Development and calibration of autopilot hardware for small fixed-wing air vehicles with flight test validation of linear output feedback controller

This paper discusses the development of autopilot hardware for small fixed-wing air vehicles. Weight constraint is the critical factor in developing such hardware. The sensors and communication devices are selected based on the requirements and constraints of these air vehicles. The sensors used in the hardware are calibrated using a three-axis rotating platform. The software written in the autopilot hardware is flexible enough to incorporate complex estimation and control algorithms along with the hardware-in-loop simulations. Linear output feedback controllers are designed for fixed wing micro and nano air vehicles. Successful flight trials are conducted to demonstrate the utility of the autopilot hardware for small fixed-wing air vehicles.