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


Developer
leonardthall commented on Chris Anderson's blog post Pixhawk-powered solar plane sets new endurance record: 81 hours!
"FANTASTIC!!!!"
yesterday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Adolf, That is a good idea but ch6 tuning is probably a bit of overkill for the ATC_ACCEL parameters. Most people will leave it at the autotune values or have particular backed off numbers they like. If enough people request this feature I am…"
Jul 13

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Wilson, Randy was spot on. Drop ATC_ACCEL_Y_MAX until you are happy with the response. ATC_ACCEL_Y_MAX is calculated to be the highest the copter can achieve so it causes copiers with low throttle mid to climb with large inputs. This is…"
Jul 12

Developer
leonardthall replied to Ivan R's discussion Pix 3.2.1 - GPS Glitch and it landed even thou set to AltHold
"Hi Ivan, Yeh, we already have a wait period before we make the decision to land. There isn't a parameter for it though. "
Jul 10

Developer
leonardthall replied to Ivan R's discussion Pix 3.2.1 - GPS Glitch and it landed even thou set to AltHold
"We don't do that because we don't want copter to hover off into the distance. This happend to me once and it drifted with the wind for 2.5km before the battery died. I lost a gopro and copter. So yeh, Alt Hold works fine with no GPS and…"
Jul 10

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Adolfo, Spot on. "
Jul 10

Developer
leonardthall replied to Darren L's discussion Quadcopter Randomly Lands in the group ArduCopter User Group
"No problem Gustav!! I actually guessed based on what you said that you may have been using Arducopter for a long time. I have been testing changes that will make Loiter just as sharp as Stabilize but they won't be out until the next…"
Jul 10

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Gregmaan, I am not sure why you think the copter is capable of higher ATC_Accel_RP values. Autotune is basing the values on the actual measurements using full throttle bursts. I don't have a problem letting AGGR go lower but I am a little…"
Jul 10

Developer
leonardthall replied to Darren L's discussion Quadcopter Randomly Lands in the group ArduCopter User Group
"Hi Gustav, I am in a rather unique position to say exactly what Loiter was designed to do. This is because I am the one who designed both Loiter and Alt Hold. Loiter is designed to approximate a docile stabilize in perfectly calm conditions. Alt…"
Jul 10

Developer
leonardthall replied to Darren L's discussion Quadcopter Randomly Lands in the group ArduCopter User Group
"Gustav, this is blatantly false!"
Jul 9

Developer
leonardthall replied to Darren L's discussion Quadcopter Randomly Lands in the group ArduCopter User Group
"Hi Darren, This is a funny one. Throttle goes to maximum but your current drops and voltage holds steady. I wonder if your esc's didn't have their low battery slow down turned off.... You don't have RC out logged so I can't see…"
Jul 9

Developer
leonardthall replied to Ivan R's discussion Pix 3.2.1 - GPS Glitch and it landed even thou set to AltHold
"Hi Ivan, You had a GPS glitch AND a radio failsafe. So the copter can't navigate and you can't fly it. The only thing left to do is try to get back on the ground in one piece (or as few as possible). I wouldn't be surprised if the…"
Jul 9

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Paul and Speedy, The bat min is just there to define the maximum increase in gain you can have. So it doesn't have the be lowest value it can reach. I use 4.2 x cell count for max and 3.5 x cell count for min. For good quality stiff props…"
Jul 9

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Adolfo, Looking at your autotune logs it looks like it is doing what it is supposed to do. Autotune sets the ATC_Accel to the highest value it measures during autotune (when it is using full throttle to roll and pitch) so you can reduce the…"
Jul 9

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"The EKF can handle a fair few clipping incidences, especially when it happens during extreme maneuvers only (provided you aren't doing continuous extreme maneuvers). And then it only tends to mess up your navigation for a bit. "
Jul 8

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"This gives you a good idea. % 0.65 is for 5" props% 0.65 is for 6" props (I think the low numbers come from flexing props and I use HQ and they are stiffer than normal)% 0.675 is for 10" props% 0.725 is for 11" props% 0.75 is for…"
Jul 8

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.…

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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…

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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.…

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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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