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 Cala, No, there is no problem with auto tune and any kv of the motor. The problem is that low kv motors and simon K firmware is more prone to loosing sink if you have hardware that is close to their limits. This means that the copter is more…"
Saturday

Developer
leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Steve, Ideally you don't want to stop it drifting at all so the way you are doing it is perfect. What you are doing effectively ensures you are doing auto tune in zero wind."
Saturday
Hans Miller commented on leonardthall's blog post Printed high speed AVC copter and crash
"Also, thank you very much for the files!"
Oct 6

Developer
leonardthall commented on leonardthall's blog post Printed high speed AVC copter and crash
"Hi Hans, You are completely correct and that is one of the things I am thinking of doing once I am finished seeing how far I can go with this design. My thoughts were to sandwich or stick a tail on of some type. Ideally the tail would be…"
Oct 6
Hans Miller commented on leonardthall's blog post Printed high speed AVC copter and crash
"Just thinking, is there any reason why a vertical stabilizer couldn't be added for yaw stability at high speed?"
Oct 6
Adrian commented on leonardthall's blog post Printed high speed AVC copter and crash
"Not for at least 6 months.. lol.. or until you do something else.. hehe"
Oct 6

Developer
leonardthall commented on leonardthall's blog post Printed high speed AVC copter and crash
"hahahahaha........ I will never live that down."
Oct 6
Adrian commented on leonardthall's blog post Printed high speed AVC copter and crash
"All 8" props? Or 3 and a 9"? Lol... :-)"
Oct 6

Developer
leonardthall commented on leonardthall's blog post Printed high speed AVC copter and crash
"Hi all, I thought I should give a quick update. I made some changes to the power train and did another speed run. I go 144km/h into a small head wind. So not too bad considering my goal was 150km/h. I am going to do an autonomous mission soon and do…"
Oct 6

Developer
leonardthall replied to Erik Unger's discussion RPM oscillations on yaw
"Hi Erik, Maybe but I don't think so. What version are you using, do you have EKF on? Again, your log helps here."
Oct 4

Developer
leonardthall replied to Erik Unger's discussion RPM oscillations on yaw
"@ Xian06 What issue are you referring to? I am not aware of an issue that causes this that is fixed in rc10. Hi Erik, To answer your question about why this isn't an bug report for github. Basically this has not been identified as a problem…"
Oct 4

Developer
leonardthall replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi George, I am glad you didn't crash! What happened here is on your first pitch test in autotune you lost sink in your front left motor, motor 3. Luckily it seems to resink and corrects itself before you switch to Stabilize (however autotune…"
Sep 22

Developer
leonardthall replied to Randy's discussion ArduCopter-3.2 beta testing
"Sorry about the crash Pomaroli!!! I have a couple of questions. Are you running SimonK? Can you share the video? Sorry again."
Sep 7

Developer
leonardthall commented on Hai Tran's blog post LiPO Fire onboard Fijian Airlines B737
"@OG lots of talk but no links to test data, looks like a serious case of placebo to me. It is true you get what you pay for but in this case I think people are paying for bragging writes. (except improved testing…"
Sep 5

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hi Ryan, I couldn't see your pid values but there are two things that can effect this. One of them is manual tuned rate pids that are actually quiet unstable and limit the stab P value. The second is the Rate I and I max terms. You can increase…"
Sep 3

Developer
leonardthall commented on Euan Ramsay's blog post APM into 230 size quad
"Hey Shay, are you using a APM or a Pixhawk? Thanks for the feedback everybody!!"
Sep 3

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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