Implementing Quaternion-Based Nonlinear Control for Quadrotors in PX-4 Autopilot Framework

Date

2025-07-04

Author

Yücel, Utku
Tekinalp, Ozan

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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This study presents two workflows for integrating a previously developed Quaternion-Based Nonlinear Controller and a Linear Quadratic Tracking Velocity Controller (QNC-LQT) into the PX4 autopilot framework: (1) using the UAV Toolbox Support Package for PX4 Autopilots and (2) modifying the PX4 source code to add a custom flight mode. While the first enables rapid testing in Simulink, the second preserves core PX4 functionalities. Both approaches are validated through Software-In-The-Loop (SITL) tests and the source-code-based approach is further validated through real-world flight tests on a custombuilt quadrotor using a Cube Black flight controller.

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https://www.eucass.eu/component/docindexer/?task=download&id=7291
https://hdl.handle.net/11511/117795

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Department of Aerospace Engineering, Conference / Seminar