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

Leonardthall's Friends

  • rabia tahir bajwa
  • Ranair
  • Justin Martin
  • Martin
  • Gerrie van Zyl
  • marco
  • Baris
  • ArchillesElbow
  • Jay Galleno
  • Quadzimodo
  • raefa
  • Dida
  • Raph
  • Josh Welsh
  • Termidzi

leonardthall's Groups

 

leonardthall's Page

Latest Activity


Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Peter, If it doesn't work this time post a log file. Good luck!"
Jul 20
rabia tahir bajwa commented on leonardthall's blog post ArduCopter 2.9 PID Loops for STABILIZE, ACRO and ALT_HOLD
"hi, the work you have done is very impressive it will be more helpful to understand the inner functions of controller if you share the matlab code for the functions you have used in your controller? looking forward for your response!!! thanks. "
Jul 20
Justin Martin commented on leonardthall's blog post Printed high speed AVC copter and crash
"Couldnt agree more! I would love to scale it down for a speed freak 250-300 size mini FPV rig!"
Jul 7

T3
Ted Van Slyck commented on leonardthall's blog post Printed high speed AVC copter and crash
"I know I'm not the only one excited for you to post the stl (dxf/dwg!?) For this awesome frame.  Looks like AVC was awesome."
Jul 7
yuanzhou Lv commented on leonardthall's blog post Acro Mode PID Options and "Fly by Wire"
"hi LeonardEquations for translation between EARTH frame and BODY frame is (APM 3.1)bx = ex - sin(pitch) * ez;by = cos(roll) * ey + sin(roll) * cos(pitch) * ez;bz = -sin(roll) * ey + cos(pitch) * cos(roll) * ez; so I guessed the translation matrix is…"
Jul 3

Developer
leonardthall commented on leonardthall's blog post Printed high speed AVC copter and crash
"Thanks every body! Things came together in the end. Thanks to the Adelaide boys and 3DR for helping get this done! I still have some work to do to get the most out of the frame but I will post the files once I have finished tweeking."
Jun 24
Martin commented on leonardthall's blog post Printed high speed AVC copter and crash
"Nice one. Wait till they see what he has planned for next time ;)"
Jun 24
Adrian commented on leonardthall's blog post Printed high speed AVC copter and crash
Jun 23
Martin commented on leonardthall's blog post Printed high speed AVC copter and crash
"Hey Leonard, has ACV been run yet ? If so how did it go ? Martin"
Jun 23
Oz commented on leonardthall's blog post Printed high speed AVC copter and crash
Jun 17

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Barrett, Yeh, this is strange. Maybe it was the wind. Looking closely at your Autotune measurements they are strange in their shape. Sorry, all I can suggest is that you try again in calm conditions. I tend to find first thing in the morning the…"
Jun 17

Developer
leonardthall commented on Brian Parkin's blog post Terminator 3 replica "Hunter Killer" Prototype Drone
"Now that is a FANTASTIC justification for using ducted fans on a copter :) Well done!"
Jun 16
Oz commented on leonardthall's blog post Printed high speed AVC copter and crash
"If you need bearings for the NTM 2826 motor, I get them from here, $1 each, mostly I replace the top (smaller) bearing, as it has more side loading during flips. I oil them about every 10…"
Jun 16

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Barrett, Roll Rate D = 0.0145Roll Rate P = 0.25Roll Rate I = 0.25 Roll Stab P = 6.75 Pitch Rate D = 0.015Pitch Rate P = 0.25Pitch Rate I = 0.25 Pitch Stab P = 6.75 Those are what Autotune was looking like it was going to give…"
Jun 16

Developer
leonardthall commented on leonardthall's blog post Printed high speed AVC copter and crash
"Hi Oz, I agree. I started with them on 3s and they work really well at 10x4.7. When I started experimenting with my high power frame I have been nervous about them but they have held up well because they don't get full throttle until they are…"
Jun 15
Oz commented on leonardthall's blog post Printed high speed AVC copter and crash
"I have many of the NTM 2826-1200kv motors (~16-20), great little motor for little money. I have tried many different props (even low cost CF), APC MR 8x4.5 is the best with 4S on all my quads ranging from F330 (700g) to my 600mm (1200g). This setup…"
Jun 15

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 58 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…

Continue

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…

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

 
 
 

© 2014   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service