![Andy Piper](/img/default-banner.jpg)
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Andy Piper
United Kingdom
Registrace 13. 11. 2011
Follow me on Twitter! @andyp1per
If you want to support my work please follow this link www.paypal.com/donate/?hosted_button_id=AW4SC7EBMCVWY
If you want to support my work please follow this link www.paypal.com/donate/?hosted_button_id=AW4SC7EBMCVWY
Video
Porting a Flight Controller from Betaflight to ArduPilot
zhlédnutí 177Před 21 dnem
Demonstrating a quick port of the Flywoo H743 Pro
GPS Speed Test Part 3 - M9N Micro vs M10Q 5883
zhlédnutí 103Před 21 dnem
Holybro M9N Micro GPS compared with Matek M10Q 5883 running fast missions
AM32 on ArduPilot Part 5 - Full ArduCopter Configuration in less than 1hr
zhlédnutí 346Před 21 dnem
AM32 on ArduPilot Part 5 - Full ArduCopter Configuration in less than 1hr
AM32 on ArduPilot Part 6 - Zero to Acro
zhlédnutí 200Před 21 dnem
Apologies for the mic, it's rubbish! I need a better dead cat. Parameters I changed (from memory): RC9_OPTION, 31 - Estop RC10_OPTION, 17 - Autotune AUTOTUNE_AXES, 3 - Roll and Pitch AUTOTUNE_AGGR, 0.075 AUTOTUNE_MIN_D, 0.0003 ACRO_TRAINER, 0 - do flips ACRO_OPTIONS, 1 - air mode ATC_THR_MIX_MAN, 1 - prioritize attitude
GPS Speed Test Part 2 - M10 Micro vs M10Q 5883
zhlédnutí 127Před měsícem
Holybro M10 Micro GPS compared with Matek M10Q 5883 running fast missions
GPS Speed Test Part 1 - Introduction
zhlédnutí 107Před měsícem
A short series of videos on testing different "small" GPS' at high speed and high acceleration with the aim of improving auto-mission performance and RTL
AM32 on ArduPilot Part 3 - Building the Holybro QAV 250 FPV Kit
zhlédnutí 342Před měsícem
Full build video for holybro.com/products/qav250-kit?variant=42541266600125
AM32 on ArduPilot Part 4 - Flashing Custom AM32 Firmware for ArduPilot
zhlédnutí 331Před měsícem
Largely following github.com/am32-firmware/AM32
AM32 on ArduPilot Part 2 - Flashing AM32 Bootloader and Firmware
zhlédnutí 183Před měsícem
Flashing AM32 was quote involved for me, maybe your experience will be better. I followed this process more or less - github.com/AlkaMotors/AM32-MultiRotor-ESC-firmware/wiki/Flashing-Tekko32-45A-Single-ESC
AM32 on ArduPilot Part 1 - Installing Tekko32 on the Holybro QAV250
zhlédnutí 344Před měsícem
BLHeli32 is dead, so here's a series on using AM32 with ArduPilot, complete with new 6S QAV-250 build from Holybro.
Fast Rate Attitude Part 3 - FPV View
zhlédnutí 134Před měsícem
Not the same flight as the previous video but you get the idea...
Fast Rate Attitude Part 2 - Early Flight
zhlédnutí 121Před měsícem
Fast Rate Attitude Part 2 - Early Flight
Fast Rate Attitude Part 1 - Introduction
zhlédnutí 218Před měsícem
Fast Rate Attitude Part 1 - Introduction
ArduCopter 6" Race Build Video 19 - 4.5 Upgrade - Setting D Feed-Forward
zhlédnutí 135Před 2 měsíci
ArduCopter 6" Race Build Video 19 - 4.5 Upgrade - Setting D Feed-Forward
ArduCopter 6" Race Build Video 18 - 4.5 Upgrade - Setting PID Notches
zhlédnutí 209Před 2 měsíci
ArduCopter 6" Race Build Video 18 - 4.5 Upgrade - Setting PID Notches
Fast Missions with The Beater Part 3 - Very Fast GPS Mission
zhlédnutí 186Před 2 měsíci
Fast Missions with The Beater Part 3 - Very Fast GPS Mission
T1 Ranger First Autotune - Evaluation
zhlédnutí 187Před 5 měsíci
T1 Ranger First Autotune - Evaluation
T1 Ranger First Transition - QStabilize - FBWA - QStabilize
zhlédnutí 111Před 5 měsíci
T1 Ranger First Transition - QStabilize - FBWA - QStabilize
T1 Ranger Second Transition - QLoiter - FBWA - QLoiter
zhlédnutí 122Před 5 měsíci
T1 Ranger Second Transition - QLoiter - FBWA - QLoiter
Mounting a Matek H743 Wing in the T1-Ranger VTOL
zhlédnutí 264Před 5 měsíci
Mounting a Matek H743 Wing in the T1-Ranger VTOL
ArduCopter 6" Race Build Video 17 - Fast EKF, RTL and Loiter Configuration
zhlédnutí 518Před 6 měsíci
ArduCopter 6" Race Build Video 17 - Fast EKF, RTL and Loiter Configuration
ArduCopter 6" Race Build Video 16 - First Acro Flight Post-re-tune - FPV View
zhlédnutí 241Před 6 měsíci
ArduCopter 6" Race Build Video 16 - First Acro Flight Post-re-tune - FPV View
What's the quad doing the follow Andy? I'm looking for something that can go this fast.
It's a Chimera 7
Hello Andy, can you please put a video showing how you calculated PSC_VELXY_FF using logs.
Good question. I feel like I have done one of these - but let me check.
Apart from an interesting intro to AM32, this is a great general ArduCopter setup video with some great problem-solution moments for many little things that have definitely caught me out when setting up a quad. Great video Andy!
Thanks Tim!
Hey Andy 2:43 , if you dont throttle up then pitch/roll the adjacent motors stop! I about to revive an old tarot hex for some surf fishing 😅
Nice, Cheers
Andy, sorry for the late post, but I had seen your earlier videos with Lee about tuning the Heewing VTOL, and asked him what the status was. He intimated that your work had likely been incorporated by Heewing into their current T1 Ranger VTOL PNP kits. I just received my PNP kit from Heewing and assembled it and programmed it according the Heewing directions, but have not flown it yet. Can you confirm the Heewing is using at least some of your parameters (their current version is AP 4.3.5)? Any suggestions for further noise filtering and PID? Thanks!!!
Hi Allan, my changes were only integrated into AP 4.4.x and later so it sounds like they are not shipping the right parameters. TBH they have not been that helpful recently despite the time I have put in so I have rather gone off the project. I'm happy flying my Ranger, but am not planning to do much more.
@@andypiper5285 Sorry to hear Heewing was not responsive, after the effort you made! Were your parameters in AP 4.4.x with "their" FC, or a third party? Just wondering whether I should upgrade to 4.4.x to get the benefits of your tuning.
@@allansmits9621 You should definitely upgrade if you can, but they were using a bad board id so that makes it slightly trickier - Lee did a video about how to upgrade. My videos were done with a different flight controller, but I have a friend who has the VTOL FC (provided by Heewing I should say) and we did some parameters for that which I can post again.
@@andypiper5285 Andy, I think I’ll start conservatively with the current FW, but would very much like to try any parameters your friend finds helpful. Please send or re-post.
@@allansmits9621 I've added links to the description. Let me know how you get on.
I had noticed Ardupilot aggressive taking off the ground since 4.3. in your video I saw the same. Is there any param to take off smoother. Big copter is scarry.
I take off aggressively, because ground effects can cause you to tip if you do it very gingerly. There are parameters that allow you to modify the slew time, but in general I would recommend taking off with some authority
will m9 be better since it has higher update rate?
@@sakuratears9731 wait for the next video!
I think you need an example of let's say a perfect 2 gps with perfect accuracy first to have a good understanding, 2 gps that close is not really a good idea tbh
It's a good idea, but not enough hours in the day! What I can say is I am planning to switch most of my copters over to the M10 Micro so will be able to do a log of that flying
@andypiper5285 mate I your next video queued and I saw all the hardware you had there lol
do a disarmed log and ground a data pin or just unplug to determine gps id
Nice to see you just having fun and not teaching us. There is no doubt we need your help, but not every day. Send us one or two of these mixed in with the hardware videos. Cheers!
Glad you like it!
i used betaflight , and now trying to use inav 7
🎉
Maybe it’s just me, but I can barely hear you.
It's decent but yeah not very loid
Sorry!
I'm using the BlueYeti mic - it might need to be a little lower and more in front of me to pick up my voice clearly
My apologies, I came back and watched again and I heard you fine. Must have been an internet problem or something. Thanks for the videos!
amazing work Andy!
Thanks a lot!
Is the horizon ment to drift that much on osd
It's a good question. I don't look at the OSD horizon when I am flying. You can see that the copter itself is not drifting - although the control is very smooth and so its difficult to get a sense of the actual speed.
This was my friend Justin flying BTW
Thanks. That's pretty impressive.
Glad you liked it!
Cool! Would be great if you can post the FPV video at some point too so we can see what the tune is like. It looked like he did a lot of flips and so on, so that should give us rapid enough movement to be able to assess the tune.
Thanks for the idea!
I'm setting up my t-1 ranger vtol as well, using the speedybee f4 mini. I'm using arduplane. What notch filter settings would you recommend? I finished my x500 as you set yours up and really do appreciate the videos you have done for that project! thank you very much..
That's really hard to answer, but if you can use ESC telemetry then that will give you the best tune
@@andypiper5285 Thank you very much.
The hard-deck on this hop will be 10 feet
Really looking forward to this getting merged. For the landing "problem", could you not just switch to RTL or LAND using a switch or button?
Absolutely - RTL or LAND will work fine.
Is it safe to set EK3_ABIAS_P_NSE to 0.003 and EK3_ACC_BIAS_LIM to 0.1 if using RTK?
These relate to the IMUs so does not impact RTK in any way
Wow good news.
Really your videos help me a lot to achieve a fast GPS assisted quadcopter for falcon training.. 🙏🙏
Hi there. You show a flight controller at about 3:29 min:sec into the video which you mention has a built in Nvidia Jetson computer but you don’t say who makes the controller. Could you talk about the board and why someone would want to use that board in more detail. Thank you!
Hi it's the DroneCore-2 from airvolute airvolute.com/dronecore-2/
@@andypiper5285 thank you!
thank you
Hello, please tell me how to connect a mini boozer to this? there is no third contact for the green wire.
What is a mini boozer?
@@andypiper5285 which beeps. Buzzer
hi,Thank you for sharing in such detail. What type of sponge is used for the barometer? Is there a link to buy it?
I just use the foam that my HobbyKing batteries come packed in. Any closed cell foam will do, just needs to be firm enough
Extremely cool! Thanks so much for the video. I'd absolutely love a GPS shout-out vid. I'll be running back in to see what your channel had in store. I'm subb'n ya bro!
When I have the results in a will publish them
Very interesting. As a fixed winger, I keep my waypoint radius at 50 meters and fly all corners at cruise speed, typically just 15 m/s. Wonder what such a radius would do to a flight like this one -- probably more distance, but possibly less time and energy?
Good question, clearly wider waypoints are required for faster speeds
Great I have build a fast GPS assisted quadcopter 177 kmh and after a lot of issues it's flying great with a lot of power...
Nice!
What camara are you using on this flight?
This is an original DJI Caddx Vista
thank you for an amazing video. if i want to add or remove for example UART, should i do it on the hwdef only or i have to do it with another software for example cubemx?
Just in the hwdef
Hi Andy, please help me with advice as a specialist in Ardupilot, my Chimera 7 performs a clear hover at the Poshold and Loiter point in 50% of cases when turned on, sometimes it goes into the toilet, starts flying in a circle, if you turn it off and turn it on again, it’s like whist at the point ideally, and so every time, 25-30 satellites, the compass shows correctly, the accelerometer calibration was redone, the other modes Altohold, Lading, Break work at 100% on, where should I look for the problem?
Toilet bowling is typically a compass problem. I recommend you do a really good magfit calibration - so do a figure of 8 flight with varying throttle and use the online tool to generate compass motor offsets. That said I have seen what you describe and my suspicion is that it is related to the gyro offsets and heat. If your flight controller uses a MPU6000 they are very bad for weird biases as the board heats up and cools down. I really recommend a board with ICM42688 and doing a good TCAL.
@@andypiper5285 Andy, thank you for your answer. In this case it is H743-SLIM V3 IMU ICM42688P, ICM42605/42688p. I installed the new FLYWOO GOKU module, the old Matek compass also showed the correct course, but the quadcopter did not react at all to the inclusion of Poshold and Leuther, with the new FLYWOO GOKU it began to turn on, in half of the cases it hangs perfectly at the point for at least 10 minutes, in half the toilet, clearly an improvement there is a new compass. Could you give me a link to instructions on how to do this calibration with flight 8?
@@TheZerocul Looks like I will have to do a video on that. You saw that in the end I had to mount a compass at the front to avoid interference from the battery leads?
@@andypiper5285 No, I haven't watched it yet. On this Chimera, the wires to the battery go up at a distance of 5 cm. There is actually a navigation light close to the compass, I’ll try to remove it, and I’ll wait for your video, as far as I can imagine, this calibration will be difficult.
Hello, how we can determine the oscillations because on 8:36 second of video you mention pitch still have oscillations but roll and yaw doesn't have... Yellow graph is yaw right... It's look similar to pitch... Then why. I don't understand what is the difference btw them?
Only look at the part of the graph when the copter is flying - i.e. when the red line is high
So as I understand If I have ATC_RAT_YAW_D 0.000 in big octocopter coax with 20" propellers Autotune for Yaw_D will not work ? I have to change this ATC_RAT_YAW_D to 0.001 to force Autotune to set this parameter ?
I’m pretty sure we fixed this bug, so even if it’s zero autotune can still tune it
I didn't see any wire connected. Is there any links or report of the IMU analysis, maybe comparision test report of IMU stability?
Have a look at my blog on discuss - it gives the analysis
Can we use this to dji o3? I want to be able to switch the o3 power on and off so it wont get overheated while setting up the quad on the table
Yes should work with DJI as well - this is literally switching the BEC on and off on this board
@@andypiper5285 thanks for the knowledge andy, so that means i have to solder the cables into the FC not using the jst connector included by the o3 correct?
@@erikaditya4896For this flight controller I don't think so - the 9v is in the JST connector and its switchable. For other flight controllers you may have to solder the connections
Nice explanation! I would really like to know if I can contact you in order to obtain a course in arducopter configurations
Hi, I don't currently have a course - I do do consultancy however
Great, how I can contact you? I do need your consultancy services
A very informative video, thank you. Just reading myself in to ArduPilot again after being out of the loop for a few years. About to start building a five inch quad for fpv flying using acro mode. I have an old Kakute F7 AIO flight controller that I’m going to use which has the benefit of a micro sd card for logging along with Spedix GS35 amp esc and early version of T-Motor F40 motors. The detailed explanation of your settings has been very helpful. Looking forward to watching your tuning video next.
Thanks for the vid., Andy. Just quick a question, are you on v6.31 or v6.17 TBS FW?
I'm on 6.19. Trappy says that's still the recommended stable version
Thank you Andy, I will definately use FBWA next time. I have set mine up with your parameters on a Matek F405 TE but unfortunately SERVO_BLH_BDMASK is missing? Do you have any ideas on this or is it something not to worry about? My firmware is V4.4.4. Any suggestions would be much appreciated. Thank you.
You need to use the MatekF405-TE-bdshot firmware to get the bdshot parameters
@@andypiper5285 Thanks very much Andy! I did a test hover yesterday and had some fast oscillation. I will reflash with the proper firmware. And again, thanks!
@@andypiper5285 Thank you for your hard work! I had a successful hover and smooth transition to forward flight! The tuning is far better than the original!
You can try starting the tuning process by reducing Q_A_INPUT_TC to 0.2 The precision of the XY navigation controller also is quite high. Additionally, consider increasing Q_A_RAT_YAW_FLTE. Q_P_POSXY_P 0,7 Q_P_VELXY_D 0,126 Q_P_VELXY_FF 0,1 Q_P_VELXY_I 0,06018 Q_P_VELXY_P 0,6 loiter controller Q_LOIT_SPEED 1000 Q_LOIT_BRK_JERK 100 Q_LOIT_BRK_DELAY 0,5 Q_LOIT_BRK_ACCEL 25 Q_LOIT_ACC_MAX 500 czcams.com/video/9NZ5mNGRDiY/video.html
These are not the problem, and Q_A_INPUT_TC is an input shaping parameter so controls how the aircraft feels not how it flies. As I say in the comment below the main issue is a poor fixed wing tune which conflicts with the aggressive VTOL tune
Super thank you to you, Sir. I am building one with an 5in frame, coming from BF and Kiss setups, this tutorial is super helpful, and the subs., IMO has to justify better.
Fantastic!
Interesting flapping. I thought perhaps you were slowing it down for transition and it was trying to stall. Watched again and I can hear your switch before any flapping. Still interesting. :)
What happens is that the feed forward from the plane controller fights the PIDs the copter controller. The main solution is a good plane tune - it was using relatively default PIDs and for roll at least feed forward was far too high. Running autotune in plane cured this. Note that what provoked this was the good copter tune that I had with high angle P - you want this for good VTOL performance but it needs to be coupled with a good plane tune
Aaaah!
Very cool. I think I'm still seeing a little bit of that yaw oscillation that seems to plague the tilt-rotors in the landing right?
Can you please share your parameters after tuning? I was trying to do the transition today but I got a broken aileron servo again.. thanks for the support and videos. By the way can you make a video tutorial on how to run the quick tune script and how to install it?
Yes I can. My current settings are here - www.dropbox.com/scl/fi/ml685xa0nku308d1lo5l5/Ranger-4.4-MatekH743-Tuned.param?rlkey=w0k534ms3mvcrk4u4d4adujbv&dl=0
@@andypiper5285 Thanks a lot, this will be useful with the next Heewing T-1, because yesterday the old one crashed unrecoverable. Please keep making videos, they are the best out there for Arupilot!!
what props are you going to use? I haven't got my motors yet but I plan to use 2004 2400KV with 5'' props
I just use the props that come with the VTOL kit