In the era of the technological progress, the UAV developments is a major event; according to a research about the drone industry in Italy conducted by Doxa Marketing Advice in 2016, this market almost reached record levels as in 2013, the year in which the guidelines for the UAV flight were introduced by ENAC. In this thesis, after a brief history about the birth of those aircrafts that can be controlled remotely, it will be explained the core of that machine that allows an easy flight in every phase of the mission, the autopilot. After that, the most common autopilots on the market and their main components will be listed. Subsequently, it is analysed the Pixhawk hardware and the code structure that makes it work. Among the selected hardware, the PX4 firmware has been studied that offers different kinds of flight modes; studying the PX4 documentation and the setting that controls the flight, the parameters that affect the UAV responsiveness to the external input have been identified. Then, it’s introduced the concept of Handling Qualities and it’s explained how they are affected by the parameters change. To avoid the risks and costs of a real test, the Software In The Loop simulation and the dynamics simulator called Gazebo have been implemented. To test the effectiveness of this simulation environment data were acquired using the Taranis FrSky X9D R/C in order to have the best simulation possible.
Nell’era tecnologica moderna prende posto lo sviluppo degli UAV; secondo uno studio riguardante l’industria dei droni condotta da Doxa Marketing Advice, nel 2016 questo mercato ha quasi raggiunto i livelli record del 2013, anno in cui furono introdotte le linee guida dall’ ENAC per i velivoli a pilotaggio remoto. In questa tesi, dopo una breve storia sulla nascita di questa di tipologia di aeromobili che possono essere controllati a distanza, sarà spiegato il cuore degli UAV. L’autopilota, infatti, consente un controllo efficace in ogni fase della missione. Saranno quindi elencati gli autopiloti più comuni sul mercato ed i loro componenti principali. In maniera particolare, in questa tesi, è analizzato l’hardware Pixhawk e la struttura del codice che gli consente di funzionare. Dell’hardware selezionato è stato studiato il firmware PX4 che offre differenti modalità di volo; analizzando la documentazione di questo firmware ed i settaggi che controllano il volo, sono stati identificati i parametri che condizionano la risposta dell’UAV agli input esterni. È stato quindi introdotto il concetto di Handling Qualities e come queste sono condizionate dalla modifica dei parametri. Per evitare i rischi ed i costi di un test reale, è stata utilizzata la simulazione “Software In The Loop” ed il simulatore della dinamica, Gazebo. Per testare l’efficacia dell’ambiente di simulazione, l’acquisizione dati sarà eseguita utilizzando il radiocomando Taranis FrSky X9D in modo da ottenere una simulazione nelle condizioni più reali possibili.
Implementation of a pilot in the loop simulation environment for UAV development and testing
CARDAMONE, ANDREA
2016/2017
Abstract
In the era of the technological progress, the UAV developments is a major event; according to a research about the drone industry in Italy conducted by Doxa Marketing Advice in 2016, this market almost reached record levels as in 2013, the year in which the guidelines for the UAV flight were introduced by ENAC. In this thesis, after a brief history about the birth of those aircrafts that can be controlled remotely, it will be explained the core of that machine that allows an easy flight in every phase of the mission, the autopilot. After that, the most common autopilots on the market and their main components will be listed. Subsequently, it is analysed the Pixhawk hardware and the code structure that makes it work. Among the selected hardware, the PX4 firmware has been studied that offers different kinds of flight modes; studying the PX4 documentation and the setting that controls the flight, the parameters that affect the UAV responsiveness to the external input have been identified. Then, it’s introduced the concept of Handling Qualities and it’s explained how they are affected by the parameters change. To avoid the risks and costs of a real test, the Software In The Loop simulation and the dynamics simulator called Gazebo have been implemented. To test the effectiveness of this simulation environment data were acquired using the Taranis FrSky X9D R/C in order to have the best simulation possible.File | Dimensione | Formato | |
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https://hdl.handle.net/10589/135202