Development of a Low-Cost Embedded Flight Controller for Quadcopter

Abstract

Quadcopter has been interesting researchers due to its wide application, such as surveillance, mapping, delivery drone, etc… Developing a low-cost embedded flight controller unit (EFCU) for making the quadcopter autonomous is still challenging problem. In this work, an EFCU is developed based on ARM STM32F103C8T6 microcontroller, the MPU6050 IMU sensor and the HC-SR04 ultrasonic sensor. An PID control strategy is implemented for automatically take-off, landing, and stabilizing control of the quadcopter. The EFCU and PID controller is developed in this work. It is implemented and tested experimentally by providing error on roll and pitch position in 0.71° and 0.68° respectively.