Semi-autonomous Control Mode Design Experiment

Abstract

In Semi-Autonomous Control (SAC), a multicopter’s attitude stabilization or hover is realized by the autopilot, while position control is often manually realized by a remote pilot with a Radio Control (RC) transmitter. The SAC is based on the attitude controller and position controller designed in the previous chapters. This chapter will involve three modes (stabilize mode, altitude hold mode, loiter mode) of SAC of multicopters. Readers will gradually master this part of the knowledge through three step-by-step experiments, namely, basic, analysis and design experiments from shallow to deep. In the basic experiment, readers will repeat the simulation of the stabilize mode and observe its control performance. In the analysis experiment, readers will change the stabilize mode to altitude hold mode and then analyze their difference. Finally, in the design experiment, readers will further realize the loiter mode and design a state machine to switch among the three modes.