Development of a Stable Quadcopter System Using Open-Source Autopilot

In this paper, we propose the design and implementation of a tuned quad- copter derived from an open source autopilot platform. The overall operation of manual and assisted flight is accomplished using a lightweight airframe, performance optimized propulsion units, and modular hardware, software architecture. A flight controller is designed with an open source and set up on the ground control station for sensor adjustment, flight mode setting and monitoring. Some real- flight experiments are carried out for system test, including disturbance rejection experiment, payload variation experiment, position-hold flight mode validation and maximum altitude test. The experimental results show that effective external disturbance compensation is achieved, and there are stable signal autonomous-assisted flight as well as reliable altitude holding up to 20 m. This platform presents a cost-effective and repeatable solution for many UAV research laboratories, educational activities, and practical applications.