An automatic flight control system for the AR.Drone quadrotor in outdoor environments

This paper describes the application of a low-cost quadrotor testbed in real outdoor flights. Along the text it is discussed how to design a flight control system, including methods for fusing out-of-sequence sensor measurements, for modelling the aircraft and for designing a high level flight controller. To validate the proposed system, some flights were performed, executing the specific tasks of positioning and trajectory tracking. The experimental results, discussed in the text and presented in videos, demonstrate the effectiveness of such a system.