Quadrotor helicopter Attitude Control using cascade PID

A quadrotor helicopter control system using cascade PID is designed in this paper. Aim at dealing with the data drift and mutation caused by quadrotor badly vibration. Kalman filter combines with Moving-average is used to filter out these noise. The quaternion method is applied to calculate the attitude. The real time attitude adjustment is controlled by cascade PID control, which inner loop uses PID control of angular velocity and outer loop uses PI control of angle. Experiment results show that, the filter combination improved the reliability of the accelerometer data. The cascade PID algorithm is efficient for attitude control which meet the response for real-time control in the perturbations condition.