European Conference of Aerospace Sciences, Rome, Italy, 30 June - 04 July 2025, vol.11, no.628, pp.1-13, (Full Text)
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.