Development autopilot system on the purpose of tracking and stabilization for fixed wing unmanned aerial vehicle

In this study, hardware in the loop system is set on Ardupilot Mega autopilot controller board for the purpose of developing tracking and stabilization based authentic autopilot system. Flights are made on Xplane flight simulation program with hardware in the loop software which is prepared for Ardupilot, flights modes and hardware working principle are examined by making analysis. After analyzation process, simulation platform which represents roll and pitch movements is built up on the hardware in the loop system and flight simulation is made for PT-60 aircraft which is on Xplane by using real sensor data. Then, system identification is made according to flight data which is obtained from hardware in the loop system, PID controllers are designed on the systems which are identified for roll and pitch movements. As a result, according to previous stages, tracking and stabilization based authentic autopilot system which have manual, stabilize and autopilot flight modes is developed. Flight tests are made for this autopilot system. Flight data, which is sent by the plane, is recorded and examined by ground control station.