"Hey Kautilya!
If you are descending quickly, you might be running into https://en.wikipedia.org/wiki/Vortex_ring_state, where you are flying into your own downwash. So you could try lowering your maximum descent rate."
Developer
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James Goppert
- Male
- West Lafayette, Indiana
- United States
- Blog Posts (23)
- Discussions (7)
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James Goppert's Groups
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ArduPlane User Group
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ArduCopter User Group
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James Goppert's Page
Latest Activity
DeveloperJames Goppert replied to K V's discussion Pitch Oscillations during Forward Descent flight in Auto
DeveloperJames Goppert left a comment for James Goppert
"The problem with the other fixedwing autopilot is probably that I don't have the airspeed hooked up correctly as you suggest. The backside autopilot is using ground speed. It is probably a unit error and if you can spot it feel free to submit a…"
DeveloperJames Goppert left a comment for James Goppert
"We actually just fixed HIL for the backside fixedwing autopilot last night, this will probably help: https://github.com/PX4/Firmware/pull/530"
Bharat Tak left a comment for James Goppert"Hi!
I am running your pymavlink HILS with px4. The hils works great in manual and seatbelt mode but nose dives continuously (with its wings level) in AUTO mode.
Lorentz Meier suggested that it might be due to the fact that airspeed scaling is…"
DeveloperJames Goppert commented on James Goppert's blog post PX4 Autopilot: New Software! Hardware Accelerated Extended Kalman Filter/ Sensor Level HIL/ OO Control Library
"most stable : apm 2.6
most powerful: pix hawk/ px4 (these are basically the same, think of the pix hawk as px4 2.0)
vrbrain: I don't have much experience with."
mark sett commented on James Goppert's blog post PX4 Autopilot: New Software! Hardware Accelerated Extended Kalman Filter/ Sensor Level HIL/ OO Control Library"I'm very confused! I have to do aerial mapping e photo..which is stablest and powerful pilot? Apm 2.6, pix hawk, px4 or vrbrain?
Last 3 pilot, I've not understood if are same hw/sw !
Give me light on doubts!
Thanks"
Jack Crossfire commented on James Goppert's blog post PX4 Segway Robot"Someone should work on indoor mapping via rover."
DeveloperJames Goppert commented on James Goppert's blog post PX4 Segway Robot
"Jason, if you were referring to not numerically taking the derivative of the pitch signal, I'm not. I'm using the pitch rate from the gyros for the D term. I am not using the encoder wheel speed, but I get the same effect."
Profile Information
- About Me:
- I'm a graduate student 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
- http://hsl.dynalias.com/hsl/index.php?page=unmanned-vehicles
- Hometown:
- Lake Lotawana, Missouri
James Goppert's Blog
PX4 Segway Robot
Posted on November 3, 2013 at 11:00pm 7 Comments 3 Likes
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 57 Comments 12 Likes
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 6 Likes
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…
ContinueJSBSim Trimming Demo for F16 and Shadow UAS
Posted on February 2, 2012 at 12:30pm 3 Comments 1 Like
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…
ContinueArduPilotMega (ArduBoat) Sailboat Autopilot Heading Hold Test
Posted on December 9, 2011 at 12:00pm 8 Comments 2 Likes
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…
ContinueComment 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
/Lars
- 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,
Mohan
- 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?
Thanks
Mohan
- At 12:36pm on May 27, 2011,
Junior Sammy said… What is the accuracy of ArduRover i.e. your http://www.youtube.com/watch?v=r1iJWIKbAQc 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,
DeveloperJames Goppert said… - Ok, you will need to edit the svn externals to match the ardupilotmega library revisions at that date.
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