Integration of an Open Source Flight Controller into a Fixed Wing Remotely Piloted Aircraft

Abstract

This master thesis is about the integration of the open-source flight controller APM 2.6 in an aircraft. It consists in the understanding of the functioning of the autopilot but also its installation and configuration. At the beginning, the main characteristics of the aircraft are analysed. These include a strong stability enhanced by the position of the wing and the presence of a dihedral, a combustion engine and a landing gear with a tail dragger configuration. Furthermore, the radio Taranis X9E is entirely configured to accomplish the required tasks. It is a fully programmable radio and the main steps of its configuration are explained. In this report, the installation of the autopilot and the other necessary components are detailed. Additionally, particular care is considered regarding issues about vibrations because of the combustion engine. Mission Planner, the software used as a ground control station, is also commented with different safety features and a presentation of the main flight modes of the flight controller is done. The autopilot is based on a series of classical PID controllers. The philosophy of each controller is explained. The aim of the work is therefore to tune them correctly for the flight. A fully autonomous mission, including take-off and landing, is analysed to demonstrate that the system works well.