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

Figure 7

Structure of the closed control loop system. The IMU is shown on the right side in orange and measures the Euler angles every 30 ms. The pilot commands the set value with a commercial remote. The difference between the set value and the actual value is offered by the controller, which calculates itself a control signal to get the airframe to the desired position. The damper damps the own movement of the airframe, and the complete control system is also sensitive to disturbances such as wind gusts. The internal control algorithm is called “basic controller” and is framed in blue.