Real-time embedded control system for VTOL aircrafts: Application to stabilize a quad-rotor helicopter

In this paper, we present the design of an autopilot embedded control system for VTOL aircrafts using low cost sensors. The embedded control system uses parallel processing architecture. In addition, multitasking software is used to implement the data acquisition, control law computation, and correction output to get the desired set point. The control law can be easily tuning to improve the performance of the vehicle. We evaluate the performance of this platform in a quad-rotor helicopter. The main goal is to achieve the stationary flight using two control strategies, a linear PD control and nonlinear nested saturations control. Real time experiments show that the autopilot is a platform relievable with low cost components.