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


Developerleonardthall commented on Roberto Navoni's blog post VR GIMBAL ( Board Control and IMU ): We are ready for developer.
"Hi Roberto, I would be happy to have a look at the control algorithms and data conditioning stuff. Nice work!"
4 hours ago

Developerleonardthall replied to Thomas Kranz's discussion Custom Motor config for Quad V-Frame need help to configure AP_MotorQuad.cpp
"I do it something like this in Matlab Prop(1).Pos = [sind(60.98)*412.29,cosd(60.98)*412.29];Prop(1).Dir = 1;Prop(2).Pos = [-sind(144.06)*444.66,cosd(144.06)*444.66];Prop(2).Dir = 1;Prop(3).Pos = [-sind(60.98)*412.29,cosd(60.98)*412.29];Prop(3).Dir…"
May 4

Developerleonardthall replied to Thomas Kranz's discussion Custom Motor config for Quad V-Frame need help to configure AP_MotorQuad.cpp
"Hi Josh, this still assumes that the CG is at the center of lift. You can visualize this by picturing a 2 prop copter where one is directly above the CG and one is behind it. When applying throttle only the main prop should increase because if the…"
May 3

Developerleonardthall replied to Thomas Kranz's discussion Custom Motor config for Quad V-Frame need help to configure AP_MotorQuad.cpp
"It looks like you are getting your CG and CL right but how are you calculating your Yaw coefficients. I calculated 0.72391 and 1. Other than that it all looks fine."
May 3

Developerleonardthall replied to Thomas Kranz's discussion Custom Motor config for Quad V-Frame need help to configure AP_MotorQuad.cpp
"}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {add_motor(AP_MOTORS_MOT_1, 45, 0.72391, 1);add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);add_motor(AP_MOTORS_MOT_3, -45, -0.72391, 4);add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2); or }else if(…"
May 2
Thomas Kranz left a comment for leonardthall
"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"
May 2

Developerleonardthall commented on Matthew Coleman's blog post Fly-by-polar
"Having just helped rewrite the navigation routine for the arducopter code........ I am looking forward to "More about that""
Apr 30

Developerleonardthall commented on Matthew Coleman's blog post Fly-by-polar
"Yeh, the potential really makes me smile. I would love to get the time down the track to do up a high performance glider version for the APM. Automated cross country flying, that sort of thing. Really focus on optimal flight. By that I mean…"
Apr 29

Developerleonardthall commented on Matthew Coleman's blog post Fly-by-polar
"Love it!!! I have been making and flying gliders since I was 14 and originally wanted to do exactly what you are doing here. Very nice work!!!"
Apr 29

Developerleonardthall replied to Dave C's discussion Arducopter Tuning Guide
"To tune Alt Hold you should start by reducing the Accel P term keeping Accel_I 2xP. You should not need to tune the rate terms. "
Apr 24

Developerleonardthall replied to Dave C's discussion Arducopter Tuning Guide
"Stab I should be zero."
Apr 8

Developerleonardthall replied to Dave C's discussion Arducopter Tuning Guide
"I would start from 0.001 to 0.005. I am not sure if I would recommend going past 0.005 though."
Mar 29

Developerleonardthall replied to Dave C's discussion Arducopter Tuning Guide
"Good to hear it is going well mate!! "
Mar 26

Developerleonardthall replied to Dave C's discussion Arducopter Tuning Guide
"Rate I isn't critical. I would just set it to your lowest value on your slider until you have a value for Rate P that you are happy with. Then you can make I = P. (some go to I = 2xP). "
Mar 22

Developerleonardthall replied to Dave C's discussion Arducopter Tuning Guide
"I would make the I = P with P on your Ch6 slider (or increase I on the slider up to P). Then go on with your tuning. Having the I term small can make I term build up a pain in the... or make hovering more work than it should be. Then as you say…"
Mar 22

Developerleonardthall replied to Dave C's discussion Arducopter Tuning Guide
"Yeh, the idea of low Rate_P is just to get it off the ground safely for the first time. Then tune it higher from there to get it to a more reasonable value. This may also be why you were having more trouble than usual on take off. I would make sure…"
Mar 22

Profile Information

About Me:
RF Engineer with a solid understanding of filtering and control loops.
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


Developer

ArduCopter 2.9 PID Loops for STABILIZE, ACRO and ALT_HOLD

Posted on January 20, 2013 at 4:30am 10 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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Developer

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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Developer

Yaw Control, ESC Linearization, and Hover (Reconstruction)

Posted on September 17, 2012 at 9:23pm 0 Comments

I lost this post so I have attempted to reconstruct what I can of everybody’s replies. I think I did ok in the end. I continued my discussion of the topic here:…

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Developer

Stability Patch for Motor Max and Min and Yaw Curve

Posted on September 17, 2012 at 8:59am 4 Comments

Hi all, it appears that my blog post “Yaw Control, ESC Linearization, and Hover” has been lost. I hope that it will be saveable but I am not holding my breath. If it can’t be saved I will attempt to reconstruct it but while I have most people’s replies on my emails but I don’t have my own. If anybody has a copy of my…

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Comment Wall (6 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,
Developerleonardthall 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

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