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paul riseborough
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paul riseborough's Groups

paul riseborough's Discussions

Repeated mid-air APM reboot - only happens at one flying site - possible weather radar interference

Started this discussion. Last reply by paul riseborough Apr 21, 2013. 13 Replies

I have three flying sites that I use depending on weather and availability. My primary flying site is located only 800 meters from a weather radar and I have been having repeated in-air reboots when…Continue

Please help - 3DR USB radio will upload firmware but won't enter command mode

Started this discussion. Last reply by Marcin Krawczyk May 31, 2013. 7 Replies

I have a 3DR 915 MHz v1.1 USB interface radio that will not enter command mode using the 3DR radio config tool and does not respond to any commands. The unit was communicating whenfirst received, but…Continue

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paul riseborough's Page

Latest Activity

Przemek Lekston left a comment for paul riseborough
"Dear Paul, I'm a begginer developer working on the PX4 code, tunning and some flight control laws in our Poland based company. I met Andrew Tridgel during the last dev call and we have discussed some topics involving the EKF and he has pointed…"
Aug 5

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"I've done some further digging and it looks like the EKF was learning a bad set of gyro bias values in its non-gps mode. So the problem here is  not that bad GPs is affecting the EKF's attitude, it is that the EKF in this instance did…"
Jul 10

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Looking further at this log, the GPs quality was poor at the start so the EKF was operating in the first flight in it s non-GPs mode. then after landing, GPs quality improved enough to pass the quality checks, so the second flight was done with the…"
Jul 10

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Bad GPS will affect both DCM and EKF attitude. The reason why is that they correct for attitude errors by comparing GPS and inertial data. ErrorRP shows that DCM was also affected. "
Jul 10

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"ErrorRP is not a EKF output, Its from the DCM."
Jul 10
Ravi Pinnamaneni left a comment for paul riseborough
"Hey Paul, I'm not sure if you were able to review my previous questions. The main question I had was regarding the LIDAR-Lite EKF fusion implementation. From what I saw in the Copter 3.3 rc-5 code, the fusion of the rangefinder measurements was…"
Jul 6

Developer
paul riseborough replied to John Oberholtzer's discussion Pilot Erorr/Solo Error? in the group 3DR SOLO
"Having these data logs available to analysis by the user community is a great feature. It keeps everyone honest and should drive continual improvements in the product. Try to do the accel/level calibration where you have access to a level floor, eg…"
Jul 5

Developer
paul riseborough replied to John Oberholtzer's discussion Pilot Erorr/Solo Error? in the group 3DR SOLO
"I 'm unable to give you instructions on pulling the flash logs, but you can replay the tlog in mission planner and see the trajectory the copter thought it was flying by following the instructions…"
Jul 5

Developer
paul riseborough replied to John Oberholtzer's discussion Pilot Erorr/Solo Error? in the group 3DR SOLO
"If you rename remove the .2 extension on the solo.tlog.2 file it can be replayed and plotted using mission planner. Doing this shows that the GPS thought it was moving away from the house to the NE, which caused the copter to pitch back and fly SW…"
Jul 2

Developer
paul riseborough left a comment for Ravi Pinnamaneni
"The Simulink model is a very early version and and the ArduPilot code has diverged significantly. I will not be doing further EKF implementations in Simulink given I have acquired the skills to be able to code in C++ and very few people in the open…"
Jun 4
Ravi Pinnamaneni left a comment for paul riseborough
"Also, I am using your 24-state EKF model and I understand that there are differences in the states between the model and the actual EKF implementation in the ardupilot code. -Ravi"
Jun 4
Ravi Pinnamaneni left a comment for paul riseborough
"Hi Paul, I am working with your Simulink model to simulate the EKF output using data from a GPS-based flight I did a couple of weeks back. I am successfully able to run the model and generate the output. However, the model output (particularly NED…"
Jun 4

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"Given the gyro has 10x the change in zero rate offset with temperature that the gyro manufacturer says is 'typical' which results in large heading errors and marginal flight characteristics with standard software and you have what is…"
May 26

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"Forgot to mention you could also increase the value of EKF_GBIAS_PNOISE to make the EKF learn the gyro bias change faster."
May 25

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"Andy, The magnetometer data looks good. The underlying cause is that the second rate gyro on your board (the L3GD20) has excessive temperature sensitivity on the Z axis. It is showing about a 3.5 deg/second change in bias for a temperature change…"
May 25

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"Andy, At your latitude keeping your magnetometer level relative to the Pixhawk board is important, not just the yaw angle that most people concentrate on. The IMU can handle yaw rates much higher than what you have. What happens with mag errors…"
May 12

Profile Information

Please tell us a bit about your UAV interest
Fixed wing
Hometown:
hoppers crossing

Comment Wall (14 comments)

At 5:07am on September 24, 2014, liuqiang said…

dear sir

          I download apm:arduplane, I want to use AHRS_NavEKF on APM2,BUT I found ahrs update in AHRS_NavEKF.cpp not run,only run update in AHRS_DCM,I hope your help,thank you.
          

At 7:31pm on September 24, 2014, liuqiang said…
I define ap_ahrs_navekf ahrs(ins,baro,gps),but the IDE compile tell me ap_ahrs_navekf not a name type and compilication terminated,why?
At 11:58pm on September 24, 2014,
Developer
paul riseborough
said…

You won't get EKF working for APM2 (the microprocessor is too slow). Follow the instructions on https://github.com/priseborough/ardupilot to build for px4.

At 5:00am on September 25, 2014, liuqiang said…

I run AHRS_TEST,and use AP_AHRS_NAVEKF instead of AP_AHRS_DCM,but  compile tell me "AHRS_Test.pde:56:1: error: 'AP_AHRS_NavEKF' does not name a type". Could you tell me where should be set about AOP_AHRS_NavEKF?

At 6:16pm on September 25, 2014, liuqiang said…
I do not run the code on apm2,just build it and find CLASS AP_AHRS_NAVEKF can not define a variables,tell me AP_AHRS_NAVEKF not a name type,why?
At 12:31am on October 16, 2014, liuqiang said…
I buy one pixhawk board,and fly on fixwing ,I find the output of AZ in EKF2 (z accelerometer bias of IMU1) is too big,it is gradually become larger ,max value about 30,AX an AY max value about 4,I feel attitude angle measurement have a bit problem,how to solve this situation!
At 10:39am on April 15, 2015, Aghilas said…

Dear Paul, we are two master thesis students currently working with a PX4 and arducopter 3.2.1. Our project is about offboard camera tracking and fault diagnosis on the quadcopter. We have looked at the arducopter code and set the AHRS_EKF_USE to 1 but are unsure about which EKF is really running as there are a couple of them, (AP_NavEKF, AP_AHRS_NavEKF), could you possibly give us a pointer?

We are also very much interested in your simulink model, but we see that it needs airspeed sensor data (it was probably implemented with fixed wing aircraft in mind?) which we do not have, is there any way to replace those measurements with barometer data?

At 4:30pm on April 15, 2015,
Developer
paul riseborough
said…

It is running the code in AP_NavEKF. AP_AHRS_NavEKF is jsut there so that the EKF can be accessed by the rest of the code via the AHRS object.

The simulink model can be used without airspeed data by removing the airspeed fusion block (or just setting the useAirspeed input to false).

Fusion of  bnon GPS height measurement  is already available  in the simulink model.

At 6:24am on April 21, 2015, Aghilas said…

Dear Paul,

Thanks for your time and reply.

Sorry for many stupid questions, but I have one regarding the simulink model "InertialNav", previously you said that the fusion of baro GPS height measurement is available for the model. In the Read Measurement block you use RelAlt for height measurement, what is that measurement exactly representing? Is that an estimated value from barometer and accelerometer ?

Thanks in advance

At 8:21pm on April 21, 2015,
Developer
paul riseborough
said…

It is height measured relative to the origin of the local NED  axis system. it could come from baro, GPS, or any other sensor capable of height measurement.

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