Shyam Balasubramanian
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Shyam Balasubramanian's Discussions

Do I need Compass re-calibration when I travel out of country?

Started this discussion. Last reply by Shyam Balasubramanian Apr 21, 2014. 2 Replies

Hi Folks,I live in the Netherlands and going to Denmark over the weekend (distance: 800 km, up North). I use the Arducopter v3.0 firmware, and it hovers quite well at home.The magnetic declination as…Continue

Tags: User, Group, ArduCopter, (Multicopter), 2.x

Regulations for outdoor multicopter flight

Started this discussion. Last reply by CrashingDutchman Jan 30, 2014. 1 Reply

Hi All,I have been pursuing a research project at a company (in Netherlands) where I need to occasionally fly waypoints outdoors. The task is an autonomous flight within line-of-sight and and some…Continue

Tags: Regulation, Quadcopters

Motors stuck and grumbles.. RC Timer 5010-14, 360kV..Why??

Started this discussion. Last reply by Shyam Balasubramanian Dec 5, 2013. 4 Replies

Hi All,I took a flight today with my giant copter, I found 2 of the motors were not responsive.I tried to spin the motors using simple motor spin test using CLI test in Mission Planner.'Hear' the…Continue

Tags: RC, equipment, 2.X, Arducopter, Planner

So, are we "really using" MPU-6K features for APM 2.5+ ?

Started this discussion. Last reply by Shyam Balasubramanian Nov 15, 2013. 6 Replies

I Quote from APM 2.x release notes:"We’ve tested it (APM 2.x) for months, including lots of flying, and it…Continue

Tags: Algorithms, AutoPilot, ArduIMU


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About Me:
UAV programmer, Innovator and researcher. I live in the Netherlands and presently working at Thales Defense Systems.

Please visit my LinkedIn for more information about me.
Please tell us a bit about your UAV interest
I am passionate about UAV and trying my best to make this maze into a craze!!

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Comment Wall (10 comments)

At 5:18pm on August 1, 2013,
Forrest Frantz

so what are your interests?

At 4:30pm on August 13, 2013, Coen said…

So being in The Netherlands, where do you buy your propellers for the arducopter? Mine are a bit damaged after a rough fall, so I need replacements. It will still fly but it's just not that stable.

At 5:28pm on August 13, 2013, Shyam Balasubramanian said…

Hi Coen,

You can purchase it from (search for 'propeller 10x4.7' in the search box). Apart from that you can buy it from (EU warehouse), (same as Arducopter props) are available there. or are also good options, btw!

You do not need to order it from 3DRobotics, USA (it is way too expensive from there, esp. due to shipping). I never order small parts from them. For screws, other hardware items I order from farnell or

Btw, where do you live in NL?


At 8:54am on August 23, 2013, Todd Stellanova said…
Hi Shyam, I'm a drone sw developer, currently working on updates to the px4 firmware and qgroundcontrol (among other things).

I wonder if you've come across any academic projects involving precision multirotor landing and takeoff? What I'm looking for is tech that will essentially allow a multirotor to land in a box not much bigger than itself. If you think of anything, let me know. Thanks!
At 9:07am on October 17, 2013, Usman Qayyum said…

Thanks Shyam for your comments. Here are some flow diagrams of (stabilize)/(altitude hold) modes. I have downloaded them earlier but they will give you a good idea about the controller. Hope this will provide you a kick start to understand the basic working of PID controllers. Please find the flow diagrams of the controllers attached!.

At 8:30am on October 19, 2013, Ian said…

Hi Shyam,

The batteries I used are wired as 4S4P. They are panasonic 18650B 3.7V

Li-Ion Batteries.

The total pack voltage is about 14V, and total AMP capacity is about 12A.

So it's wires 4 batteries in series for 3.7V x 4. And then those 4 packs

wired in parallel, for 12A.

                 | -(BATT)+  -(BATT)+  -(BATT)+  -(BATT)+  |

                 | -(BATT)+  -(BATT)+  -(BATT)+  -(BATT)+  |

Negative ---|

|--- Positive +14V 12A

                 | -(BATT)+  -(BATT)+  -(BATT)+  -(BATT)+  |

                 | -(BATT)+  -(BATT)+  -(BATT)+  -(BATT)+  |



At 7:29am on February 25, 2014, serkancaska said…


I request your advice about the issues below:

1) I want to import all sensor data of apm board (gps, magnetometer...) to matlab/simulink and send trajectory data(a set of 3 axis coordinates of target nodes in order)
2) I want to get speed transfer function of motors real time in order to get PID parameters via matlab/simulink(i know that we can tune PID parameters via mission planner soft. but i want to learn about this method)


Which method is useful for the purposes above:

-mission planner soft-matlab connection via serial port

-apm 2.6 and arduimo ide connection via xbee-usb and then arduino ide and matlab connection via serial port. Thank you.

At 1:43pm on July 22, 2016, Andre Leao said…

Hi Shyam,

I saw that you tried to save the logs of the APM by SD card. Did you achieve this?

Best regards


At 8:58am on December 29, 2016, Ronello Ninettu said…
Greetings sir Shyam! I saw your MAVLINK TUTORIAL FOR DUMMYS on, and it was incredibly helpful! I would really like to thank you for such enlightenment. I'm currently working on PIXHAWK and Mission Planner, and I'm required to obtain the real-time x-y-z, roll-pitch-yaw, altitude etc etc...
I'm still new to this research, and I was wondering if I could ask a couple of things (to be honest, this would seem like dummy questions but I'm a little desperate, so any form of help would be highly appreciated):

1. Where can I locate the GCS_Mavlink.pde and the Arducopter.pde files? I can't seem to find it anywhere on the Mission Planner Program Files folder, so I couldn't see what was inside? Or am I still missing something? (Because so far all I've done is calibrated my PixHawk and installed it with the firmware using Mission Planner)

2. Is it possible for me to use these data to be taken as input to MATLAB as variables?

Thank you!

At 9:54pm on December 29, 2016, Ronello Ninettu said…
Thank you sir for answering my question!

I just want to clarify some of the things that I'm trying to achieve. I'm trying to implement a Sliding Mode Control (Dynamic Control) of a quadrotor using PixHawk, and for now, I'm trying to obtain the sensor values for the dynamic control (as I mentioned before, attitude and altitude). So I would just like to ask some few more dummy questions...

so I've watched a lot of videos concerning the ardupilot stack and Mission Planner, although I don't completely understand how they are related.. I'm not quite sure how to use them together.. The problem I had with Mission Planner is that it doesn't give me the real-time values of those sensor values as they are what I am after.. I have found many solutions making use of a modified version of Arduino for working with the pixhawk without mission planner... although I'm just looking to obtain real-time data from the pixhawk and maybe process them in arduino or matlab... so I would just like to ask some fewer more things:

1. With the modified version of Ardupilot Arduino, would I be able to implement commands for motor speed control using the parameter values I obtained? And would this make the Mission Planner basically useless at this point(besides from GPS navigation)?

2. Or is there a way for me to meddle with the mission planner codes to obtain these values and implement my own control?

I'm sorry if I ask too many questions, but I'm REALLY APPRECIATIVE of your helpfulness and quick responses, so thanks again!


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