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http://dx.doi.org/10.20910/JASE.2018.12.3.45

Pixhawk mission mode flight control-law structure analysis based on Open-Source  

Lee, Yeongho (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
Shin, Seungchan (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
Mok, Jihyun (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
Ko, Sangho (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
Publication Information
Journal of Aerospace System Engineering / v.12, no.3, 2018 , pp. 45-52 More about this Journal
Abstract
This paper deals with the analysis of the inner-loop algorithm of the Pixhawk which is a representative multi-copter open source. The algorithm is based on flight control-law structure. The inner-loop algorithm of the Pixhawk can be divided into a position controller and an attitude controller. The position controller generates the attitude of the multi-copter to move to the destination The position controller also generates the demand force and moment acting on each actuator. We confirm that the position controller saturates the desired acceleration and speed by using a proper relational expression. The expression can be used in order to prevent the sudden change in the attitude of a multi-copter.
Keywords
Pixhawk; Mission-Mode; Position Controller; Attitude Controller;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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