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

Figure 11

The desired route and the navigation points (red) the airframe has to reach (a). If the airframe attains the epsilon area (green), the navigation unit commands to fly to the next destination. The flown route is shown in black. In (b), the commanded course (blue) and the flown curse (red) are contrasted. The planned altitude (blue) and the actual altitude (red) are shown.

(a) GNSS route

(b) Direction controller