Flight code convergence: fixedwing, rotorcraft, hybrid

D.C. van Wijngaarden*, E.J.J. Smeur, B.D.W. Remes

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Rotorcraft, fixed wing and hybrid Unmanned Air Vehicles (UAV) each have applications in which they excel. Traditionally, dedicated autopilot control code is written to accommodate flight of each UAV type. This causes fragmentation of control code and may lead to performance differences or errors. In this paper, we propose to use the same INDI controller for rotorcraft, fixed wing and hybrid UAVs, with only parametric differences in control effective matrix definitions and roll, pitch and airspeed limits. The controller is based on earlier work, but relevant derivations are included in this paper. Successful test flights, performed with a Bebop2 quadrotor, a Disco fixed wing, and a Nederdrone tailsitter hybrid demonstrate the feasibility of this approach.
Original languageEnglish
Title of host publication12th International Micro Air Vehicle Conference
Place of PublicationPuebla, México
Number of pages7
Publication statusPublished - 2021
Event12th International Micro Air Vehicle Conference - Puebla, Mexico
Duration: 17 Nov 202119 Nov 2021
Conference number: 12


Conference12th International Micro Air Vehicle Conference
Abbreviated titleIMAV 2021


  • UAV
  • Hybrid MAVs
  • Flight Control
  • Incremental Nonlinear Dynamic Inversion


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