Generation the Auto Pilot for Quad Copter Drone Using Fuzzy Logic

İbrahim SAVRAN1 and Zekeriya HACIMUHAMMED1

1
Department of Computer engineering, Karadeniz Technical University, Trabzon-TURKEY

zkriahagmohamad@gmail.com
savran@ktu.edu.tr

ABSTRACT

The purpose of the paper is to present an Automatic Flight Controller for quad copters drone
by using the Fuzzy Logic. The paper suppose that the manual flight control system of the drone
is working, receive the control commands from joystick and send the speed commands to
motors depending on the computed PID in the flight controller.
The paper working on creating control commands instead of the joystick’s commands, based
on the attitude and the drone’s velocity to enable the drone to make a route between two GPS
point or more.
The drone will take off and then turne to the right directon then go to the target position, The
control commands that have to compute are a three command:
-Throttle command: to rise the drone based on the reference height and the measured height; at
the target position the Throttle must save its value.
-Yaw command: to turn the drone around itself based on the reference angle and the drone’s
direction; at the target position the Yaw must be zero.
-Pitch command : to move the drone forward or backward based on the reference position and
the target position; at the target position the Pitch must be zero.

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