Leonard is responsible for many core pieces of Ardupilot’s multicopter code including critical parts of the attitude, navigation and motor control libraries. He also developed the multicopter “AutoTune” feature and is generally considered the expert in tuning Ardupilot’s multicopter vehicles. He was responsible for discovering the ideal tune for many of 3DR’s vehicles including the IRIS, Y6, X8, Spectre and Solo. He also developed the Ardupilot tune for the Bebop1 and Bebop2. Leoanrd has provided mechanical design review for a large number of commercial and defence multirotor aircraft.

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