Leonardthall's Blog (12)

FPV Racing using Arducopter

Hi All,

This is intended to help people who are interested in using Arducopter for FPV Racing and/or mini quads.

Personally I started using Arducopter because I wanted to fly FPV and get aerial video of my 4wd trips. I also wanted the comfort of RTL and Loiter to get me out of trouble and help me learn. Arducopter's focus at the time was autonomous…

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Added by leonardthall on August 18, 2015 at 5:19am — 98 Comments

Printed high speed AVC copter and crash

Hi all,

I thought I would share the copter I hoped/hope to fly at ACV this year. I wanted to try to see what speeds I could get from a quad. I also thought it would be interesting to see what I could to with a 3d printer. I have access to a Makerbot 2x and I was also adding a heated bed to a friends printer. So based on the maximum dimensions of the Makerbot I designed…

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Added by leonardthall on June 8, 2014 at 2:26am — 73 Comments

ACRO for ArduPilot 3.1

Hi all,

My motivation to get involved in the development team was to bring a good ACRO mode to ArduCopter. Three or four months ago Robert Lefebvre suggested that we could integrate the rate error and use it to correct the platform in the body frame. He went on to demonstrate this on Heli's. We have since learned that MultiWii use a similar approach and…

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Added by leonardthall on June 29, 2013 at 2:42am — 148 Comments

ArduCopter 2.9 PID Loops for STABILIZE, ACRO and ALT_HOLD

Hi all,

I thought I would attempt to draw up a couple of diagrams of the PID loop in the ArduCopter 2.9 release.…

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Added by leonardthall on January 20, 2013 at 4:30am — 19 Comments

New Throttle PID Idea

Hi All,

I have been thinking about the way we have implemented our throttle and the performance issues that we have observed. First of all I would like to say that I get great altitude hold. I can cruise around at 1 or 2 meters above the ground with no problems. It is only when I start to get aggressive with my pitch, roll and speed that I start to see areas that…

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Added by leonardthall on October 24, 2012 at 3:39am — 16 Comments

Yaw Control, ESC Linearization, and Hover (Reconstruction)

I lost this post so I have attempted to reconstruct what I can of everybody’s replies. I think I did ok in the end. I continued my discussion of the topic here:

http://diydrones.com/profiles/blogs/stability-patch-for-motor-max-and-min-and-yaw-curve

Hi…

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Added by leonardthall on September 17, 2012 at 9:23pm — No Comments

Stability Patch for Motor Max and Min and Yaw Curve

Hi all, it appears that my blog post “Yaw Control, ESC Linearization, and Hover” has been lost. I hope that it will be saveable but I am not holding my breath. If it can’t be saved I will attempt to reconstruct it but while I have most people’s replies on my emails but I don’t have my own. If anybody has a copy of my replies I would be very grateful if you could send…

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Added by leonardthall on September 17, 2012 at 8:59am — 4 Comments

My First FPV, Simpson Desert in Central Australia (GoPro processing settings added)

This is a couple of flights from my holiday that I made my first quad copter for. My wife and I (and two kids under 2) were planning a 2 week four wheel drive trip across the Simpson Desert in central Australia. For those not familiar with the Simpson Desert it is 550 km of desert, 1100 sand dunes to cross, and 3000 km round trip. The…

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Added by leonardthall on September 10, 2012 at 6:00pm — 14 Comments

Acro Mode PID Options and "Fly by Wire"

Thanks for taking the time to read another Blog post.

"Not another Blog post" you say, "Get off your *** and code something up I hear you say" :)

Yeh I know, I hope to have some time over xmas. I am using this BLOG to clarify what I want to do, attempt to make notes that I can refer to (when I finally get my finger out), and get feedback from people to better…

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Added by leonardthall on August 31, 2012 at 8:00am — 28 Comments

Suggestion to fix Alt Hold to Stabilize Mode altitude drop

Thanks for taking the time to read this post. First of all I would like to reassure you that this is in no way a criticism of the code or the Dev team, they have done a fantastic job.

I am working towards making my own contribution to the Arducopter code base to improve the "Fly by Wire" aspects, but it will take time for me to get the environment set up. (two…

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Added by leonardthall on August 29, 2012 at 8:00am — 18 Comments

Why are the Throttle PID's like this?

I was hoping that someone could explain why the Throttle PID's are designed like this.

This is like a feed forward controller design that is then stabilized by the PID feedback loop. That is ok.



Why is the feed forward gain based on to desired rate squared? (propeller static force is proportional to (delta RPM)^2 from what I can find on the net but ESC's…

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Added by leonardthall on August 25, 2012 at 8:30pm — 20 Comments

Head first into the deep end :)

Hi all,

I wanted to ask some questions about my quad implementation but I thought that it would be polite to introduce myself and my quad first.

I started my first quad design because my wife and I (and two kids under 2) were planning a 2 week four wheel drive trip across the Simpson Desert in central Australia. For those not familiar with the Simpson Desert it is…

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Added by leonardthall on July 23, 2012 at 7:30pm — 7 Comments

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