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


Developer
leonardthall replied to Randy's discussion ArduCopter-3.2 beta testing
"Sorry about the crash Pomaroli!!! I have a couple of questions. Are you running SimonK? Can you share the video? Sorry again."
Sep 7

Developer
leonardthall commented on Hai Tran's blog post LiPO Fire onboard Fijian Airlines B737
"@OG lots of talk but no links to test data, looks like a serious case of placebo to me. It is true you get what you pay for but in this case I think people are paying for bragging writes. (except improved testing…"
Sep 5

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hi Ryan, I couldn't see your pid values but there are two things that can effect this. One of them is manual tuned rate pids that are actually quiet unstable and limit the stab P value. The second is the Rate I and I max terms. You can increase…"
Sep 3

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hey Shay, are you using a APM or a Pixhawk? Thanks for the feedback everybody!!"
Sep 3

Developer
leonardthall replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi Erik, I don't trust either of these tunes because the D terms are started very high, especially in the RC5 version. Could you please repeat the autotune with the Pitch and Roll D terms set to 0.004 and P terms set to 0.1 and I terms 0.1 and…"
Aug 31

Developer
leonardthall replied to Randy's discussion ArduCopter-3.2 beta testing
"H Darrell, It is always hard to suggest that someone use a release candidate but I think it is worth the additional risk for a 250 sized quad.  so use the latest release candidate and set the MPU6k filter setting to 42. "
Aug 30

Developer
leonardthall commented on Euan Ramsay's blog post Payloader max prototype complete
"My understanding is that ESC's are designed to handle the inductance of a relatively short power connection. If you extend this the voltage spikes can ge large enough to damage the ESC. The capacitor reduces the size of the spike."
Aug 29

Developer
leonardthall replied to MHA's discussion APM 3.1-rc4 yaw PID tuning
"I don't give much advice here because I haven't had the time to explore the yaw tuning issues and most of the community us in the same boat. My default yaw tune has been to double the defaults and make the D term 0.004. But other than…"
Aug 28

Developer
leonardthall replied to MHA's discussion APM 3.1-rc4 yaw PID tuning
"Yeh, Arducopter is the only flight controller with auto tune that doesn't support yaw. How crappy is that! I wanted to get yaw in there but I spent my time working on why auto tune didn't work on small and high powered copters. I realize…"
Aug 28

Developer
leonardthall replied to Shane's discussion Arducopter just not reliable.
"It means the test deviated from the defined parameters and needs to be investergated to understand why. The time stamp shows where in the log it deviated. You can see the mission in the ArduCopter-test.tlog.png below. These tests run on master every…"
Aug 25

Developer
leonardthall replied to Shane's discussion Arducopter just not reliable.
"Hi Healthyfatboy, It isn't that it won't work without the ground wire, it is that may not work. We have had one person on these forums who was having trouble that turned out to be precisely this. You need a ground return path for current…"
Aug 25

Developer
leonardthall replied to Shane's discussion Arducopter just not reliable.
"This is open source and we don't restrict the release in any way. Everybody knows beta releases are there for people to find and report problems. Anybody using a beta release does so at their own risk and we say so openly and frequently. There…"
Aug 25

Developer
leonardthall replied to Shane's discussion Arducopter just not reliable.
"NNNNNNOOOOOOOOOOOOOOO Don't anybody do this!!!!!!!!!! You MUST connect both the signal and the ground wire of each ESC!!! You don't need to connect the red power wire."
Aug 25

Developer
leonardthall commented on Brendan22's blog post The "T" copter family of 3D printed drones is growing!
"Oops, I meant to say they are the only copters I have seen that...."
Aug 23

Developer
leonardthall commented on Brendan22's blog post The "T" copter family of 3D printed drones is growing!
"These designs are the only available examples of 3d printed copters that make full use of the strengths of 3d printing while avoiding the weaknesses. If you want to build a 3d printed copter I highly recommend that you start here. Even if you want…"
Aug 23

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Promising so far! Keep the feedback coming. Thanks!"
Aug 17

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 57 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 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.…

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…

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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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