Fully actuated Hexa-rotor UAV: Design, construction, and control. Simulation and experimental validation

This work presents the construction, control, simulation, and a fully actuated Hexa-rotor UAV test. The structure and the mathematical model o this type of UAV has the principal characteristic of performing lateral displacements independently of the attitude states and vice-versa. As a result, the UAV can develop spatial movements while keeping a fixed attitude or make roll and pitch maneuvers without changing its actual position. We describe the design and construction of the Hexa-rotor frame. Finally, by implementing a feedback PID controller, we conducted different simulations and real experiments validating the flight envelope of the proposed fully actuated system. The code from the original PX4 Firmware is available on the paper.