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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 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

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"I wouldn't enable in-flight learning with AC3.2.1 as the method used has not worked well for copters in the past. When 3.3 is released it will do compass learning using the EKF and save the offsets. The declination being used in your log…"
May 10

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"Yes, you should investigate further as these are large yaw errors. The large and sudden increases in EKF innovations and DCM ErrYaw when it yaws are most likely caused by bad compass offsets. The solution is to repeat the mag cal (compass dance).…"
May 9

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"Have a look towards the bottom of the EKF wiki http://plane.ardupilot.com/wiki/common-apm-navigation-extended-kalman-filter-overview/#ekf4 I agree ErrYaw (and ErrRP) are confusing because they are in the same group as the attitude control…"
May 8

Developer
paul riseborough replied to Gonzalo Garat's discussion APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1
"The  primary cause is bad compass errors. Look at the EKF4.SM, EKF4.SMY which are EKF measures of X and Y compass errors. Anything over 1 is  red light fail, anything over 0.5 is a yellow light caution. When the Copter is hovering, the…"
May 7

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"No I haven't flown that mount, but I have heard good reports of its performance in copters provided suitable isolators are fitted. For planes it has a potential problem that g forces from hand or catapult launches cause the mount to rotate due…"
May 6

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Ravi, It is a common misconception that vibration mounts need to damp vibration and that a more damped material is required. The job of the mount is to isolate the autopilot from the vibration of the airframe by not transmitting…"
May 6

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"The relevant data is logged in the UBX1, UBX2 and UBX3 packets The definition of the proprietary UBlox messages in these packets (eg noisePerMS) is found in the following UBlox manual (see page 161 for…"
May 4

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Didn't you get black foam pads with the Pixhawk?"
May 4

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Sorry, this isn't the right forum to debug your hardware setup as it is focussed on software release issues. I would recommend you revert to a stable release and head across to the general support forums to get your hardware sorted out before…"
May 4

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"What pads are you using, and can the board be moving and contacting part of the airframe in flight so that it transfers vibration?"
May 4

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Yes I can see in the log - only 5 sats, bad accuracy and then it drops lock altogether. Looking at the other GPS data you are getting jamming from somewhere so you need to fix your hardware of change your flying location."
May 4

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Did you have clear view of the sky where you were starting? If you are and the message won't clear, then please set your LOG_BITMASK to 131071 to log the pre-arm data and send us the flashlog. The EKF used in 3.3 has added a GPS quality check…"
May 3

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Zhang, It would be worth focussing the lens for the height you are flying at to see if that would help over the tiles. Going to 128x128 would significantly drop the velocity it can track as the STM32 micro on the PX4FLOW is already maxed out. It is…"
May 2

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Zhang, There is no problem with the top picture, the low frame rate of the I2C integral interface is a deliberate part of the design. The PX4Flow sensor does high rate sampling and internally integrates flow and body rates, sending the accumulated…"
May 1

Developer
paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"I forgot to mention, pin 3 on the PX4Flows Matbotix sonar outputs a voltage that varies with range, so it would be worth connecting ground and pin 3 to the ground and signal pins on the Pixhawk analogue interface and setting up the Pixhawk to read a…"
Apr 30

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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