X4-MaG: A Low-Cost Open-Source Micro-Quadrotor and Its Linux-Basedn Controller

摘要

The new open-source quadrotor platform called X4-MaG presented here was developed for academic and research applications. X4-MaG is a small, low-cost open quadrotor of only 307-grammes which offers two levels of controllers providing a manual mode and an automatic mode thanks to powerful Linux-based controller embedded onboard. The experiments presented here show the reliability of the open hardware and software embedded onboard the quadrotor. To estimate the robot s attitude, a quaternion-based