Autonomous control system for the quadrotor unmanned aerial vehicle

In order to achieve the autonomous flight control of the quadrotor, this paper designs an autonomous flight control hardware platform. In this platform, we use self-assembly aircraft as the body frame. The main on-board sensor is an attitude heading reference system(AHRS) MTi-G unit, and the on-board controller is an ARM-based embedded system. AVR microcontroller is used to construct the override module. Based on the nonlinear dynamic model of the quadrotor, we design an inner-outer-loop PD control scheme for the position and attitude tracking controller. Autonomous control of the roll angle, pitch angle and the horizontal direction of latitude, longitude has been obtained. And the experiment results show that the on-board control system has achieved good flight performance.