Development of a Firmware for Multirotor UAV Flight Controller Implemented on MCU MDR 32

Dmitrii Vladimirovich Shatov; Daniyar Aleksandrovich Wolf; Vadim Albertovich Alexandrov; Ilya Gennadievich Rezkov; Peter Mikhailovich Trefilov; Roman Valerievich Meshcheryakov

Dmitrii Vladimirovich Shatov V.A. Trapeznikov Institute of Control Sciences of RAS https://orcid.org/0000-0002-3411-8520
Daniyar Aleksandrovich Wolf V.A. Trapeznikov Institute of Control Sciences of RAS https://orcid.org/0000-0001-5021-5411
Vadim Albertovich Alexandrov V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences https://orcid.org/0000-0002-3616-4520
Ilya Gennadievich Rezkov V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences https://orcid.org/0000-0001-7923-603X
Peter Mikhailovich Trefilov V.A. Trapeznikov Institute of Control Sciences of RAS https://orcid.org/0000-0003-0019-7707
Roman Valerievich Meshcheryakov V.A. Trapeznikov Institute of Control Sciences of RAS https://orcid.org/0000-0002-1129-8434

Keywords: aerial vehicle, quadrotor, flight controller, Euler’s angles, attitude control, manual control mode

Abstract

The paper is devoted to study unmanned aerial vehicle (UAV) flight operational features and UAV’s automatic control system operating in manual mode (it processes pilot’s control commands). The analysis of operation in special cases and conditions is carried out for the aircraft equipped with a radio-operating human-controlled system and automatic flight control system. The design of UAV Euler's angles automatic stabilization system is described. The results of research and development of the flight controller based on the domestic made microcontroller unit (MCU) MDR 32 are presented.