Design of an Attitude Rate Controller for a Quadrotor Using an Android Smartphone

摘要

In this paper we describe the use of a smartphone as the onboard rate controller for a quadrotor. The smartphone provides all sensing capabilities, the communication interface, and motor control via an Arduino ADK interface board. We also present analysis of the gyroscope readings during flight and demonstrate satisfactory tracking performance of the commanded angular rates. This gives confidence in the potential of smartphones as onboard controllers, especially as smartphone manufactures continue to rapidly improve the techonology.