Usman Qayyum
  • Male
  • ACT
  • Australia

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Profile Information

About Me:
PhD student at ANU, doing Visual Inertial localization and mapping
Please tell us a bit about your UAV interest
Flying vehicles: Hexacopter, Align 600
Autopilots: Ardupilot (for hexa) , Micropilot (for heli)

Designed an onboard visual inertial SLAM framework
canberra, Australia

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Usman Qayyum's Blog

Bird's eye view: Smartphone camera mounted on Eagle

Posted on October 1, 2013 at 2:30am 7 Comments

Smartphones, it seems, can do anything. When researchers at Germany's Fraunhofer Institute for Integrated Circuits were asked to come up with a camera that could be mounted on an eagle to get a literal bird's-eye view of its life, they too turned to a cell phone.




Visual-Inertial SLAM for Arducopter platform

Posted on September 12, 2013 at 2:30pm 4 Comments

Recently we have developed a Visual inertial approach for Hexacopter platform (arducopter) to do SLAM (Localization and mapping----- without GPS or other absolute sensor).  

The vision node is designed to provide full 6DOF vehicle pose measurements, whilst the low-cost inertial system designed in house (less than $40AUD) enables continuous metric mapping and…


PID position Controller for Arducopter with VICON Measurements!

Posted on August 29, 2013 at 3:30pm 20 Comments

We have developed a PID position controller that can communicate with arducopter via 3DR radio. The position controller is running on the ground computer and transmitting the commands to hexacopter at 50HZ via mavlink protocol. The mavlink packet used during our test flights is "set_roll_pitch_yaw_thrust_send". We have tested the hovering…


Comment Wall (2 comments)

At 12:40am on October 16, 2013, Shyam Balasubramanian said…

Hi Usman,

I have been following your posts actively. Thank you for the knowledge.

I would like to know if you have some documentation on the controller design of Arduocpter or a software block diagram that you can help me with.

I wanted to know how the stabilize and Loiter controller works. Could you help me with that?

Thank you,


At 5:42am on February 1, 2016, TSUNG YUNG KAO said…

Hi ~ I am also trying to control arducopter position indoor . But it's behavior not as my expectation. Could you share the PID controller source code or give me some tips ?

thanks for your help!

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