Sim-1 UAS: A Framework For Rapid Prototyping of Matlab Developed Flight Test Code

Unmanned aerial systems (UAS) like the ScanEagle have been employed in both military and research applications. Despite the ScanEagle's low cost and operational flexibility, its utility for autonomy research is limited due to its proprietary hardware and software. With this in mind a new UAS, named SIM-1, was procured. It employs open-source hardware and software, making it suitable for research and development. In this thesis, the SIM-1 UAS was assembled and successfully flown in simulated and actual test flights. Simulations were conducted using Gazebo software, which employs a physics-based virtual environment, while flight tests were carried out at local flying fields. A basic MATLAB control algorithm was developed for SIM-1, and flight paths were planned through the ground control station (GCS). Notably, two methods off light path planning were explored in this thesis. The first method uses open-source GCS software, QGroundControl, while the second method uses algorithms developed, tested, and ported to C++ code using MATLAB/Simulink. This second method provided an avenue for guidance, navigation and control (GNC) prototype algorithms to be flight tested rapidly. Finally, SIM-1 was also configured with a machine learning algorithm for object detection using its onboard camera payload, which opens up opportunities for more advanced research with this UAS platform.