Perancangan Flight Controller Terintegrasi Mini PC pada Sistem Multi-Board

Yusuf, Muhammad (2026) Perancangan Flight Controller Terintegrasi Mini PC pada Sistem Multi-Board. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Flight controller konvensional berbasis mikrokontroler terbatas dalam menjalankan algoritma kompleks secara onboard, sehingga diperlukan mini PC untuk komputasi tambahan. Penelitian ini merancang flight controller yang terintegrasi dengan mini PC dalam sistem multi-board yang ringkas, modular, dan berbasis ardupilot. Penelitian dilakukan melalui perancangan perangkat keras dan pengujian kelayakan penerbangan pre-flight dan uji penerbangan otonom. Sistem yang dikembangkan mengintegrasikan flight controller STM32H743 (ArduPilot Copter 4.6) dengan mini PC atau companion computer pada board berukuran 55,0 mm × 40,5 mm melalui konektor High-Density Board-to-Board (B2B), dilengkapi komunikasi internal redundan Ethernet 10BASE-T dan UART. Konfigurasi dan dimensi hasil perancangan dan implementasi dibandingkan dengan konfigurasi konvensional yang menggunakan flight controller dan mini PC terpisah, kemudian dikarakterisasi dari aspek komunikasi, catu daya, interferensi magnetik kompas, dan pengaruh termal terhadap sensor serta Extended Kalman Filter (EKF). Validasi akhir dilakukan melalui penerbangan manual dan misi otonom closed-loop. Hasil menunjukkan bahwa sistem terintegrasi mengurangi volume sebesar 71,9% dan luas sebesar 74,8% dibandingkan konfigurasi konvensional. Ethernet memberikan kinerja komunikasi terbaik dibandingkan UART, dengan median RTT 2,22 ms, p99,9 sebesar 3,83 ms, dan tanpa kehilangan data pada beban telemetri tinggi. Rancangan catu daya menjaga rail 5 V tetap stabil dengan droop <0,1%, sementara ripple hanya meningkat dari 3,81% menjadi 5,81% pada frekuensi switching sekitar 400 kHz. Beban komputasi companion computer menyebabkan pergeseran medan magnet sebesar 33–41% medan bumi, namun error heading EKF tetap di bawah 6°, sedangkan perubahan bias IMU akibat kenaikan suhu berhasil dikompensasi EKF tanpa menimbulkan attitude drift yang berarti. Pada uji terbang, wahana hover stabil pada mode manual dengan error attitude di bawah 1,2° RMS dan berhasil menyelesaikan misi otonom GUIDED dengan seluruh waypoint tercapai dengan penyimpangan EKF sekitar ±0,5 m dan error yaw rata-rata hanya -0,3° ± 1,8°. Penelitian menunjukkan bahwa sistem multi-board yang mengintegrasikan flight controller dan mini PC menghasilkan desain yang lebih ringkas tanpa mengurangi keandalan komunikasi, catu daya, maupun navigasi, sehingga layak digunakan sebagai platform UAV otonom.
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Conventional microcontroller-based flight controllers are limited in executing computationally complex algorithms onboard, so a mini PC is required for additional computation. This research designs a flight controller integrated with a mini PC in a compact, modular, ArduPilot-based multi-board system. The research was conducted through hardware design, pre-flight airworthiness testing, and autonomous flight testing. The developed system integrates an STM32H743 flight controller (ArduPilot Copter 4.6) with a mini PC, or companion computer, on a 55.0 mm × 40.5 mm board through a High-Density Board-to-Board (B2B) connector, equipped with redundant internal communication over 10BASE-T Ethernet and UART. The configuration and dimensions resulting from the design and implementation were compared with a conventional configuration that uses a separate flight controller and mini PC, and were then characterized in terms of communication, power supply, compass magnetic interference, and thermal effects on the sensors and the Extended Kalman Filter (EKF). Final validation was carried out through manual flight and an autonomous closed-loop mission. The results show that the integrated system reduces volume by 71.9% and area by 74.8% compared with the conventional configuration. Ethernet provides the best communication performance compared with UART, with a median RTT of 2.22 ms, a p99.9 of 3.83 ms, and no data loss under high telemetry load. The power supply design keeps the 5 V rail stable with a droop of <0.1%, while the ripple rises only from 3.81% to 5.81% at a switching frequency of about 400 kHz. The computational load of the companion computer causes a magnetic field shift of 33–41% of the Earth's field, yet the EKF heading error remains below 6°, whereas the change in IMU bias caused by the temperature rise is successfully compensated by the EKF without inducing any significant attitude drift. In the flight test, the vehicle hovered stably in manual mode with an attitude error below 1.2° RMS and successfully completed an autonomous GUIDED mission with all waypoints reached, an EKF deviation of about ±0.5 m, and an average yaw error of only -0.3° ± 1.8°. This research shows that a multi-board system integrating a flight controller and a mini PC yields a more compact design without reducing the reliability of communication, power supply, or navigation, making it feasible for use as an autonomous UAV platform.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Flight Controller, Mini PC, Sistem Multi-board, Redundansi Komunikasi, ArduPilot, UAV, Multi-board System, Communication Redundancy
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Yusuf
Date Deposited:	28 Jul 2026 01:48
Last Modified:	28 Jul 2026 01:48
URI:	http://repository.its.ac.id/id/eprint/138276

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