Quadcopter control using Android based sensing

摘要

This paper investigates the concept of a quadcopter implemented using the sensors and computational power of a smartphone. The main goal is to give an example of the possible applications of external hardware combined with commercial off the shelf (COTS) electronics. Practical problems that required attention were implementation of sensor fusion using the smartphone's sensors and the controller as a smartphone app. Attention was also paid to the real-time aspects of the Android operating system.