Autopilot

Platform

Ease of development dictated the choice to run the control loop on existing hard- and software. which was chosen to be Ardupilot running on a Beaglebone blue.

Setup

for the beagle bone setup follow this tutorial. The version used in this tutorial is old. Make sure to use version 4.3.1 using the command bellow.

sudo wget -O /usr/bin/ardupilot/arduplane https://firmware.ardupilot.org/Plane/stable-4.3.1/blue/arduplane

Relevant links for configuring Ardupilot

https://ardupilot.org/copter/docs/common-gcs-only-operation.html

https://ardupilot.org/copter/docs/common-rangefinder-landingpage.html

https://ardupilot.org/copter/docs/setting-up-for-tuning.html

https://ardupilot.org/copter/docs/terrain-following-manual-modes.html

https://ardupilot.org/copter/docs/common-sensor-offset-compensation.html

https://ardupilot.org/copter/docs/crash_check.html

https://ardupilot.org/copter/docs/flight-modes.html --Stabalize mode seems best fit

https://ardupilot.org/copter/docs/stabilize-mode.html