Developer
leonardthall
  • Male
  • Fairview Park, SA
  • Australia
Share

Leonardthall's Friends

  • Aleksey Timofeev
  • Fabio Calderón
  • Marco Paggot
  • Randy Bachtell
  • Leonardo Bassin
  • lloydm
  • rabia tahir bajwa
  • Ranair
  • Justin Martin
  • Martin
  • Gerrie van Zyl
  • marco
  • Baris
  • ArchillesElbow
  • Jay Galleno

leonardthall's Groups

 

leonardthall's Page

Latest Activity


Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Adolfo, Sorry missed that. Yeh, try the RC Feel and if you want to try autotune again use aggr of 0.05. Your tune looked very nice so I think you can handle a finer tune. We set it to 0.1 so it will handle the higher vibration and flex a lot of…"
7 hours ago

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Pomaroli, Looks good to me. I can't see anything that makes me worry about it. And if it flies well, that is the acid test. Enjoy!!"
8 hours ago

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Adolfo, Drop your RC_Feel to 25 and see if that fixes the problem. If it does put your pids back to the autotuned numbers and see how it feels. "
8 hours ago

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Sorry Andre, I got you mixed up with another person. To start with you need to increase your Roll Rate_P term. 0.1 should be ok and make it a little safer. Just be careful on your first take off to ensure it is stable. Then to get this thing flying…"
19 hours ago

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Andre, Go through that process I described and I will do my best to help you get your copter flying the way it should. How stiff is that vibration isolation?"
yesterday

Developer
leonardthall replied to Rob_Lefebvre's discussion AC3.3 Vibration Logging Discussion Thread
"Get Raw logging and we will compare what is really happening to the IMU and VIBE outputs. We may have simply set the filtering a little high."
yesterday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi SpeedyHulk, A bit more information about the frame and maybe a photo might be helpfull. An onboard video would be great too. I assume this is a 250 frame, is that correct? It looks like you haven't set up your throttle curves. You have also…"
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Andre, That copter has very low vibrations. Can you send a photo of the copter and tell us what it had attached and how? It looks like your roll autotune results were not very good. Do you have the Autotune log from that copter? You are also…"
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Rob, Can you attach a log?"
Friday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Rob, Assuming your vibration mount doesn't have any significant cross coupling and the low frequency vibration doesn't mess up your fast control loops, yeh, it should fly fine. (Unless I am missing something). How does it fly? Your…"
Friday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Rob, I am glad you are making use of the new vibration logging. :) Just breaking this down for everybody. We have 3 components to these signals, vibration, noise, and the accelerations caused by maneuvering. True noise is very small and can…"
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Randy Bachtell, I am very sorry to hear your copter was destroyed. I am afraid that I gave you bad advice. The redundancy of your hex appeared to be tolerating the motor loss. I suspect it was the specific advice to increase the Thr_Min that made…"
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Thorsten, We have been talking about that. Our thoughts so far is we could do a throttle limit in the same way we do if we go over the maximum current. This may help because often the clipping only happens at near maximum throttle. If it…"
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Sorry Henri, the X was a replacement for R, P or Y. So each of the parameters you show in your screen shot. "
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Paul, The Yaw autotune is more aggressive now as we were getting very low values on the ATC_Accel_Yaw and the result was very slow yaw response. The downside of this is that high powered copters can give a little jump on each autotune test or…"
Thursday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Thorsten, It is calculated by subtracting a low pass filtered IMU from the raw IMU. The result is then squared and filtered again. We then square root the value before outputting it. So this value is aproximatly the RMS of the last second or so…"
Thursday

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

leonardthall's Photos

Loading…
  • Add Photos
  • View All

leonardthall's Videos

  • Add Videos
  • View All

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…

Continue

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

You need to be a member of DIY Drones to add comments!

Join DIY Drones

 
 
 

DIY Drones Monthly
Newsletter

Groups

Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Pylon Race, is here

© 2015   Created by Chris Anderson.

Badges  |  Report an Issue  |  Terms of Service