the Github,compiling in the Ubuntu is right,but when i was command with "./autopilot/services/autopilot.py" ,it turn out a series of error…"
Jan 24, 2016
Volta Robots commented on Tobias Simon's group Linux-based Multirotors
"Ubuntu-based drone delivery. With 4Gmetry (4gmetry.voltarobots.com)and Volta (diydrones.com/group/volta)"
Oct 30, 2015
Jan replied to Tobias Simon's discussion Madgwick IMU/AHRS and Fast Inverse Square Root
"Hi,  I am new here and want to use Madgwick library for my drone. I use CORTEX M4, and as IMU have a STEVAL-MKI124V1. I am not sure : In which units I have to put a data to do function MadgwickAHRSupdateIMU? (Accel, Gyro, Magnet). Do I have to…"
Aug 2, 2015
Tobias Simon commented on Tobias Simon's blog post Odroid U3 based Quad-Rotor
"Hi Mohamed, I am right now working on code reorganization. This step should allow to implement any part of the system (data acquisition, data fusion, filtering, control, flight logic) as a separate process in your favorite programming…"
Jul 10, 2015
Mohamed Abdelkader Zahana commented on Tobias Simon's blog post Odroid U3 based Quad-Rotor
"Hi, Nice work, Tobias. What's the progress so far? and how much is the average flight time? Thanks."
Jun 13, 2015
Tobias Simon commented on Tobias Simon's blog post PenguCopter team wins RobotChallenge Airrace in Vienna
"Thanks Tridge and Randy! In the last 6 Months I was completing my Ph.D project, thus there was not much time for PenguPilot (I wasn't very active on github, too). I'll try to spend more time on it in future... :-)"
Apr 14, 2015

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Researcher at Ilmenau University of Technology
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Tobias Simon's Blog

PenguCopter team wins RobotChallenge Airrace in Vienna

Posted on April 14, 2015 at 1:25am 6 Comments

Last weekend our team from Robotik AG Ilmenau won the RobotChallenge AirRace in Vienna, sharing the winner's podium with team "Sirin" from russia.

Both teams could complete 24 rounds in 10 minutes!

Our UAV is based on the …

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Quadrotor SRTM elevation map altitude control

Posted on August 11, 2014 at 12:00am 9 Comments

The video below shows a quadrotor following bilinear interpolated SRTM elevation data. Pitch, roll, yaw are controlled manually.





Barometer and elevation readings are zero'ed at start.

The baro setpoint is set to a safety distance of elevation + 7m.



There are basically three Linux processes involved in this: The GPS publisher passes…

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Odroid U3 based Quad-Rotor

Posted on June 24, 2014 at 3:30am 33 Comments

We use the Odroid U3 to control a quad-rotor (no microcontroller-based flight control, just plain Linux control code). As a Linux distribution on the ODROID we use Gentoo, and of course our quadrotor natively compiles all of its software (kernel, userspace) :D

Please have a look at our first operating prototype:

A more detailed picture with annotations is provided here:…

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Comment Wall (3 comments)

At 5:37am on June 20, 2014, Víctor Mayoral said…

Hey Tobias, those are pretty nice results :).

Feel free to add me on skype "v.mayoral". We can continue the conversation over there.

Bests,

V.

At 12:14pm on June 22, 2014, Tobias Simon said…
Thanks for providing Your contact info! Will add You tomorrow. :-)
At 6:02am on August 12, 2014, QuadrotorThai Tevada said…

Hi Tobias add me on skype "tevada11@hotmail.com" or facebook "https://www.facebook.com/quadrotorthai.tevada" Thank you. I interrest your project very much.

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