Implementation Guidelines of a UAV Fixed-Wing for Advanced Real-Time Control Algorithms

This document presents the implementation of a fixed-wing UAV for online control using advanced algorithms techniques. First, the aerodynamic and kinematic models are presented. Moreover, hardware for autonomous and controlled flying capabilities is presented, considering parallel programming capabilities, integration with Ardupilot firmware and communication with different protocols. An example of a computationally intensive control algorithm is showcased to highlight the advantages and reliability of the proposed approach. Finally, simulations and experiments are performed to validate the proposal.