Desenvolvimento de um sistema de controle para quadrirrotores

Abstract

In order to interface between the Quadrotors systems and the OSP controllers, two Quadrotors systems with different orientations were built. In the manufacture were used frames available on the market, and the necessary adaptation was performed with the parts production through the computer numeric control. Having the structure done, the installation of electronic components was realized, placing the entire embedded system. Two OSPs controllers were used in each system, The MultiWii Pro, with an ATMega2560 embedded, and the CC3D OpenPilot, with a STM32 embedded. With the MultiWii Pro being a controller with favorable features, this was the one selected to perform the pathfinder of its firmware. The need of calibrate the classic controls, usually in feedback configuration and with the stability augmentation system, led to the development of a calibration structure, where along the serial communication protocol identified, were used to analyze answers in search of a better result between setpoint and output.