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


Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, Good to hear mate! Have a good Christmas!"
17 hours ago

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"That check box should be left unchecked because mission planner will try to change the role and pitch Pids to be the same. Autotuned sets each differently based on your airframe so it is very difficult to get the same settings for both after auto…"
yesterday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, The loiter P and the rate loiter P and I terms are the ones you need. So start with Loiter P 0.5, Rate loiter P and I 0.5 and 0.25. As for yaw rate IMax, just double it."
yesterday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"You can gust drop the loiter Pids by 50% to reduce the loiter twitch problem. It is a tradeoff between how aggressively it holds position and how accurately it holds position. Just make sure you drop both the position and velocity Pids."
yesterday

Developer
leonardthall commented on BrainFPV's blog post Brain FPV Flight Controller - Tau Labs - Full Graphic OSD - Made in USA - 36x36mm
"A couple of us have been pushing a board with these features in arducopter for a while now. Well done!!!"
yesterday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Edgar, I would suggest recalibrating your compass and doing a compasmot."
yesterday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, This is related to the yaw on RTL. The difference in pwm on the upper and lower motors is limited by your yaw rate Imax term. If the Imax isn't large enough you loose the ability to control yaw and it will drift or skid in one direction.…"
yesterday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Edgar, Let us know how you go. Good luck."
Saturday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, You  will need to increase your yaw Imax with that combination of props and motors. Your upper motors have much lower pwm outputs compared to your lower motors. you may be able to address that by increasing the size of your upper motors…"
Saturday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Edgar Scott, No, it should tune up fine. But is there any movement in the battery or arms, or anything else for that matter?"
Saturday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi DG, Can you post a log. Twitching is not something that it should do."
Saturday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"DG, Looks good. Don't worry about that check box. That is for simple manual tuning."
Friday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Edgar Scott Do you have a photo or two as well?"
Tuesday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Edgar Scott, Can you attach a log of autotune. Thanks"
Dec 16

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Brandon, Thanks for your help on this! While it always sucks when someone crashes. Your help has meant that a whole heap of people won't crash for the same reason. https://github.com/diydrones/ardupilot/pull/1684 "
Dec 13

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Brandon, You had catastrophically bad GPS at the end of the flight (and to a lesser extent in the middle) which the EKF initially rejected, but after 10 seconds, the EKF gave up dead reckoning based just on the accelerometers and reset the…"
Dec 13

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 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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