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


Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Thanks Greg, It is nice when things work the way they are supposed to :)"
yesterday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Patrick, Yeh, we want to minimise the danger in the case that someone gets a poor tune. As we become more confident that autotune is doing all the right things and that we understand how it fails we relax these limits."
yesterday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Patrick, Sorry about your crash. I can see from your logs that at the time of the crash the copter was using the normal stabilized pids and was not doing any tests. This means the copter crashed in the equivalent of stabilized mode. Unfortunately…"
yesterday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Nate892,  The next release candidate should fix your problem. Sorry about the hassle!!"
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi VP Kuisma, That is more like it. Yes it should be a little lower in the D term and P compared to the old Autotune. The old autotune targeted a small amount of overshoot, the new one is targeting perfection. This should mean a slightly more locked…"
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Vic33, No problem, thanks for your feedback and help!!"
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Sorry the adjustment to hold the yaw heading will be in the next release. Sorry!!"
Wednesday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Erik, Oh, that sucks!! No, it doesn't hold position yet. I have it planned for the future but I will get the basic functionality in there first. I will also look at alt hold tuning as well. The copter should hold it's heading during…"
Wednesday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Pomaroli, Yeh, that has the new Autotune in it. Give it a go and let me know how it goes. The heavier wiring might change things a little but not much. Thanks!!"
Wednesday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Vic33, After autotune you should land and disarm then take off and fly again to test the pids. You can also test them by moving the autotune switch back to the off position and back to the on position. Be careful though as a bad tune may need you…"
Wednesday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Terry, That is why we have these parameters: ACRO_YAW_P,3ANGLE_MAX,4500ATC_ACCEL_P_MAX,75000ATC_ACCEL_R_MAX,75000ATC_ACCEL_Y_MAX,18000ATC_RATE_FF_ENAB,1 RC_FEEL_RP,100 Autotune will set them to their highest safe value so after you have done…"
Wednesday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Lukasz, I can't seem to download your logs but we have a consistent issue with the change in the way we filter the gyro's has caused an issue with auto tune that will be fixed in the next release."
Apr 15

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Erwin, I am glad you asked :) AUTOTUNE_AXES controls which axis is tuned. 1 is roll 2 is pitch 4 is yaw So then you add them if you want to do multiple axis so 3 is roll and pitch 7 is roll, pitch and yaw. So do one axis then put a new battery…"
Apr 15

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Cool, Thanks Pomaroli!! I will be very interested to hear your feedback!! With the next autotune, I hope you will get a nice tune and close to maximum acceleration parameters."
Apr 14

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Hubertus, Oscillations is definitely bad. But it is strange as tuned pids seem to be more conservative than your original pids. If you could try the autotune in the next release for me I would really appreciate it!! Thanks"
Apr 14

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Hubertus, In exactly what way is it un usable? Autotune_aggr is a parameter that sort of defines the noise rejection of the autotune. It should have been 0.1. Autotune_Axes is a bit mask to define what axis will be tuned. 1 is Roll, 2 is…"
Apr 14

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.…

Continue

ACRO for ArduPilot 3.1

Posted on June 29, 2013 at 2:42am 148 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 19 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.…

Continue

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…

Continue

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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