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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


Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"HDOP is calculated from the geometry of the satellites and has nothing to do with signal quality. You can have low HDOP and bad GPS accuracy due to interference, low signal strength of multipath. The  new checks are not that stringent and a…"
Thursday

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Marco, Previously we used to start using GPS as soon as it was reporting a 3D lock , had 6 satellites and a sufficiently small HDOP. This was allowing users to take-off with a GPS solution that could still be jumping around. The EKF now requires the…"
Thursday

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"The EKF in AC 3.3-rc1 is using a fixed delay after DCM starts based on the worst case scenario the vehicle being started upside down, so you will not be able to arm in any mode before then, but it should clear within 30 seconds of power on.…"
Thursday

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Juan, I'm getting a permissions error when I try to access the file. Are you able to put it somewhere (eg dropbox or Google Drive) and post a link? Thanks, Paul"
Thursday

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"It sounds like you have run into the same problem I have with one of my two PX4Flow units. The Pixhawk does not start the driver if powered up by battery first. The way to get around it until we work out why this is happening, is to power up by USB…"
Wednesday

Developer
paul riseborough left a comment for paul riseborough
"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."
Wednesday
Aghilas left a comment for paul riseborough
"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…"
Tuesday

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Doug, Looking at the log, you took off before the EKF had started using GPS, which means we need to fix the tones so they only sound when the GPS is being used, not when it first gets lock. The GPS started being used pretty much when you had…"
Monday

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Juan, Are you able to post a flash log?  Thanks, -Paul"
Apr 20

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"When GPS isn't available or of sufficient quality, the EKF stays in a mode where it provides attitude and height outputs only (unless optical flow is being used). The type of output it is able to provide is indicated to the rest of the software…"
Apr 20

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Emin, The EKF now measures GPS quality using a number of criteria before it will start using it, thes being: 1) Number of satellites >= 6  2) reported speed accuracy of better than 1 m/s (look at UBX3.sAcc log message) 3) reported…"
Apr 20

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Sharp 'spikes' in the accels are often a sign that you have high frequency vibration that is causing the accelerometer to clip. This type of vibration and clipping can  often look OK in the log, because what you are seeing there is…"
Apr 18

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"For those of you finding that the height tends to wander up and down in alt hold or loiter more than you used to  see before EKF, this is due to vertical velocity errors in the GPS affecting the EKF height estimate. You can eliminate this…"
Apr 16

Developer
paul riseborough left a comment for paul riseborough
"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…"
Apr 15
Aghilas left a comment for paul riseborough
"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…"
Apr 15

Developer
paul riseborough left a comment for einma1to
"Optical flow will not work on reflective surfaces. You need another technology like range beacons."
Feb 28

Profile Information

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

Comment Wall (10 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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