MRS ArduPilot: An Adaptive ArduPilot Architecture Based on Model Reference Stabilization

This work presents an adaptive open-source implementation of ArduPilot: the adaptive mechanisms in the autopilot are inspired by model reference stabilization (MRS) and are seamlessly embedded into the open-source ArduPilot suite. We illustrate MRS ArduPilot for the ArduPlane and ArduCopter modules (fixed-wing and rotary-wing vehicles): yet, the approach is general enough to be applicable to all aerial/surface/marine vehicles of ArduPilot, and even to PX4. Our tests show that the embedded adaptation makes the vehicle capable of handling uncertain scenarios like wind and varying payloads. The source code of MRS ArduPilot is released at https://github.com/Sunsun24/MRS.git