Applied Research Of Open Source Flight Control In Agricultural UAV

The four-axis aircraft is relatively safe and stable, easy to operate, convenient land and take off, simple structure, and involves a lot of advanced technology and field. It have good performance in various aspects, such as military, police, industry and civil fields etc.,especially in the aspect of plant protection of agricultural with vast market potential and development prospect. This article focuses on the application of open source flight control system, especially in agriculture UAV(unmanned aerial vehicle), with widely used the modular design idea of open source flight control system. Then through further development and design, make it suitable for application in the four-axis aircraft, especially suitable for spraying insecticides.First of all, the paper introduces the choice platform of four-axis aircraft and analyzes its structure and movement. Then based on open source flight, the paper puts forward the overall scheme of the flight control system unite with spraying system, and gives the detailed design. Its characteristic is that the spraying speed can adjust to the ground speed of aircraft. According to the flight control modular design idea of the open source, the main controller of flight control, GPS module, attitude sensor module, the barometric altitude sensor module, the data transmission module and spraying module are designed and implemented.Secondly, the data of sensors are analyzed by using complementary filter fusion algorithm of gyroscope and accelerometer data. Digital PID controller is designed. The PID parameter is set and analyzed。Finally, the paper carries on the detailed debugging experiments and gives the detailed adjustment methods and steps, then sets the debugging information through the open source ground station. Finally do flight spray test on farmland.