Published March 13, 2026 | Version Submission
Physical object Open

An Educational Bench Test for Aerial Angular Control of Multirotors

Authors/Creators

  • 1. ROR icon Universidade de São Paulo
  • 2. ROR icon Fundação de Amparo à Pesquisa do Estado de São Paulo
  • 3. ROR icon Universidade Federal de São Carlos
  • 4. ROR icon Universidade de Brasília

Description

The Educational Bench for Angular Aero Control of Multirotors is an open-source, 1-DOF aerial test platform designed to bridge the gap between simulation and real-world drone operation. Built around an STM32F401RE microcontroller, the system enables the safe validation of control algorithms and motor dynamics without the risks associated with free flight. The hardware consists of a dual-rotor rigid arm equipped with a precision potentiometer for angular feedback, a Hall-effect-based sensing system for rotational speed measurement, and an integrated climate station (BMP280 and DHT22) to estimate real-time air density, enabling accurate thrust characterization under varying environmental conditions. The platform has been validated in studies presented at DINAME 2025 and IMAV 2024, demonstrating its effectiveness in online air density estimation and in the comparative analysis of ESC communication protocols (PWM vs. OneShot125). This low-cost and reproducible system provides a robust testbed for research and education in flight dynamics, control systems, and propulsion analysis.

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Additional details

Related works

Is documented by
Other: https://villela-g.github.io/educational_bench_for_angular_aero_control_of_multirotors/ (URL)

Funding

Fundação de Amparo à Pesquisa do Estado de São Paulo
Electronic Instrumentation of an Educational Bench for Angular Aero Control of Multirotors 2023/10751-5
Fundação de Amparo à Pesquisa do Estado de São Paulo
Modeling and characterization of an educational bench test for aerial angular control of multirotors 2023/11661-0
National Council for Scientific and Technological Development
Desenvolvimento de sistemas embarcados de alto desempenho para RPAS inteligentes 407300/2022-8

Dates

Available
2026-03-20

Software

Repository URL
https://github.com/Villela-G/Aerial_Angular_Control_Test_Bench
Programming language
Makefile , C , C++ , MATLAB , Assembly
Development Status
Active

References

  • V. Campos, A.C. Hernandes, Educational Testbed for Aerial Angular Control: Project and Study Case, in: Proc. LARS/SBR/WRE, 2018, pp. 522--527. https://doi.org/10.1109/LARS/SBR/WRE.2018.00097.
  • D. Gheorghiţă, I. Vîntu, L. Mirea, C. Brăescu, Quadcopter control system, in: Proc. 19th Int. Conf. System Theory, Control and Computing (ICSTCC), 2015, pp. 421--426. https://doi.org/10.1109/ICSTCC.2015.7321330.
  • Y. Yu, X. Ding, A quadrotor test bench for six degrees of freedom flight, J. Intell. Robot. Syst. 68 (2012) 323--338.
  • J.G. Leishman, Principles of Helicopter Aerodynamics, Cambridge University Press, Cambridge, 2000.
  • W. Wang, A motor speed measurement system based on Hall sensor, in: R. Chen (Ed.), Intelligent Computing and Information Science, Commun. Comput. Inf. Sci., vol. 134, Springer, Berlin, Heidelberg, 2011. https://doi.org/10.1007/978-3-642-18129-0\_69.
  • Y.A. Çengel, J.M. Cimbala, Fluid Mechanics, McGraw-Hill, 2006.
  • C.C. Fernandes et al., Demystifying educational robotics with FOCORE: from very low cost software and hardware technologies to the development of new methodologies and curriculum, in: Proc. LARS/SBR/WRE, 2020, pp. 1--6. https://doi.org/10.1109/LARS/SBR/WRE51543.2020.9307032.
  • R.V. Aroca, F.Y. Watanabe, M.T. de Ávila, A.C. Hernandes, Mobile robotics integration in introductory undergraduate engineering courses, in: Proc. LARS/SBR, 2016, pp. 139--144. https://doi.org/10.1109/LARS-SBR.2016.30.
  • V.G. Ribeiro, A.C. Hernandes, G.B. Villela, M. Becker, Comparative analysis of ESC and flight controller communication protocols and their impact on brushless motor response and drone control, in: Proc. 15th Int. Micro Air Vehicle Conf. (IMAV), Bristol, UK, 2024, pp. 292--299.
  • A.C. Hernandes, E.R. Sproesser, G.B. Villela, V.G. Ribeiro, M. Becker, Drone motor identification based on online air density estimation constrained to communication protocol delay, in: Proc. DINAME 2025. https://doi.org/10.26678/ABCM.DINAME2025.DIN2025-0133.