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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 Optical Flow discussion thread
"https://www.youtube.com/watch?v=pBlqRy3wSvs Here's a video of an optical flow hover test using ArduPilot master and EKF2.  The only control inputs whilst airborne  were to change height. The entire flight including arming was done in…"
Feb 7
Sigurd N left a comment for paul riseborough
"A Simulink model  that captures the underlying structure is exactly what im looking for, and would be very helpful."
Jan 23

Developer
paul riseborough left a comment for Sigurd N
"It was modelled in Simulink during early development, so if that is useful I can try to find that model for you. it will be out of date, but does capture the underlying structure."
Jan 23

Developer
paul riseborough replied to Randy's discussion Optical Flow discussion thread
"Jon, No issues with todays flight test on my setup (Pixhawk + PX4Flow + LidarLite). Looking at your logs the optical flow innovations (difference between measurement and prediction) are extremely noisy. The following figure shows the innovations…"
Jan 14

Developer
paul riseborough replied to Randy's discussion Optical Flow discussion thread
"Jon, The loiter controller top speed is deliberately reduced as a function of height in optical flow mode to prevent the optical flow rates from saturating, so that would explain it being sluggish. I'm looking further into your flight log to…"
Jan 13

Developer
paul riseborough replied to Vesselin Goranov's discussion Upgrade to 3.3.2 - Alt Hold rising full trottle up
"Looking at the Z accel from both sensors and the total current draw from the motors, IMU2 looks to be correct as when there is more current going into the motors there is more thrust which means that the Z accel should read a larger negative number.…"
Jan 11

Developer
paul riseborough commented on paul riseborough's blog post Don't try this at home (or how to toss a multi-rotor)
"Rana, it's based on ArduCopter master which will no longer run on the old 8-bit micros"
Dec 22, 2015
Rana commented on paul riseborough's blog post Don't try this at home (or how to toss a multi-rotor)
"Its really nice, does it support APM-2560 too ?"
Dec 20, 2015

Developer
paul riseborough commented on paul riseborough's blog post Don't try this at home (or how to toss a multi-rotor)
"Jaime, yes it's nice once in a while to spend some time on a whacky idea just for the fun of it. As a developer supported by 3DR I appreciated being able to do my own little hackathon when 3DR was doing theirs."
Dec 20, 2015

Developer
Randy commented on paul riseborough's blog post Don't try this at home (or how to toss a multi-rotor)
"@Coastwise, the code for setting up and building ardupilot for the Bebop are here.  It's a little involved the first time to get it all working but after that it gets easier.  Instructions are not yet on the wiki for the Bebop2 but…"
Dec 19, 2015

Developer
John Arne Birkeland commented on paul riseborough's blog post Don't try this at home (or how to toss a multi-rotor)
"The completely natural and logical extension to this would be to launch a copter from a rather large potato gun..."
Dec 19, 2015

Developer
Randy commented on paul riseborough's blog post Don't try this at home (or how to toss a multi-rotor)
" It's a slightly crazy and dangerous mode but I couldn't resist so I loaded it up on my Bebop2 and gave it a try."
Dec 19, 2015

Developer
paul riseborough posted blog posts
Dec 18, 2015

Developer
Jaime Machuca commented on paul riseborough's blog post Don't try this at home (or how to toss a multi-rotor)
"Haha! Thats awesome Paul!"
Dec 18, 2015

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"It looks like the EKF was rejecting the compass for long enough that the rest timeout was invoked, and it reset the heading to the magnetometer. Unfortunately that coincided with a magnetometer glitch.  We will close this vulnerability in…"
Dec 2, 2015

Developer
paul riseborough replied to Randy's discussion Optical Flow discussion thread
"The calibration is described in the wiki. i tis important that when the copter is rotated about the camera (no translation movement), that the optical flow and gyro rates match."
Nov 30, 2015

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Paul riseborough's Blog

Don't try this at home (or how to toss a multi-rotor)

Posted on December 18, 2015 at 6:00pm 9 Comments

This week as part of 3DR's hackathon, I tried my hand at something different to see if I could throw a small 250 quad into the air and have it go into…

Continue

Comment Wall (15 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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