Development and implementation of a new flight mode called Cartesian flight mode for easy piloting of muli-rotor UAVs

This paper presents the development and implementation of a variant of the manual flight mode, the Cartesian mode, which consists of the directional control of a multi-rotor UAV w.r.t. its heading and pilot's heading. The main objective of the presented flight mode is to ease the manual displacement control while the pilot has a ground Point of View (POV). The flight mode's concept is implemented in the PX4 firmware under Software-in-the-Loop (SITL) simulations and real flights to assess its performance applied to a real quad-rotor. The results obtained during simulations and real experiments show that the flight mode performs correctly.