Implementing Quaternion-Based Nonlinear Control for Quadrotors in PX-4 Autopilot Framework

Creative Commons License

Yücel U., Tekinalp O.

European Conference of Aerospace Sciences, Rome, İtalya, 30 Haziran - 04 Temmuz 2025, cilt.11, sa.628, ss.1-13, (Tam Metin Bildiri)

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 11
  • Doi Numarası: 10.13009/eucass2025-628
  • Basıldığı Şehir: Rome
  • Basıldığı Ülke: İtalya
  • Sayfa Sayıları: ss.1-13
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

This study presents two workflows for integrating a previously developed Quaternion-Based Nonlinear Controller and a Linear Quadratic Tracking Velocity Controller (QNC-LQT) into the PX4 autopilot framework: (1) using the UAV Toolbox Support Package for PX4 Autopilots and (2) modifying the PX4 source code to add a custom flight mode. While the first enables rapid testing in Simulink, the second preserves core PX4 functionalities. Both approaches are validated through Software-In-The-Loop (SITL) tests and the source-code-based approach is further validated through real-world flight tests on a custombuilt quadrotor using a Cube Black flight controller.