Phillip Schmidt
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Phillip Schmidt's Discussions

Simple IMU - My quaternion based complimentary filter

Started this discussion. Last reply by Phillip Schmidt Feb 18, 2016. 26 Replies

Hi all,  I have recently started writing a series of blog posts that detail how I have chosen to program my own IMU complimentary filter.  I have done this for my own entertainment and as a learning…Continue

Tags: gyroscope, magnetometer, gps, accelerometer, quaternion

Arduino Due Multi-Copter I/O Shield

Started this discussion. Last reply by Phillip Schmidt Jun 16, 2014. 10 Replies

Hi all,  I have begun a new project that relates to multi-copters.  I have designed a shield for the arduino Due that makes using one for a multi-copter project a bit more convenient (or really…Continue

Scratch Built Quadcopter with Inertial Position Tracking

Started this discussion. Last reply by Phillip Schmidt Jun 26, 2012. 29 Replies

Hi all,  A couple of weeks ago I got bit by the bug to build a quadcopter from scratch.  I am purchasing the motors, ESC, battery, propellors, ect..., but I am designing and building the frame from…Continue

Tags: Accelerometer, gyro, IPT, Tracking, Inertial

 

Phillip Schmidt's Page

Latest Activity

Phillip Schmidt replied to Evorowy's discussion Homemade FlightController.
"A couple of tips:   Gyro integration speed is critical to stability (400Hz is reasonable for an 8bit micro).  Drift correction can happen at a slower rate to save computation time (~100Hz).   You have to translate Mag, and Accel…"
Mar 23, 2017
Phillip Schmidt replied to Ascent AeroSystems's discussion Hiring: UAV Engineer
"If it wasn't for the move to NY, I'd be all over this."
Mar 23, 2017
Phillip Schmidt commented on Simon D. Levy's blog post 130mm quad with simple C++ firmware, Part I: The Build
"Those interested in using my frame above, you can find it here: http://www.thingiverse.com/thing:1624049 ;"
Jun 14, 2016
Phillip Schmidt commented on Simon D. Levy's blog post 130mm quad with simple C++ firmware, Part I: The Build
"My drone inspired by your build: I designed my own 3D printed frame because I enjoy re-inventing wheels... Motors are RCX 1304 3200kV.  I used the same props, esc and flight controller as you.  The receiver is an Orange Rx (Spektrum)…"
Jun 13, 2016
Phillip Schmidt replied to Tony Galvin's discussion Looking for drone that can carry things?
"lol.  That's all I could think when reading the usage requirements."
Jun 9, 2016
Phillip Schmidt commented on Simon D. Levy's blog post 130mm quad with simple C++ firmware, Part I: The Build
"ok, I had estimated your flying weight too high.  Dropping it to 150g shows hover at 60% throttle.  Thanks."
May 23, 2016
Phillip Schmidt commented on Simon D. Levy's blog post 130mm quad with simple C++ firmware, Part I: The Build
"Do you have a guess as to where you throttle is at hover?  I ask as simulations show that a 2s battery with that motor and prop may hover at ~80% throttle.  Even with the added weight, 3s and 4s batteries show throttle at hoover much…"
May 21, 2016
Phillip Schmidt commented on Simon D. Levy's blog post 130mm quad with simple C++ firmware, Part II: The firmware
"Very cool... I really need to get back to work on my bare bones quad control software.  It functions well already but needs some cleaning up before I put it on my github.  And now I want build a little quad like."
May 18, 2016
Phillip Schmidt commented on Simon D. Levy's blog post 130mm quad with simple C++ firmware, Part I: The Build
"Nice build... now I want one. I assume this will be coming in a future post, but any hints on what you are changing in your version of Base/CleanFlight?"
May 17, 2016
Phillip Schmidt replied to Neil Clayton's discussion Dead Reckoning for an FPV visualisation project
"Oh, and very cool link."
May 9, 2016
Phillip Schmidt replied to Neil Clayton's discussion Dead Reckoning for an FPV visualisation project
"If all you want is what I would call "short term dead reckoning", then that is very doable.  ArduPilot does this already.   I got into this by wanting to write my own drone control software and incorporate long term dead…"
May 9, 2016
Phillip Schmidt replied to Neil Clayton's discussion Dead Reckoning for an FPV visualisation project
"I've tried this and current gen of mems gyro/accel are not nearly good enough. I performed the follwing test: Attached the sensor to a granite slab so it couldn't move Measured the sensor bias in all six axii Integrated the output In a…"
May 6, 2016

T3
William Premerlani left a comment for Phillip Schmidt
"Hi Phil, Just to make sure we are "on the same page", the document that I sent you addresses the issue of axis misalignment between magnetometer and accelerometer/gyro (IMU) sensors that you can run into when the magnetometer is mounted…"
Feb 24, 2016
Phillip Schmidt left a comment for William Premerlani
"Thank for taking the effort to upload the magnetometer document. Was thinking of trying to adapt your alignment method to my IMU. http://philstech.blogspot.com/2016/02/quaternion-imu-drift-compensation.html?m=1 Regards, Phillip"
Feb 23, 2016

T3
William Premerlani left a comment for Phillip Schmidt
"MagnetometerRealignment.pdf Phillip, I just noticed that last April you asked for the above document. Best regards, Bill"
Feb 23, 2016
Phillip Schmidt replied to Phillip Schmidt's discussion Simple IMU - My quaternion based complimentary filter
"For those interested in seeing how I use a magnetometer to counter yaw drift in my complimentary filter, I have posted another blog post talking about it: Quaternion IMU Drift Compensation: Magnetometer This method of yaw drift compensation allows…"
Feb 18, 2016

Profile Information

About Me:
I'm an Mechanical Engineer who works a manufacturing process engineer. I've loved everything that flies since I was old enough to look up.
Please tell us a bit about your UAV interest
Building from scratch a Quadcopter and incorporating absolute inertial position tracking.
Hometown:
Minneapolis, MN

Comment Wall (2 comments)

At 12:19pm on February 23, 2016,
T3
William Premerlani
said…

MagnetometerRealignment.pdf

Phillip,

I just noticed that last April you asked for the above document.

Best regards,

Bill

At 5:03pm on February 24, 2016,
T3
William Premerlani
said…

Hi Phil,

Just to make sure we are "on the same page", the document that I sent you addresses the issue of axis misalignment between magnetometer and accelerometer/gyro (IMU) sensors that you can run into when the magnetometer is mounted physically separate from the IMU and is not aligned with the IMU. As long as there is some care in mounting the magnetometer to make sure the axes of the magnetometer are parallel with the axes of the IMU, there are no misalignment issues. If not, even a small amount of misalignment causes problems because of the large vertical component of the earth's magnetic fiels.

The document does not address magnetometer offset and calibration issues. Those topics have been well covered by others.

Best regards,

Bill

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