Quadrotors attitude estimation and control with Arduino implementation

Abstract

The use of drones or unmanned aerial vehicles UAVs has grown considerably in recent years. In this work we were interested in the realization and state control of a Quadrotor based on an Arduino Due board. First the dynamic model was developed using Newton-Euler formalism in order to mention all the gyroscopic effects acting on the Quadrotor. We proceeded to assemble the various components and their calibrations. The identification method was used to calculate the parameters of the Quadrotor, then to allow autonomous operation, a state estimate was developed using attitude sensors. A test bench was carried out in order to stabilize this Quadrotor. The tests carried out are conclusive and have enabled us to control the Quadrotor via a PID command.