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

Conference paper (2023)
Copyright: © 2023 A. Mancinelli, E. van der Horst, B.D.W. Remes, E.J.J. Smeur
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Published Date

2023

Language

English

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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.