Abstract:Multirotor autopilots often depend on open-loop control without the feedback of propeller speeds, although they are a critical factor in determining motion characteristics. This paper proposes a system that leverages actual propeller speeds as direct feedback to the autopilot to improve the state estimation and dynamics of the multirotor. Software-in-the-Loop (SITL) and Hardware-in-the-Loop (HITL) simulations with real data, in different scenarios, are conducted to demonstrate the impact of combining propeller… Show more
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