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 Edgar Scott Do you have a photo or two as well?"
yesterday

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

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 "
Saturday

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…"
Saturday

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"Pleasure Chip, Arducopter isn't as refined as the DJI products when it comes to the interface but it far exceeds it in capability and absolute control. So you can expect to get a little confused from time to time. However, we have the logging…"
Saturday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Brandon, No problem mate. We already do that and in the latest EKF it is the most robust way we possibly can do it. The EKF will reject impulses like that amazingly well. We also compare two imu's sampled at different rates to remove high…"
Saturday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Brandon, first up, I don't see the massive vibration you are talking about. Secondly suggesting that the work of the devs needs to be thrown out and done again without any explanation of how it could be improved or even why it is bad is not a…"
Saturday

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"Hi David, I thought the autotune D went to 0.002, not 0.02. So it has maxed out. Sorry, brain fart. Your autotune looks good, if anything it would benefit from higher limits. I do get high values for the X8. I suspect that it is because of the coax…"
Friday

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"Hi chip, Let me introduce you to the instructions. http://copter.ardupilot.com/ Not a short read but worth it."
Friday

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"Hi David, Those logs look fine. I will need to see an autotune log to get any idea what is happening."
Dec 12

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Brandon, Looks like you had a GPS fail safe event and it went into auto land. Sorry to hear about your crash!!! Hope you didn't do any major damage!!"
Dec 12

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"Hi Greg, Currently they only impact the manual flight modes but we may make the auto modes use them to smooth things out. We couldn't do that on the APM because it wasn't fast enough but the pixhawk may be ok. "
Dec 11

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"HI DG, Always start with Rate D. I if you start with Stab_P you just have to come back to it again after adjusting Rate D anyway. Just follow through the procedure I described. This will very quickly and safely let you know where a good starting…"
Dec 9

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"Hi Greg, That was addressed to DG who is struggling to get parameters that he can feel confident to start auto tune on. I know that a Stab P of 4.5 is high enough to fly very but is also very stable. I am not saying that a Stab P of 4.5 is what I…"
Dec 9

Developer
leonardthall replied to Geert Pirens's discussion after doing the AutoTune the drone becomes too responsive (over sensetive)
"Hi all,  First a few general points. If your autotune gives you Rate D terms below 0.004 then you probably have problems with your frame. The most regular problems are a flexible gimbal or offset CG. I can easily see these problems in the…"
Dec 9

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Ok, there are two issues that will cause the problem. The first is you don't appear to have done your radio calibration because all the RCX_TRIM numbers appear to be 1500. I looked at this because I could see your Roll request is not zero and…"
Dec 7

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…

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…

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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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