Evaluation of a Remote Piloted Aircraft System

A prototype of a remote piloted aircraft system RPAS was evaluated. It was a quadcopter type, with a system that allows autonomous and stable fights to obtain georeferenced images, through the instrumentation of a RGB sensor (Sony IMX117) and a GPS. The RPAS was built and equipped with a Pixhawk controller with GPS, 1400kv race star engines, eight-inch propellers (8045) and 30A ESC. The "ArduCopter V3.611" frmware was installed in the fight controller (specifc for quadcopters) and the accelerometer, compass, radio, fight modes (loiter, stabilize and RTL) and 20 mA telemetry were calibrated. In addition, the fight and control parameters of the RPAS were adjusted, with a horizontal and vertical forward speed of 1 m/s, maximum fight height of 30m, minimum fight voltage of 10.5v and an adjustment in the PID control of P=0.046, I=0.047 and D=0.0036 in the roll and pitch axes and values of P=0.1, I=0.025 and D=0.5 in the yaw axis. Flight tests were performed in autonomous missions with a constant speed of 1 m/s, at a height of 20m and with winds not higher than 5 Km/h. An average consumption of 1520 mAh was obtained for 7 minutes of fight, vibrations less than 18 m/[s.sup.2] and movements in the "yaw ", " pitch" and " roll" axes smaller than 6 degrees. Keywords: Drone, Design, Telemetry, Flight Scheduling. Georeferencing. Se realizó la evaluación de un prototipo de sistema de aeronave pilotada remotamente RPAS, tipo cuadricóptero, con un sistema que permite la realización de vuelos autónomos y estables para la obtención de imágenes georreferenciadas, mediante la instrumentación de un sensor RGB (Sony IMX117) y un GPS. Se construyó un RPAS, equipado con una controladora Pixhawk con GPS, motores race star de 1400kv, hélices de ocho pulgadas (8045) y ESC de 30 A. En la controladora de vuelo se instaló el frmware "ArduCopter V3.611" (específco para cuadricópteros), se calibro el acelerómetro, el compás, el radio, modos de vuelo (loiter, stabilize y RTL) y la telemetría a 20 mA. Además, se ajustaron los parámetros de vuelo y control del RPAS, con una velocidad de avance horizontal y vertical de 1 m/s, altura máxima de vuelo de 30m, voltaje mínimo de vuelo de 10.5v y un ajuste en el control PID de P=0.046, I=0.047 y D=0.0036 en los ejes roll y pitch y valores de P = 0.1, I = 0.025y D = 0.5 en el eje yaw. Se realizaron pr uebas de v uelo en misiones autónomas con una velocidad constante de 1 m /s, a una altura de 20m y con vientos no mayores a 5 Km/h. Obteniéndose un c