James Goppert
  • Male
  • West Lafayette, Indiana
  • United States

James Goppert's Friends

  • Neal
  • Lily
  • Zach Eugene Miltenberger
  • Volta Robots
  • mohsein
  • Todd Stellanova
  • K V
  • Rita Goppert
  • Yaron
  • Morten Kolbæk
  • Damon Amberstone
  • Tom Gibson
  • Ahmed Mamdouh
  • Rik Bootsman
  • Bobby Williams

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Profile Information

About Me:
I'm a Visiting Assistant Professor in Aerospace engineering at Purdue University. I'm working on unmanned aerial/ ground vehicle navigation in environments without GPS.
Please tell us a bit about your UAV interest
Lake Lotawana, Missouri

James Goppert's Blog

PX4 Segway Robot

Posted on November 3, 2013 at 11:00pm 7 Comments

My roboclaw/pololu based segway is working well now with the new motors. I have closed the attitude loop with the gyros and the EKF pitch estimate. I will soon close the position loop with the encoders.

PX4 Autopilot: New Software! Hardware Accelerated Extended Kalman Filter/ Sensor Level HIL/ OO Control Library

Posted on January 22, 2013 at 11:00am 54 Comments

The PX4 autopilot is an amazing open source platform for research. It is one of the first open source autopilots capable of running an on-board extended kalman filter and other advanced control and navigation algorithms. It is also mass…


ArkToolbox now released for Windows/ Mac as well as Linux

Posted on April 2, 2012 at 11:00pm 23 Comments

ArkToolbox is a toolbox for ScicosLab/ XCos (similar to Matlab simulink, but free). ArkToolbox is useful for drone control design, simulation, and testing and is compatible with FlightGear, MAVLink (QGroundControl/ArduPilotMega), and the JSBSim Trimming GUI software. This creates a completely open source toolchain for developing aircraft models, finding…


JSBSim Trimming Demo for F16 and Shadow UAS

Posted on February 2, 2012 at 12:30pm 3 Comments

A gui for JSBSim is demonstrated. The gui is capable of trimming any aircraft modeled in JSBSim at various flight conditions. It can simulate the aircraft at the calculated trim conditions, save the linearizations around these trim states, and output the linearization to a form readable by ScicosLab. The software is demonstrated on the standard f16 model included with JSBSim and a shadow UAV model, part of arkhangar. The linearized state space models output at the trim…


ArduPilotMega (ArduBoat) Sailboat Autopilot Heading Hold Test

Posted on December 9, 2011 at 12:00pm 8 Comments

This is a heading hold test for the ArduPilotMega based (ArduBoat) sailboat autopilot. The boat is sailed manually on a reach and then heads downwind holding a heading of 0 degrees and performs a jibe.We have waypoint guidance working in hardware-in-the-loop, so we expect to do waypoint testing soon. We might have to figure out a better solution for our digital wind…


Comment Wall (32 comments)

At 8:14pm on July 22, 2010, PatrickD said…
Hey James,

Thanks for the info. I am only doing a longitudinal model of the easystar in Simulinkg to check elevator responses based on an optimal controller. I am using your datcom generated tables for the lift, drag and moment coefficients needed based on the angle of attack..
At 9:14am on July 26, 2010, PatrickD said…
At the moment, i have just put in a reasonable values for the lift and pitching moment coefficients due elevator deflection seeing as I had no data. I would be interested if you have more realistic data that you are willing to share. The simulink model is based on simplified longitudinal eq. of motions in wind axis. I have a mathematical constant speed controller in my model to enable it to trim at around 15m/s. I have also implemented an elevator controller based on my supervising teacher work in optimal control.
At 1:47am on November 21, 2010, KnutL said…
Hi James
tnaks for your help. I will give it a try
At 12:12am on February 4, 2011, Tomtom Express said…
Hi James,  I am allocating some time to learn how to fly again.  In the end, I want to control the plane using controls that are connected to the computer.  Have you done anything like this ?  Thanks, Harry
At 5:43am on March 7, 2011, Lars Ulfalk said…

Hi James

While trying to get a home-built autopilot to fly airplanes without ailerons I found your model of Easystar on the oooark. I've been trying to get the autopilot to fly it safely, but it seems my autopilot favors airplanes with ailerons since it has some problems flying that model. I just wanted to check if there's any problems with the model you're aware of, or if you're saitsfied with the way it behaves in the air.


Best regards


At 8:01am on May 14, 2011, dmohankkvr said…

Hi James,

I want to interface ardupilot with scilab, and control my UAV from there. Could you please tell me what toolboxes you have used to interface with ardupilot. Is this simple? and how long does it take to develop this link? i'm totally new to microcontrollers.


Thanks & Regards,


At 8:17am on May 14, 2011, dmohankkvr said…

I will be using Ardupilot Mega. Does this mavsim toolbox come along with scilab? or I have to download it separately and install it. My job is to test the control algorithms for controlling the aircraft. Developing the interface is not the main idea. But if it is readily available, I want to use that one. Can I command the servos as well with this toolbox?




At 12:36pm on May 27, 2011, Junior Sammy said…

What is the accuracy of ArduRover i.e. your video? Are there any test results such as how close the rc car stopped at the indicated stopping waypoint? Within 1m, 2metres etc? This info will be greatly appreciated, thanks. Also in that video is the magnetometer really needed? How much accuracy does it help with?

At 8:15am on June 20, 2011, Junior Sammy said…

Hi James,


I checkout out revision 177 of ArduPilotOne which I believe is the Ardurover version from the youtube video but when I try to compile it I get the error:

"MAVLINK_COMM_NB_HIGH" was not declared in this scope


How can I fix this? One of the libraries path may be wrong or not included?

At 8:26am on June 20, 2011,
James Goppert
Ok, you will need to edit the svn externals to match the ardupilotmega library revisions at that date.

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