Reference : High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems
Scientific journals : Article
Engineering, computing & technology : Multidisciplinary, general & others
High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems
Rodriguez de Cos, Carlos []
Fernandez, Manuel Jesus []
Sanchez Cuevas, Pedro Jesus mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >]
Acosta, Jose Angel []
Ollero, Anibal []
IEEE Access
[en] A redundant fast prototyping autopilot solution for unmanned aerial systems has been developed and successfully tested outdoors. While its low-level backbone is executed in a Raspberry Pi R 3 + NAVIO2 R with a backup autopilot, the computational power of an Intel R NUC mini-computer is employed to implement complex functionalities directly in Simulink R , thus including in-flight debugging, tuning and monitoring. Altogether, the presented tool provides a flexible and user-friendly high-level environment with enhanced computational capabilities, which drastically reduces the prototyping timespans of complex algorithms -between 50% and 75%, according to our long and proven experience in aerial robotics-, while preventing incidents thanks to its redundant design with a human-in-the-loop pilot on the reliable PX4. Three typical outdoor cases are carried out for validation in real-life scenarios, all mounted in a DJI © F550 platform. Full integration results and telemetry for more than 50 hours of outdoor flight tests are provided.

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