Development of robot operating system (ROS) compatible open source quadcopter flight controller and interface

摘要

Quadcopters make up the bulk of research in unmanned aerial vehicles (UAVs). The lack of a fully open source quadcopter restricts the reproducibility and collaboration of practical research within the UAV community. This work focuses on creating a prototype quadcopter built upon hardware and software readily available and open sourced which can be extended and modified to place on any other quadcopter without constraints in size or complexity. The verification of the working quadcopter is a stable flight test with successful take-off and landing sequences.