Clive Gregory
  • Male
  • Leatherhead, Surrey
  • United Kingdom

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Clive Gregory replied to Simon Vleugels's discussion Pixhawk motors stop
"Without more detail I can only make one suggestion: With propellers disconnected there is very little resistance torque so the motors spin up very easily. Any slight differences in the ESC calibrations can cause some motors to stop near to throttle…"
Dec 2, 2017
Clive Gregory commented on Chris Anderson's blog post Radiolink SE100 GPS module for Pixhawk
"I am finding this Radiolink module to be much better than my previous Chinese clone ublox M8N GPS module. Positional drift on the ground is within a metre with around 15 satellites. I hope this means I wont have to climb over fences and wade through…"
Dec 2, 2017

Profile Information

About Me:
Born and live in London, England. Majored in Physics and Applied Optics. I earn a living as a software developer. I'm very interested in the "Maker" phenomenon
Please tell us a bit about your UAV interest
I have built 2 drones using the apm2. My latest drone has a Tarot gimbal with a Mobius camera and a 5.8Gz FPV setup.

KK5.5 V4.7 Firmware

Looking at Rolf Bakke's Atmel assembler code for the KK5.5 V4.7 firmware I picked up some useful information on setting up my quad. This extract is from the source code for the X quad motor configuration. I havent got it flying yet, still tethered to a large piece of cardboard.

The motor numbering is different from the setup instructions for the KK5.5 blueboard v2.9 firmware.

The Yaw, Roll and Pitch potentiometers are re-designated so that the Roll pot. is now the Roll/Pitch proportional gain and the Pitch pot. is the Integral gain of the PID controller algorithm

; V 4.7:
; ESC refresh rate: 300Hz
; Added I-term anti wind-up
; Changed Pot control: Roll pot -> Roll/Pitch P-term. Pitch pot -> Roll/Pitch I-term.

; View from above

; Forward

; M1,CW M3,CCW
; *            *
;  \          /
;   \        /
;    \      /
;       +
;    /      \
;   /        \
;  /          \
; *            *
; M2,CCW M4,CW

;---- Gyro direction reversing ----
;---- 1: Set roll gain pot to zero.
;---- 2: Turn on flight controller.
;---- 3: LED flashes 3 times.
;---- 4: Move the stick for the gyro you want to reverse.
;---- 5: LED will blink continually.
;---- 6: Turn off flight controller.
;---- 7: If there is more gyros to be reversed, goto step 2, else set roll gain pot back.

;---- ESC Throttle range calibration. This outputs collective input to all motor outputs ---
;---- This mode is entered by turning yaw gain pot to zero and turning on the flight controller. ---

ca1: b16cmp GainInYaw,Temp
brge ma1 ;enter ESC throttle range calibration?

ldi Counter,2 ;yes, flash led 2 times
ca2: led0_on
ldi zl,0
rcall wms
ldi zl,0
rcall wms
dec Counter
brne ca2

ca3: ldi zl,18
rcall wms

rcall RxGetChannels

b16mov MotorOut1,RxInCollective ;output collective to all ESC's
b16mov MotorOut2,RxInCollective
b16mov MotorOut3,RxInCollective
b16mov MotorOut4,RxInCollective
rcall PWMGenStart ;output ESC signal
rcall PWMGenEnd
rjmp ca3 ;do until the cows come home.

Clive Gregory's Blog

Quadcopter build using APM2 flight controller

Posted on July 20, 2014 at 6:30am 4 Comments

Recently I started to get interested in the Arduino open source micro-controller project. I bought an amazing little sensor board from ebay called the GY-80 which has 10DOF (degrees of freedom) and can be bought for £10.

The GY-80 IMU (Inertial Measurement Unit) has 10 (plus temperature) sensors:

  • 3 axes accelerometer  ADXL345
  • 3 axes…

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Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

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