ПРОЕКТУВАННЯ БАГАТОФУНКЦІОНАЛЬНОГО БПЛА РОТОРНОГО ТИПУ НА БАЗІ ПРОШИВКИ ARDUPILOT

Abstract

In this work, a multifunctional rotor-type UAV (hexacopter) was designed based on the Arducopter ver.4.0.7 firmware for FMUv3 devices. Experimental tuning of the firmware parameters for a given UAV geometry, its weight, propeller group, flight stability in a gusty wind for navigation modes has been performed. It is shown that this flight controller can use all the documented features of the Ardupilot firmware, unlike the Pixhawk1 1M. Experimentally, on the basis of numerous flights, it was revealed that firmware using a mathematical apparatus based on the extended Kalman filter (Arducopter 4.0.7) gives better flight results in navigation modes than firmware based on the use of a complimentary filter (INAV, Betaflight - rescue mode). The possibility of controlling additional equipment using a flight controller is shown using the example of dropping a load at a given point of the trajectory. The results of telemetry were obtained during the automatic flight of the hexacopter along a given trajectory based on the installed sensors. It is shown how, using the ground station software, it is possible to obtain two-dimensional and three-dimensional graphical representations of telemetry data for analyzing the flight of a copter with its subsequent fine tuning. The possibility of constructing and constructing a three-dimensional trajectory of the UAV flight according to telemetry data using the Google Earth program has been studied. Considered the fine tuning of UAV flight modes using the Ardupilot firmware parameters. The parameters are identified that are basic for ensuring maximum flight stability in abruptly changing conditions, for example, during sudden braking, maneuvers, gusty wind. The range of variation of these parameters and their values have been determined experimentally. The parameters of the PID controller were tuned to ensure a smooth and stable flight in navigation modes. In work with the use of a servo drive, a load dropping device has been designed, which can be triggered automatically when flying along a trajectory, and when commanding from the control panel when approaching a given point, which is visually viewed using the Mission Planner.