uavAP: A Modular Autopilot Framework for UAVs

Theile, Mirco; Dantsker, Or D.; Nai, Richard; Caccamo, Marco; Yu, S. C. M.

doi:10.2514/6.2020-3268

Cited by 12 publications

(7 citation statements)

References 29 publications

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“…Chong et al [2] and Ying et al [17] use message bus in the middleware layer. Theile et al [23] provide a modular autopilot framework named uavAP for UAVs. As the core functionality of the uavAP, cpsCore is responsible for managing its modules through its propriety interface, which is defined in the framework.…”

Section: Enabling Portability In the Softwarementioning

confidence: 99%

“…In order to be expandable and portable, many UAV software followed a layered structure with different modules and centralized all messagepassing services between its modules as a middleware. The structure of existing UAV software [6][7][8][9][10][16][17][18][19][20][21][22][23] consists of common layers that contain different modules, such as 1.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Architectural Process for Flight Control Software of Unmanned Aerial Vehicle with Module-Level Portability

et al. 2022

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To apply UAVs (Unmanned Aerial Vehicle) into different fields, including research and industry, and expand it quickly, reliable but modular software is required. The existing flight control software (FCS) of the UAV consists of various types of modules categorized into different layers, and it is responsible for coordinating, monitoring, and controlling the vehicle during its flight. This paper proposes mpFCS, a structure of UAV flight control software, which provides portability to its modules and is easy to expand. The mpFCS consists of four segments and several modules within the segments. mpFCS provides portability for each module within the segment. Existing software does not provide portability for its modules because of the tight coupling resulting from its different and private interfaces. The mpFCS uses interfaces of the standard airborne software architecture to transfer data between its modules. Moreover, the structure provides portability for its modules to run in the standard airborne software environment. In order to verify the mpFCS, we tested the mpFCS with the conformance test suite of the airborne software that provides the testing environment for the interfaces and modules of the software. The mpFCS passed the test. Test results show that all modules of the mpFCS are portable. Additionally, portable modules can be interoperable with other software, and the structure is expandable with new modules that use standard airborne software interfaces.

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Section: Enabling Portability In the Softwarementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Architectural Process for Flight Control Software of Unmanned Aerial Vehicle with Module-Level Portability

et al. 2022

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“…Çalışmada ele alan yayınların basım yıllarına göre sayıları, yayın isimleri ve referans numaraları Tablo 1'de verilmiştir. Test Çalışmaları [1], [2], [3], [4], [23], [42], [51] Dizayn ve Modelleme Çalışmaları [1], [2], [6], [11], [14], [18], [20], [23], [24], [25], [26], [27], [31], [35], [36], [38], [39], [40], [41], [42], [45], [46], [47], [49], [50], [51], [52], [53], [56], [57] Survey Çalışmaları [10], [12], [13], [28], [33], [54], [55] Tuning Çalışmaları [3], [35], [48] Simülasyon Çalışmaları [8],…”

Section: Bulgularunclassified

“…Yıllara Göre Yayın Sayıları, Referans Numaraları ve Yayın İsimleri Intelligent Autopilot Design Based on Adaptive Neuro -Fuzzy Technique and Genetic Algorithm"[31] "Longitudinal Dynamics Analysis and Autopilot Design for a fixed-wing, tactical Blended-Wing-Body UAV"[36] "Nonlinear Autopilot Design for Fixed-Wing UAV Using Disturbance Observer Based Backstepping"[49] "uavAP: A Modular Autopilot Framework for UAVs"[57] "Evolutionary Autopilot Design Approach for UAV Quadrotor by Using GA" Tablo 2'de, İHA'lardaki otopilot sistemleri konusunda yapılmış ele alınan yayınların kapsamları doğrultusunda bir analiz sunulmuştur. Bu analize göre, incelenen yayınların konu kapsamları kategorize edilmiş ve o kategorideki yayınların referans numaraları verilmiştir.…”

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İnsansız Hava Araçları ve Otopilotlar

Akay

Kuriş

Senan

2021

Journal of Aviation Research

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“…In [110], both system identification and control law design were performed for the longitudinal motion of a fixed wing UAV. Complete autopilot systems for UAV have been built or described in, for example, [111][112][113][114][115][116] including the PX4 flight stack used in this study.…”

Section: Introductionmentioning

confidence: 99%

Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

Steffensen,

Ginnell,

Holzapfel

2024

Actuators

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An incremental differential proportional integral (iDPI) control law using eigenstructure assignment gain design is tested in flight on a subscale platform to validate its suitability for fixed-wing flight control. A kinematic relation for the aerodynamic side-slip angle rate is developed to apply a pseudo full state feedback. In order to perform the gain design and assessment, a plant model is estimated using flight test data from gyro, accelerometer, airspeed and surface deflection measurements during sine-sweep excitations. Transfer function models for the actuators and surface deflections are identified both in-flight and on the ground for several different actuators and control surfaces using hall sensor surface deflection measurements. The analysis reveals a large variation in bandwidth between the different types of servo motors. Flight test results are presented which demonstrates that the plant model estimates based on tests with good frequency excitation, high bandwidth actuators and surface deflection measurements can be used to reasonably predict the closed-loop dynamic behavior of the aircraft. The closed-loop flight test results of the iDPi control law show good performance and lays the groundwork for further development.

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uavAP: A Modular Autopilot Framework for UAVs

Cited by 12 publications

References 29 publications

Architectural Process for Flight Control Software of Unmanned Aerial Vehicle with Module-Level Portability

Architectural Process for Flight Control Software of Unmanned Aerial Vehicle with Module-Level Portability

İnsansız Hava Araçları ve Otopilotlar

Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

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