Low cost ROS based semi-autonomous drone with position and altitude lock

In this paper, we have designed a quad copter which is cost effective and powered by ROS. The drone is capable of maintaining a constant altitude during hovering and a constant position for monitoring or surveillance. Robotic Operating System is implemented for trajectory tracking and telemetry. A low cost compact on-board embedded system powers the drone. Different controllers were implemented for position and altitude lock including PI and PID. The performance were compared and the results are also discussed in this paper.