Frequency Response System Identification and Flight Controller Tuning for Quadcopter UAV

This paper presents methodology to determine dynamic models and the suitable controllers for FY450 Firefly quadcopter. Frequency response system identification technique via software package Comprehensive Identification from Frequency Response (CIFER) was applied in this research. Pixhawk hardware with PX4 Flight stack firmware was implemented as a flight controller. The measurement of inputs and outputs during hovering flight maneuver with frequency sweep input was utilized to determine the unknown parameters of SISO mathematical model. Then after mathematical models were identified, the dynamic models of roll, pitch and yaw response respectively were employed to tuning the gains of PX4 controller structure with globally offline optimization technique. With this presented method, satisfied flight dynamics meets the desired performances without the requirement of numerous in-flight tuning.