Controller for a Low-Altitude Fixed-Wing UAV on an Embedded System to Assess Specific Environmental Conditions

Figure 10

Development of the cascade control loop. To control the navigation course, airspeed, altitude, and Euler angles, an IMU, GNSS, and pitot tube sensor are needed. On the left side, the navigation system or the pilot commands the course the airframe should fly. The control deviation is transferred to the autopilot which calculates the needed roll angle to reach the desired course. The autopilot also commands the airspeed and required altitude. The commands were compared to the sensor data. The internal basic controller in the blue dashed frame ensures that the airframe reaches the final position.