| High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems |
| English |
| Rodriguez de Cos, Carlos [] |
| Fernandez, Manuel Jesus [] |
| Sanchez Cuevas, Pedro Jesus  [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >] |
| Acosta, Jose Angel [] |
| Ollero, Anibal [] |
| 11-Dec-2020 |
| IEEE Access |
| Yes |
| [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. |
| http://hdl.handle.net/10993/47467 |
| 10.1109/ACCESS.2020.3044098 |
