The flight control of micro quad-rotor UAV based on PID

Attitude estimation is the key part of the flight control system of micro quad-rotor UAV. To begin with, quaternion and complementary filter Attitude algorithm is designed to reduce the operation quantity of attitude estimation. And then using the PID control algorithm work out the attitude control. Finally, use the android mobile phone via Bluetooth control the flight status of UAV, The simulation results demonstrate that the PID control system is well to maintain stable flight of the aircraft.