Experimental Investigation of Multi-GNSS in Static Mode

Due to the numerous beneficial features quad-rotors possess, such as high maneuverability, low flying speed, an ability to perform vertical take-off and landing, slow precise movements and hovering, they attract attention of researchers and designers worldwide. Development of reliable autopilot is one of the core challenges they face. Simulation and modeling constitute an important part in system development. The paper presents practical use of the SITL and FlightGear simulators for studying the quad-rotor dynamics and control algorithms. In the proposed approach a part of the SITL codes have been substituted by the own ones, responsible for the quad-rotor control through sending separate PWM signals per each engine. The results of quad-rotor control in simulator are presented for two cases: hovering and motions along specified heading.