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

Figure 9

Behaviour of the roll and pitch controllers. During this time, the roll angle from (a) shows no deflection angle. In (b), the pilot changes the set value from 0° to -25°. The pitch controller is reacting to this command and reaches the commanded angle. While the airframe is flying, a left flight turns the pitch angle positive, which means that the pitch controller and the decoupling system are too strong. At 320 seconds, the airframe gets a command to fly upwards; the roll angle shows no deflection from this command.

(a) Roll controller

(b) Pitch controller