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Quadcopters are increasingly used for applications ranging from hobby toindustrial products and services. This paper serves as a tutorial on thedesign, simulation, implementation, and experimental outdoor testing of digitalquadcopter flight controllers, including Explicit Model Predictive Control,Linear Quadratic Regulator, and Proportional Integral Derivative. A quadcopterwas flown in an outdoor testing facility and made to track an inclined,circular path at different tangential velocities under ambient wind conditions.Controller performance was evaluated via multiple metrics, such as positiontracking error, velocity tracking error, and onboard computation time.Challenges related to the use of computationally limited embedded hardware andflight in an outdoor environment are addressed with proposed solutions.

Development, Implementation, and Experimental Outdoor Evaluation of Quadcopter Controllers for Computationally Limited Embedded Systems