Developer
leonardthall
  • Male
  • Fairview Park, SA
  • Australia
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Latest Activity


Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, I have found that coaxial copters tune high. So I would say that unless the copter isn't handling well then leave it the way it is. In the next release there will be some improvements to autotune that will improve roll and pitch slightly…"
Jan 6

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, The coaxial prop set up is very complicated. I don't think anybody realisticly tell you that 4" is better than 3". There are simply too many variables. I can confirm that the lower prop is working harder than the upper prop but…"
Jan 5

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, Could you tell us about your frame and maybe add a couple of photos. Your autotune is maxing out on each axis and that is why your values aren't changing and are the same. I suspect that mission planner is then seeing that they are all…"
Jan 3

Developer
leonardthall commented on Adrián Nagy Hinst's blog post GimBALL - 3D printed DIY Gimbal with closed hull - PART2 (assembly)
"Fantastic job!!! "
Jan 3

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, Looks like your autotune isn't finishing. Do you have a log?"
Jan 3

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Artem, I looked at each test that Autotune did to see when it started to miss the correct interpretation of the rate response curve. I am looking for the point where the D term causes the rate to bounce back. In your case it is doing this much…"
Dec 28, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Bernie Liskov , Sorry, this is not the right place to ask those questions. I would suggest the 3.2 thread or open a help thread on the arducopter forum."
Dec 28, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi  Artem, Looking at your autotune log I can see what is happening. I am not sure why but your copter is responding slightly differently than usual. This may be your particular combination of motor and prop or it could be the fact it is a…"
Dec 28, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Artem, Could you provide some logs and tell us what the 3.1 Pids were. Nice copter, how much does the battery and gimbal move?"
Dec 23, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Artem, Can you provide the log file for the autotune. Some photoes of your copter is also helpfull. Could you also tell us what about your flying characteristics on the new tune that you don't like. Thanks."
Dec 23, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, Good to hear mate! Have a good Christmas!"
Dec 21, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"That check box should be left unchecked because mission planner will try to change the role and pitch Pids to be the same. Autotuned sets each differently based on your airframe so it is very difficult to get the same settings for both after auto…"
Dec 20, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, The loiter P and the rate loiter P and I terms are the ones you need. So start with Loiter P 0.5, Rate loiter P and I 0.5 and 0.25. As for yaw rate IMax, just double it."
Dec 20, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"You can gust drop the loiter Pids by 50% to reduce the loiter twitch problem. It is a tradeoff between how aggressively it holds position and how accurately it holds position. Just make sure you drop both the position and velocity Pids."
Dec 20, 2014

Developer
leonardthall commented on BrainFPV's blog post Brain FPV Flight Controller - Tau Labs - Full Graphic OSD - Made in USA - 36x36mm
"A couple of us have been pushing a board with these features in arducopter for a while now. Well done!!!"
Dec 20, 2014

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Edgar, I would suggest recalibrating your compass and doing a compasmot."
Dec 20, 2014

Profile Information

About Me:
RF Engineer with a solid understanding of filtering and control loops.
Please tell us a bit about your UAV interest
Quads and gliders.

My quad has been a quick development to take some aerial photography on a 4wd trip along the Simpson desert.

I am on my second frame design that now folds up nice and tight and also carries the go pro effectively. It has pitch compensation through the ARM2 and 5.8GHz video feed back to some Fatshark goggles.

I am happy with the pids but I feel like loiter could be improved. Most of my tuning problems have come from the absence of the latest control loop descriptions on the wiki. But that goes with a community development like this. Maybe when I have time to go through the code I can draw up some new diagrams for the wiki.

I have broken 6 props, 5 on parts of my body an 1 on the ground. I had an esc cut out and tilt the quad into my legs on landing. I reset the esc's and forgot to reset the cut-out. I then had a mystery takeoff at my feet as I was downloading logs. I had plugged the battery in because I sometimes have trouble connecting when only powered by usb. Stupid mistakes....

All in all I am happy with my first attempt, especially as I really only spent about 4 days over the last 4 weeks working on this and it is my first quad attempt.

I would like to thank the DIY drones team for a fantastic job and I hope I can help in the future.
Hometown:
Adelaide

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Leonardthall's Blog

Printed high speed AVC copter and crash

Posted on June 8, 2014 at 2:26am 64 Comments

Hi all,

I thought I would share the copter I hoped/hope to fly at ACV this year. I wanted to try to see what speeds I could get from a quad. I also thought it would be interesting to see what I could to with a 3d printer. I have access to a Makerbot 2x and I was also adding a heated bed to a friends printer.…

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ACRO for ArduPilot 3.1

Posted on June 29, 2013 at 2:42am 142 Comments

Hi all,

My motivation to get involved in the development team was to bring a good ACRO mode to ArduCopter. Three or four months ago Robert Lefebvre suggested that we could integrate the rate error and use it to correct the platform in the body frame. He went on to demonstrate this…

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ArduCopter 2.9 PID Loops for STABILIZE, ACRO and ALT_HOLD

Posted on January 20, 2013 at 4:30am 18 Comments

Hi all,

I thought I would attempt to draw up a couple of diagrams of the PID loop in the ArduCopter 2.9 release.…

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New Throttle PID Idea

Posted on October 24, 2012 at 3:39am 16 Comments

Hi All,

I have been thinking about the way we have implemented our throttle and the performance issues that we have observed. First of all I would like to say that I get great altitude hold. I can cruise around at 1 or 2 meters above the ground with no problems. It is only when I start to get…

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Comment Wall (7 comments)

At 6:28am on November 25, 2012, Hans Jakob Bosshard said…

Hi Leonard,

Thanks for your comment! Thats really interesting. Are you working in research or on applications? I my younger days I worked in the domain of the good old stripline technique for mw oscillators and amplifiers at the ETH Zurich and later on mw transmission systems for telephony and video for a swiss telecom operator. Also some years in mainly system aspects for high bitrate fiber transmission systems  Now I am early retired due to restruction at this operator.

Is it possible for me to receive a copy of your Matlab / Simulink simulation software to get a feeling? I am not yet enough used to rebuild up your models including the quad in Matlab / Simulink.

By the way  I attached the sonar sensor some 8 cm away from the center (see attached photo). Now the noise and spikes are reduced quite substantially. A further reduction is expected when connecting the APM 2 to the BEC I received from the DIY Drone shop. Best regards Jack

 

At 6:47am on November 25, 2012, Hans Jakob Bosshard said…

Hi Leonard,

Another question concerning your Matlab/Simualtion sofware. Did you determine the quadrotor model i.e. inertia values by experiments? If yes, which way? I found recently indications that someone used a so called trifilar pendulum method (see Harris' Shock and Vibration Handbook).

Regards

Jack 

At 8:30am on December 8, 2012, Hans Jakob Bosshard said…

Hi Leonard,

With the new seperate BEC from the DiYDrone shop and placing the sonar sensor a few centimeters away from the electronic "center" the noise and observed spikes (when changing throttle) diminshed quite a lot. I am awaitung better times (without snow and rain) for a first fly outside for experiments and tuning.

Did you see already my last comment concerning receiving a copy of your matlab simulation program and determination of the drone i.e. inertia parameters and thrust?

Best regards

Jack 

At 11:47pm on February 28, 2013, zhang xu said…

Hi leonardthall, really thanks for that paper,  I'll try to figure out how it works and  try to use it fusing other sensors like Optical Flow and GPS or ACC. That filter is  really a fantastic magic, i'll learn how to perform that magic by my self. 

At 2:47am on March 1, 2013,
Developer
leonardthall
said…

Let me know if you want to have a chat about it over skype some time.

At 11:29am on May 2, 2013, Thomas Kranz said…

Hi Leonard,

since you developed the V-code please have a look here http://www.diydrones.com/forum/topics/custom-motor-config-for-quad-v-frame-need-help-to-configure-ap-1

thanks for your support

cheers from Germany

Thomas

At 4:27pm on May 15, 2014, adam bazley said…
Hi Leonard,

i know that this is a strange way to contact you but I was wondering if i could get some help with editing the ArduPilot's user code sections ?
if you email me off list at a.bazley@gmail.com you would rock.

thanks
Adam

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