ПРОЕКТУВАННЯ БПЛА САМОЛЬОТНОГО ТИПУ НА БАЗІ FIRMWARE ARDUPILOT

Abstract

The paper considers the construction of a budget (no more than $ 150) aircraft-type UAV, which is able to perform the following flight modes: holding altitude and position, automatic return to the take-off point on command from the control panel or loss of communication with it, automatic flight along a given trajectory. During flight tests, the high aerodynamic qualities of the C-1 CHASER flying wing model were noted compared to models that were made from foam on their own. So, the flight time increased by ~ 25%, the speed by ~ 30% with the same flight weight and power consumption from the battery. It was experimentally established that it is possible to fly along the points of a designed aircraft with an APM 2.6 flight controller and Arduplane firmware with the obligatory use of a barometer and a magnetometer, in the same way as for a rotor-type UAV for performing similar tasks. The possibility was established using the Mission Planner ground station and the Google Earth Pro service to construct a real flight path of an aircraft using log files generated by the flight controller. The correspondence between the real flight trajectory of the aircraft and the trajectory entered into the flight controller using a ground station was experimentally determined. During flight tests, the correct operation of the failsafe mode was shown in the event of a loss of communication with the control equipment. The maximum operating range of the FlySky FS-i6 control equipment with the FS-IA6B receiver was set, which was 1.3 km in the absence of interference in the field. It was found that when the failsafe mode is disabled, the wing can fly to a distance from the take-off point, limited only by the battery charge (about 40 minutes at a speed of 40-45 km / h). When analyzing real flight trajectories, it was found that the firmware of the Arduplane, when flying along the trajectory, provides a more accurate passage of flight points, and the sections of passage between the points are straightforward, in contrast to the flight with the INAV firmware. We also noticed a smoother behavior of the wing when making turns, in contrast to the INAV.