About

Gender

Male


About Me:

I am the designer of a UAV controller with GPS, 3 gyros, and 3 axis accelerometer, being sold by Spark Fun Electronics.


Hometown:

Schenectady, New York


Activity Feed

William Premerlani left a comment for Mark Whitehorn
"Mark,
I am planning on getting back into multirotors and have a couple of questions for you.
I lost your email address. Could you please contact me at my new email address, wjpremerlani@gmail.com
Bill"
Dec 2, 2016
William Premerlani replied to William Premerlani's discussion Centrifugal compensation with only gyros and accelerometers
"Mark,
Thank you so much for your time and effort in testing this concept in multicopters. It performed better than I expected. It is my conjecture that the combination of your expert piloting skills and the performance of the feedback controls (I…"
Jul 6, 2016
William Premerlani replied to William Premerlani's discussion robust estimator of the direction cosine matrix
"Johnson,
There are several methods for using a magnetometer for gyro drift compensation. Here is the method that I like to use:
1. Transform the 3D measured magnetic field vector from body frame to earth frame.
2. Take the cross product of the…"
Apr 26, 2016
William Premerlani replied to William Premerlani's discussion robust estimator of the direction cosine matrix
"Johnson,
Thanks for your questions.
Regarding renormalization introducing drift, in practice, it does not create much drift. I have done static (motionless) tests on the UDB5 hardware with drift correction turned off and measured the residual drift…"
Apr 21, 2016
William Premerlani left a comment for Phillip Schmidt
"Hi Phil,
Just to make sure we are "on the same page", the document that I sent you addresses the issue of axis misalignment between magnetometer and accelerometer/gyro (IMU) sensors that you can run into when the magnetometer is mounted physically…"
Feb 24, 2016
William Premerlani left a comment for Phillip Schmidt
"MagnetometerRealignment.pdf

Phillip,
I just noticed that last April you asked for the above document.
Best regards,
Bill"
Feb 23, 2016
William Premerlani replied to GliderUAV's discussion A.T.V. Autonomous Thermalling Vehicle
"Kees,
I think that MatrixPilot LOGO has unlimited range, but it has never been tested beyond 32 kilometers.
However, it should be easy enough to test the LOGO range using HILSIM, so if anyone is interested in using LOGO for long range missions, let…"
Aug 26, 2015
William Premerlani replied to GliderUAV's discussion A.T.V. Autonomous Thermalling Vehicle
"Hi Pete,
You are correct, I increased the navigation range of MatrixPilot some time ago at Florin's request. It now uses 32 bit integer arithmetic with 1 meter resolution for navigation, so waypoints can be anywhere on the globe and any altitude.…"
Aug 26, 2015
William Premerlani replied to William Premerlani's discussion Centrifugal compensation with only gyros and accelerometers
"Joe,
The topic of skidding of multicopters and aerodynamic forces on them has come up from time to time on this forum. I cannot find them off hand, you might want to look around for them. Here are a few conclusions:
1. When a multicopter is tilted…"
Jun 23, 2015
William Premerlani commented on William Premerlani's blog post Helical turn controls
"Hi Morli,
Thanks. I suggest you also take a look at Peter Hollands' post on this subject.
Best regards,
Bill"
Jun 20, 2015
William Premerlani commented on Pete Hollands's blog post A Demo of MatrixPilot Helical Turns
"Peter,
A couple aspects of your flight are worth commenting on.
During the 180 degree roll over on a straight flight segment, there was some loss of altitude. There is not much we can do about that with an EasyStar, it does not generate much lift…"
Jun 20, 2015
William Premerlani commented on Pete Hollands's blog post A Demo of MatrixPilot Helical Turns
"Peter,
Thanks for posting this. It has been fun working with you and the rest of the MatrixPilot developers.
Best regards,
Bill"
Jun 20, 2015
William Premerlani replied to William Premerlani's discussion Centrifugal compensation with only gyros and accelerometers
"Mark,
The math for the method described in this discussion was developed for fixed wing, I doubt that it will work very well for multicopters. It assumes that there is a centrifugal acceleration equal to the cross product of the rotation rate vector…"
Jun 19, 2015
William Premerlani replied to William Premerlani's discussion Centrifugal compensation with only gyros and accelerometers
"Hi Mark,
This feature is already partially implemented in the MatrixPilot_wjp_HelicalTurns branch and the helical turns tag. If you define CENTRIFUGAL_WITHOUT_GPS to be one, centrifugal compensation will be computed without GPS or airspeed sensors,…"
Jun 19, 2015
William Premerlani posted a blog post
First of all, thanks to Peter Hollands, who produced the above picture of a helical flight trajectory from one of his HILSIM test flights of the latest version of fixed wing flight controls for the open source MatrixPilot project, also known as the…
Jun 18, 2015
William Premerlani commented on Matthew Coleman's blog post The uNode
"Hi Matt,
Nice work. Congratulations.
I am not surprised that you decided to design the system that you wanted.
How large of a market do you think there is for your design? Are you going to produce and sell them? Perhaps approach someone else to…"
May 4, 2015
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