All-in-One System Identification Toolkit for ArduPilot Platforms

This project intends to extend the system identification capabilities of Ardupilot to include all UAV types supported by Ardupilot, along with a dedicated library for processing, analysing and extracting the vehicle’s dynamic model from flight data. This will hopefully allow researchers to develop better model based guidance and control algorithms. The project would involve creation of lua scripts for Arduplane, which enables actuating all the control actuators in either a close loop or open loop mode. The flight logs will then be processed via a separate dedicated codebase to analyse and validate the data, and identify transfer functions and state space models. Finally, the custom control library can be extended for ArduPlane to allow researchers to experiment with multiple control algorithms.