High-Speed Free-Flight Wind Tunnel Experiment With A Compromised Quadrotor: Creating A Dataset Suitable For Identification Of Aerodynamic Forces and Moments

To aid in the continued effort of making unmanned flight safer, this paper presents the experimenting effort towards determining aerodynamic forces on a off-the-shelf quad-rotor under compromised circumstances. For the first time an Incremented Nonlinear Dynamic Inversion controller is used for compromised flight in wind tunnel conditions. For...