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

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Yücel U., Tekinalp O.

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

  • Publication Type: Conference Paper / Full Text
  • Volume: 11
  • Doi Number: 10.13009/eucass2025-628
  • City: Rome
  • Country: Italy
  • Page Numbers: pp.1-13
  • Middle East Technical University Affiliated: Yes

Abstract

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.