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A firmware platform construction and design for small-scale UAV research is important. As open-source autopilot systems with much reliability (e.g. ArduPilot) were not publicly available until 2009. Most of the researchers’ groups have to start from scratch to build a reliable UAV firmware platform as shown in Figure 1.7. Fixed-wing and rotor types are conventional, therefore the Flight control System (FCS) in this firmware mainly consists of the above platforms [3].

Figure 1.7 Representation of GUI configuration of ArduPilot open-source platform.