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


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

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Go to the parameters list and set your MPU 6k filter settings to 42 Hz. Do an autotune and enjoy! ..... Hopefully."
Thursday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Legend mate, THANKS!!!!!!"
Aug 13

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi all, Someone did some work on autotune to let the user choose what tune they wanted to do using a bitmask and also implemented yaw and some speed improvements. Unfortunately I can't find the emails where I discussed this. If you know who…"
Aug 13

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hi Shay, You can still blow past the 45 degree limit in ACRO trainer, especially if you have low Stab P terms. The idea of the trainer is to provide a soft limit so if you let go of the sticks it will go back to 45 degrees where you have some hope…"
Aug 12

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hi all, I just thought you would like a small update. I have been working on why Arducopter isn't working as well on the mini quads as it should. The good news is I think I have cracked it and the improvements should be out with the next…"
Aug 12

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hey Shay, where is the log on that control inversion you were describing?"
Aug 3

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hi all, I thought you would be interested to know that I am working with Josh Welsh to get our ACRO up to speed. I think we are pretty close with the latest release. I am currently adding an expo function to the ACRO roll and pitch input based on…"
Aug 2

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Great to hear healthyfatboy!! And thanks  Apfel Korn for all the help you are giving the community!!!"
Aug 2

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Artem, Yes there is but we have been focusing on ironing out the kinks in the roll and pitch tune. So it isn't looking like it will be in the next release. It is a high priority though."
Aug 2

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Dieter, I think you have vibration issues with Alt-Hold that are excited by Auto-tune. If you post a log with IMU tuned on I can confirm."
Aug 1

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Peter, Standard logs are fine for any auto-tune attempt that didn't work."
Aug 1

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Artem, Yes we will do this but we are stretched pretty thin and would like to get auto-tune working well for roll and pitch before extending it to yaw and alt-hold."
Aug 1

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"This is definitely one of the major reasons auto-tune doesn't start. Along the same lines. If you set the dead zone on the RC inputs too small you can also have trouble starting auto-tune."
Aug 1

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi all, Just to give you a little update. I have been working on the problems auto-tune seems to have with very small copters, very powerful copters, flexible copters and copters with a big flexible gimbal hanging off them. To this end I am building…"
Aug 1

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Brandon, Could you turn on motor logging and INS. I would like to see your vibration performance and what your throttle is going to during each test. It looks like autotune is reaching it's angle limit before finishing the test but it is…"
Aug 1

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 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.…

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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.…

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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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