Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions

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Abstract

This paper presents a modular autopilot framework for Unmanned Aerial Vehicles (UAVs) that addresses the limitations of modern flight controllers. The framework utilizes separate and external subsystems for actuator control and the resolution of the Control Allocation problem. The actuator subsystem, implemented on a Teensy 4.0 microcontroller, incorporates an Incremental Dynamic Inversion Control (INDI) RPM controller, enabling direct control of motor RPM and facilitating the implementation of dynamic inversion-based control laws. The primary flight computer, a Cube Orange, coordinates the system, while an OrangePi 5 singleboard computer serves as a companion computer. Real flight results demonstrate the effectiveness of the framework, highlighting its potential for robust and efficient UAV control.
Original languageEnglish
Title of host publication14th annual international micro air vehicle conference and competition
EditorsD. Moormann
Pages109-116
Publication statusPublished - 2023
Event14th anual International Micro Air Vehicle Conference and Competition - Aachen , Germany
Duration: 11 Sept 202315 Sept 2023
Conference number: 14
https://2023.imavs.org/ (14th anual International Micro Air Vehicle Conference and Competition)

Conference

Conference14th anual International Micro Air Vehicle Conference and Competition
Abbreviated titleIMAV 2023
Country/TerritoryGermany
CityAachen
Period11/09/2315/09/23
Internet address

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