Altitude and trajectory control of an autonomous quadcopter

This article presents a miniature aircraft (MLA), which is autonomous in the environment. The main advances in these studies are both new trajectory tracking schemes and attitude control schemes in real flight mode. This MLA is based on a traditional quadcopter. A PID controller is used to stabilize the position of the quadcopter. The proposed regulator is designed in such a way as to be able to weaken the influence of external wind influences and to guarantee stability in this state. For autonomous trajectory tracking, you must have a fixed flight altitude. In addition, the ARM cortex M4 microcontroller performs data processing. The trajectory is determined using GPS in the mission planner software for the external environment. The HMTR module is used for real-time communication between the robot and the ground station. Flight data is saved to SD card memory and converted to MATLAB code for real-time playback. The experimental results of using the proposed regulator on an autonomous Quadcopter in real conditions show the effectiveness of our approach.

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