Analysis and verification of multi-rotors attitude control algorithms in Pixhawk

DOI

10.2991/icadme-16.2016.107How to use a DOI?

Keywords

Pixhawk, attitude control, angle error, cascade PID

Abstract

Pixhawk is an open-source flight control system. The research on the attitude control algorithm Pixhawk uses provides a good reference for the use and development of the Pixhawk. In this paper, it provides a theoretical analysis of the attitude control algorithm of multi-rotors in Pixhawk, and it also carried out simulations and flight experiments to verify the performance of the multi-rotor attitude control algorithm. It has shown that the attitude angle error algorithm based on rotation vector and cascade PID controller the Pixhawk uses not only can stabilize the multi-rotor around hovering, but also can realize complex maneuvers.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Fangzhen Lin
PY  - 2017/07
DA  - 2017/07
TI  - Analysis and verification of multi-rotors attitude control algorithms in Pixhawk
BT  - Proceedings of the 2016 6th International Conference on Advanced Design and Manufacturing Engineering (ICADME 2017)
PB  - Atlantis Press
SP  - 612
EP  - 618
SN  - 2352-5401
UR  - https://doi.org/10.2991/icadme-16.2016.107
DO  - 10.2991/icadme-16.2016.107
ID  - Lin2017/07
ER  -