Abstract
This paper realizes attitude tracking, speed tracking, fixed-point tracking, path tracking, and trajectory tracking by adjusting the relevant parameters of the UAV motor controller. In the practical application of UAVs, we will design some flight modes according to the actual use requirements, such as stabilization mode, fixed point mode, and mission mode. From the essence of control, these modes are to expect the state of the aircraft and allow it to fly in a given desired state. For example, in the stabilization mode, the remote control outputs pitch angle expectation, roll angle expectation, yaw rate expectation, and throttle expectation, and then the controller controls the above expectation by controlling the motor throttle.
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