Research & Development

Drone Development Projects

A collection of flight experiments, control system implementations, and hardware-in-the-loop testing conducted across various drone platforms—from custom quadrotors to commercial systems.

10 Experiments5 Categories

DJI M300 RTK - Hardware-in-the-Loop Testing

HITL setup for testing trajectory planning and control algorithms on the DJI M300 RTK using DJI OSDK and the DJI Assistant 2 Simulator.

With the DJI M300 RTK drone used for HITL testing

HITL setup showing the connections between the DJI M300 RTK drone, DJI Manifold 2-G onboard computer, OSDK Expansion Module, and Windows laptop

Hardware-in-the-loop (HITL) setup. Left: Windows laptop running the DJI Assistant 2 simulator. Right: monitor connected to the DJI Manifold 2-G with ROS nodes running.

HITL Setup for Trajectory Planning and Control

Hardware-in-the-Loop (HITL) setup for trajectory planning and control algorithm testing on a DJI M300 using DJI OSDK and the DJI Assistant 2 Simulator.

HITL Testing

PID Circular Trajectory Tracking - HITL

PID implementation for circular trajectory tracking in a Hardware-in-the-Loop setup for the DJI M300 drone using the DJI Assistant 2 Simulator and DJI OSDK.

HITL Testing

MPC Circular Trajectory Tracking - HITL

Model Predictive Control implementation for circular trajectory tracking with optimal control performance in a Hardware-in-the-Loop setup for the DJI M300.

HITL Testing

HummingBird Drone - Motion Capture

Bench testing of the HummingBird drone in an OptiTrack motion-capture environment for high-accuracy position and attitude feedback.

Bench Testing in OptiTrack Motion-Capture Environment

Bench testing of the HummingBird drone in a controlled OptiTrack motion-capture environment for precise position and attitude feedback validation.

ShortBench Testing

UAV Lateral Flight Controller

Throwback to my time at Turkish Aerospace, where I designed lateral flight controllers for a fighter aircraft technology demonstrator. The controllers are designed using the linear models, and then implemented on a nonlinear 6 degree of freedom simulation. Here you can see the visualization of aircraft doing different maneuvers such as aileron roll, along with the roll rate and yaw rate tracking responses. The aircraft used in the visualization is the Cessna aircraft but the dynamical model used in the nonlinear simulation is for a unmanned fighter aircraft technology demonstrator.

UAV Lateral Flight Controller Design and 6-DOF Nonlinear Simulation Demonstration

Roll maneuvers and rate tracking demonstration using lateral flight controllers designed with linear models, implemented on a nonlinear 6-DOF simulation.

Short6-DOF Simulation

Parrot Drone - Advanced Control Algorithms

Implementation and testing of advanced control strategies including ADRC, MPC, and PID on the Parrot drone platform.

ADRC-Based Altitude-Hold Flight Testing

Active Disturbance Rejection Control (ADRC) implementation for robust altitude-hold on the Parrot drone, demonstrating disturbance rejection capabilities.

Flight Testing

Explicit MPC-Based Altitude-Hold Flight Testing

Model Predictive Control (MPC) implementation for optimal altitude-hold performance with constraint handling on the Parrot drone.

ShortFlight Testing

PID-Based Altitude-Hold and Path-Tracking

Classical PID control for altitude-hold and path-tracking.

Flight Testing

Custom Quadrotor - APM 2.8

Flight testing and validation of a custom-built quadrotor using the APM 2.8 flight controller.

Flight Testing of a Quadrotor with APM 2.8 - PID

PID-based flight control testing on a custom quadrotor using the APM 2.8 flight controller, demonstrating stable hover and basic maneuvers.

Flight Testing

Flight Testing of a Quadrotor with APM 2.8 - Basic Testing

Basic flight testing and system validation of a quadrotor equipped with APM 2.8, focusing on motor response and attitude control.

Flight Testing

Currently Working On

Working on HITL Testing of the Holybro X500 V2 Platform

with a Pixhawk Flight Controller for Trajectory Planning and Control

Pixhawk 6CPX4Trajectory Planning & ControlHITL