Development of a simple, low-cost autopilot system for multi-rotor UAVs

This paper describes the development of a simple, low-cost, embedded auto pilot for an Unmanned Aerial Vehicle (UAV) and its integration to achieve self-flight capability using commercially available off-the shelf modules and components. The autopilot was developed using Arduino Mega 2560 embedded micro-controller platform and integrated with a DJI Spreading Wings S800 Hexa-copter platform, Wookong M Flight Stabilization Controller, and Sensors. A Ground Control Station (GCS) and a wireless communication system to communicate with the UAV was developed using Xbee modules and tested for realtime communication. GCS sends remote control commands, way-points and navigation plan to the on-board autopilot and receives data streams from the UAV. MATLAB was used for creating the Graphical User Interfaces (GUI) for communication. It is capable of sending commands to the micro-controller and receiving data and state information from the UAV in near-real time and was successfully used for tuning the autopilot. Autopilot development and integration was carried out in two stages: (1) Experiments for estimating the physical parameters and manually tuning the Thrust, Roll, Pitch and Yaw Control parameters using a RC-controller. (2) Coupling the Auto pilot (integrating the Arduino Mega 2560 embedded micro-controller) to the Platform and tuning Roll, Pitch, Yaw and thrust control for stable control manoeuvres. We also discuss some integration issues and report the results.