Caleb Chamberlain
Caleb Chamberlain
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  • Provo, UT
  • United States
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Caleb Chamberlain's Discussions

New multi-rotor autopilot

Started this discussion. Last reply by Caleb Chamberlain Sep 17, 2011. 6 Replies

Putting the Rotorcraft/Accelerometer Question to Rest

Started this discussion. Last reply by Caleb Chamberlain Oct 10, 2011. 14 Replies

Open Source Attitude Estimation Code with Euler Angle and Quaternion Support

Started this discussion. Last reply by Allen Babb Oct 16, 2011. 7 Replies

 

Caleb Chamberlain's Page

Latest Activity

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Allen Babb replied to Caleb Chamberlain's discussion 'Open Source Attitude Estimation Code with Euler Angle and Quaternion Support'
Just reference to the Earth gravity vector, and use an arctangent function to find the X and Y Euler angles. Be careful about linear accelerations, as they'll throw off your calculations. Note: the Z Euler angles will be invalid most of the…
Oct 16, 2011
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Caleb Chamberlain replied to Caleb Chamberlain's discussion 'Putting the Rotorcraft/Accelerometer Question to Rest'
@Alex   Why do you want to use just accelerometers? You can add gyros without increasing your footprint size - Invensense sells a chip that combines gyros/accels into one small package and a common communication interface.   You COULD use…
Oct 10, 2011
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Alex replied to Caleb Chamberlain's discussion 'Putting the Rotorcraft/Accelerometer Question to Rest'
Thanks for your helpful post Caleb. Would you possibly know an answer to the following question:   Attitude estimation with ONLY 3axis ACCELEROMETERS. and nothing else, based on a lowpass filter? where can I find an opensource way to do…
Oct 10, 2011
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Alex replied to Caleb Chamberlain's discussion 'Open Source Attitude Estimation Code with Euler Angle and Quaternion Support'
Attitude estimation ONLY 3axis ACCELEROMETERS.   Dear DIYdrones friends, I'm looking for an Attitude Estimation algorithm, and only have 3 axis accelerometers. I know this will may not be optimal, and will be slow. But, if you know an…
Oct 10, 2011
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Caleb Chamberlain replied to Caleb Chamberlain's discussion 'Open Source Attitude Estimation Code with Euler Angle and Quaternion Support'
@Bot   That's great!  I'll look forward to seeing what you come up with.
Sep 26, 2011
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Bot Thoughts replied to Caleb Chamberlain's discussion 'Open Source Attitude Estimation Code with Euler Angle and Quaternion Support'
I'm probably going to be working on something similar over the next few months. Maybe even with the 6DM that I bought. If I ever have something to show for my efforts, will let you know. :)
Sep 26, 2011
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Caleb Chamberlain replied to Caleb Chamberlain's discussion 'New multi-rotor autopilot'
I see.  Actually, I know of no single reference that is available right now.  I learned about most of this stuff while working on my MS thesis.
Sep 17, 2011
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Akshay Verma replied to Caleb Chamberlain's discussion 'New multi-rotor autopilot'
References about autopilot design, what all instruments are included and how to design them?
Sep 17, 2011
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Caleb Chamberlain replied to Caleb Chamberlain's discussion 'New multi-rotor autopilot'
@Tom,   I originally designed it to sell as a drop-in replacement for the Mikrokopter autopilot, and as the autopilot for a potential new quadrotor product.  A few higher-priority projects have taken precedence, though, so I haven't…
Sep 17, 2011
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Caleb Chamberlain replied to Caleb Chamberlain's discussion 'New multi-rotor autopilot'
@Akshay,   What references are you talking about?
Sep 17, 2011
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Tom Yochum replied to Caleb Chamberlain's discussion 'New multi-rotor autopilot'
Nice Caleb!   I have a few questions I am hoping you can answer: Did you use the same accels and gyros from your IMU board? Why the two processors? Is one running the GPS/IMU code and the other autopilot code? Cost? Are you going to be selling…
Sep 16, 2011
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Akshay Verma replied to Caleb Chamberlain's discussion 'New multi-rotor autopilot'
Hi Caleb,   Done a great job! Could you share some references that you were referring?   Regards, Akshay.
Sep 16, 2011
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Amr Marzouk replied to Caleb Chamberlain's discussion 'Putting the Rotorcraft/Accelerometer Question to Rest'
Hey, A friendly quick note: Fig. 7.1 in page 148 says ATMEGA128 and shows an Analog Devices ADIS16355 IMU. I was just skimming through pages :)   Best Regards, Amr
Sep 2, 2011
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New multi-rotor autopilot

Hey all, I'm finishing up a new quadrotor/octocopter autopilot design.  I just got my second revision board populated and tested. I was excited enough about it that I thought I'd share it... :-D Some of the features of the autopilot are listed below: 1. Onboard gyros, accels, magnetometer, and absolute pressure2. MicroSD slot for telemetry logging3. Dual 72 Mhz ARM Cortex M3 processors (upgradeable to 120 Mhz)4. 8 Hobby PWM outputs for motor and servo control5. 8 i2c pinouts for connection with…See More
Discussion posted by Caleb Chamberlain Jun 23, 2011
6 Comments
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Roy Brewer replied to Caleb Chamberlain's discussion 'Putting the Rotorcraft/Accelerometer Question to Rest'
Caleb,   Actually, I think it may be important to the hobbyists - many of the projects seem to be having accelerometer issues with their attitude estimation routines (just look here on DIYDrones and the Aeroquad forums).   Also, this paper…
Jun 11, 2011
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Caleb Chamberlain replied to Caleb Chamberlain's discussion 'Putting the Rotorcraft/Accelerometer Question to Rest'
Hi Roy,   Yeah, measuring the aerodynamic drag coefficient could be tricky without truth data.  I actually think it can be done with an optic flow sensor and a clever filter.  On the other hand, the drag coefficient needn't be…
Jun 5, 2011

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