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An Open-Source Hardware/Software Architecture for Quadrotor UAVs

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Academic year: 2021

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Figure

Fig. 1. Block diagram of the hardware and software architecture. The TeleKyb framework is used for the software part.
Fig. 2. Motor calibration: input/output signals (a) and fitting model (b).
Fig. 3. Mass estimation during a normal flight. Fig. (a):
Fig. 5. Snapshots of the quadrotor executing an 8-shaped trajectory 20 40 60 80 100 120−202 tim e[s]rB[m] (a) 20 40 60 80 100 120−1−0.500.5tim e[s]RPY(b) 20 40 60 80 100 120−0.0500.05 tim e [ s ]erB[m] (c) 20 40 60 80 100 120−0.0500.05time[s]eRPY[rad](d)

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