Faculté des Sciences appliquées
Faculté des Sciences appliquées
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Integration of an Open Source Flight Controller into a Fixed Wing Remotely Piloted Aircraft

Henrivaux, Benoît ULiège
Promotor(s) : Dimitriadis, Grigorios ULiège
Date of defense : 21-Aug-2017 • Permalink :
Title : Integration of an Open Source Flight Controller into a Fixed Wing Remotely Piloted Aircraft
Author : Henrivaux, Benoît ULiège
Date of defense  : 21-Aug-2017
Advisor(s) : Dimitriadis, Grigorios ULiège
Committee's member(s) : Andrianne, Thomas ULiège
Tinapp, Frank 
Language : English
Number of pages : 112
Keywords : [en] Flight controller, tuning, PID, Navigation, autonomous missions
Discipline(s) : Engineering, computing & technology > Aerospace & aeronautics engineering
Target public : Student
General public
Institution(s) : Université de Liège, Liège, Belgique
Universidad de Concepción, Concepción, Chile
Degree: Master en ingénieur civil en aérospatiale, à finalité spécialisée en "aerospace engineering"
Faculty: Master thesis of the Faculté des Sciences appliquées


[en] 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.



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  • Henrivaux, Benoît ULiège Université de Liège > Master ingé. civ. aérospat., à fin.


Committee's member(s)

  • Andrianne, Thomas ULiège Université de Liège - ULg > Département d'aérospatiale et mécanique > Interactions Fluide-Structure - Aérodynamique expérimentale
    ORBi View his publications on ORBi
  • Tinapp, Frank Universidad de Concepcion, Edmundo Larenas s/n, Casilla 160-C, Concepcion, Chile > Departamento de Ingeniera Mecanica
  • Total number of views 131
  • Total number of downloads 3335

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