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

Figure 8

Behaviour of the roll and pitch controllers. In (a), the pilot changes the set value from -20° to +40°. The roll controller follows the command and tries to reach the desired position. Because of the coupling system, the pitch angle in (b) changes too and the airframe is dropping. The pitch controller and the decoupling controller are reacting to this and set the airframe in the right position.

(a) Roll controller

(b) Pitch controller