Quadcopter Design With Waypoint Mission Using PID Control System
Dyah Lestari, Sujito Sujito, Siti Sendari, Mohamad Rodhi Faiz, Hung‐Yu Wang, Made Radikia Prasanta · 2022
The quadcopter is one of the Unmanned Aerial Vehicles that can fly vertically. Problems with the drone such as unresponsive controls and choosing the right control system which has an impact on the instability of the drone. Proportional, Integral, Derivative (PID) has better performance to be applied to the quadcopter. This study applies PID control to the quadcopter control which is tested with a waypoint system. Quadcopter design uses various components such as flight controller, brushless motor 920 kv, electronic speed controller. The results of the calculation of the constant PID value are applied to the drone flight controller and the test is carried out by carrying out a waypoint tracking mission with the PID controller. Testing with a rectangular route waypoint shows that the quadcopter can fly according to the predetermined waypoint with the largest roll deviation value is$20.93^{o}$, at pitch by$24.01^{\mathrm{o}}$, and the largest deviation change at yaw is$205^{\mathrm{o}}$which means the quadcopter can carry out waypoint tracking missions using PID control with high stability.