Stabilization and Altitude Control of an Indoor Low-Cost Quadrotor: Design and Experimental Results

Included in the Quadr-ANT project, this work builds on previous developments towards an indoor low cost Arduino-based quad rotor, capable of stabilized flight with altitude control. A simulator with experimentally identified parameters allows to test and tune the developed Kalman estimators and LQR controllers for altitude and attitude stabilization. The validated solutions were implemented on the onboard Arduino and demonstrated on experimental flights of the quad rotor prototype. The steps and data required to build a realistic quad rotor simulator are provided.