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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 Julian's discussion Copter3.4-dev Crash (EKF_CHECK-2)
"I have checked your log and the EKF's for both IMU's diverge. What is unusual on this flight was that the combination of baro drift and taking off without GPS resulted in the EKF's doing two mode changes in quick succession when GPS…"
Apr 22

Developer
paul riseborough replied to Samuel Rosenstein's discussion Lose all servos on takeoff - Pixhawk in the group ArduPlane User Group
"a) I can't answer that question - maybe it's designed to re-arm automatically if the IO processor has remained powered, but the STM32 CPu restarts and an in-flight condition is detected. That's a question for Andrew Tridgell. b) RC…"
Mar 14

Developer
paul riseborough replied to Samuel Rosenstein's discussion Lose all servos on takeoff - Pixhawk in the group ArduPlane User Group
"This is the Pixhawks internal voltage which is always lower than the servo rail voltage you are powering it via (the pixhawk  may be using a reverse power protection diode). A volt meter reading will not capture transients on your servo rail -…"
Mar 14

Developer
paul riseborough replied to Samuel Rosenstein's discussion Lose all servos on takeoff - Pixhawk in the group ArduPlane User Group
"Your Pixhawks rail voltage is sitting at just under 5V but is not stable. You must separate it from the servos as it is a crash waiting to happen. Here's the CURR.Vcc plot from your log."
Mar 14

Developer
paul riseborough replied to Samuel Rosenstein's discussion Lose all servos on takeoff - Pixhawk in the group ArduPlane User Group
"Plot IMU.AccZ and IMU2.AccZ"
Mar 13

Developer
paul riseborough replied to Samuel Rosenstein's discussion Lose all servos on takeoff - Pixhawk in the group ArduPlane User Group
"I think you are misreading the log or the log you posted is not the same flight. The only event that corresponds to a launch is right at the end, just before data logging stops and airspeed is sitting around zero for the entire log. The initial…"
Mar 13

Developer
paul riseborough replied to Sigurd N's discussion ArduPlane TECS unable to follow desired climb-rate in Fly By Wire B mode
"Sigurd, When I over-plot the demanded height, measured height, demanded height rate and measured height rate from the TECS log, it confirms that TES was correctly tracking it's inputs. The conversion from stick to demanded height is done…"
Feb 22

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

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Fixed wing
Hometown:
hoppers crossing

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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