Development of Multifunctional Rotary UAV Based on Pixhawk Family Flight Controllers

Serhii Lienkov, Alexander Myasischev, Vadym Ovcharuk, Evgen Lenkov, Nataliya Lytvynenko

Development of Multifunctional Rotary UAV Based on Pixhawk Family Flight Controllers

Číslo: 1/2023
Periodikum: Advance in military technology
DOI: 10.3849/aimt.01752

Klíčová slova: GPS Receiver, ESC Controller, Failsafe, Arducopter, Ardupilot, Pixhawk, Google Earth, FMUv3, Notch Filter, Fourier Transforms, Mission Planner, STM32F427

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Anotace: The design of a copter has been carried out, that can be used to set up air interference, reducing the probability of impact of the enemy air defense systems, reconnaissance operations, and the transfer of military cargo. The developed hexacopter is capable of carrying a useful load of 2.5-3 kg, at a speed of up to 45 km/h, based on a Pixhawk family flight controller using the Arducopter firmware. Stability of the flight of a quad-copter on a frame of 850 mm during a gusty wind of 7-8 m/s in navigation modes for firmware Arducopter ver.4.0.7 has been experimentally tested. The use of software dynamic notch filters to reduce the impact of vibrations from running motors on the readings of the accelerometer and gyroscope is considered.