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


Developer
leonardthall replied to Dave C's discussion Arducopter Tuning Guide
"You can follow the routine pretty closely in flight. Take off in stabilize. Increase Rate D until you get oscillation, Back off Rate D until you don't get oscillation (pluss a little buffer if you like) Increase Rate P until you get…"
12 hours ago

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Andy, The numbers are based on 114 thrust curves with different props, motors and voltages. I have data from 5" to 18" props. All supplied by innov8tivedesigns.com. Soft 5 and 6 inch props : 0.5 Solid 5 inch props to 10 inch props :…"
Sunday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Erik, Sorry but I don't agree with you. I think you should try my suggestion to reduce RC_Feel_RP to 25. I can see there is nothing in the logs suggesting the copter is doing anything other than what you tell it to. The reason you don't…"
Sunday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Gregmaan, I would encourage you to set these parameters MOT_THST_BAT_MAX,25.2MOT_THST_BAT_MIN,21MOT_THST_EXPO,0.8MOT_THST_MAX,0.95 These are the parameters that linearise the lift of your props and ensure your tune stays right as your battery…"
Sunday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi UAS_Pilot, I can confirm looking at the logs that the autopilot wasn't running when you crashed. It looks like you lost power to the pixhawk. Sorry about your crash!!"
Sunday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Gregor, I can't seem to download that link. Can you try again or share it another way.  A couple of photos of your copter would also be helpful!! Thanks"
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Gregor, Can you please supply an autotune log?"
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Artem, Yeh, sorry about how long it has taken me to build a tri. I have ordered another one that should be pretty similar to yours without the gimbal. The frame I had was going to be a pain in the .... to mount the pixhawk on and the tail servo…"
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Arni, Yeh, there are a number of changes that mean some people may need to retune. "
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Erik, The first time I took off after auto tune I thought I had oscillations but it was just my thumbs shaking a little. You have RC_Feel_RP set very high (100), if you drop it to 50 or 25 I suspect you will find it flies much smoother. "
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Looks reasonable Phil, What did the Yaw filt Hz come out as? "
Saturday

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Gokhan, THR_MID replaces the hover throttle parameter The position pids have been renamed to be more sensible: POS_XY_P, POS_Z_P, VEL_XY_FILT_HZ, VEL_XY_I, VEL_XY_IMAX, VEL_XY_P, VEL_Z_P, ACCEL_Z_D, ACCEL_Z_FILT_HZ, ACCEL_Z_I, ACCEL_Z_IMAX,…"
May 22

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Artem, Could you provide some logs and a couple of photos of your tri. I have not tested auto-tune on tri's but I am about to build one so any feedback you can give would be great."
May 22

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Tim, That is part of the algorithm. Glad you are happy with the results!!"
May 21

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"If you don't intend to fly with the gimbal off then you can give autotune a go with it on. The new autotune should give perfectly flyable tune with a gimballed even if it isn't as good as it could be (done the time consuming way). So try…"
May 20

Developer
leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Arni, I have been talking to Paul about this and you have set EKF_GPS_TYPE to 1. That means you arn't using the GPS velocity in your alt hold estimate. This isn't helping things. Paul suggested if you have non standard parameters…"
May 19

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 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.…

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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