The objective for this milestone was to integrate the same model functionality developed and analyzed within the Matlab/Simulink environment into a mature environment that will be able to test most functionalities of the Flight controller software that will be flashed for real-flight testing. The decision was to either migrate the Ardupilot (in this case ArduCopter ) software into the Matlab environment or integrate the highly nonlinear quadcopter model with flapping dynamics into the Ardupilot environment. The former option would mean no easy integration with Mission Planner and the real-time sofware-in-the-loop ( SITL ) testing tool (which also includes the infrastructure to communicate with the Flightgear 3D visualization environemt, while the later with make use of singular environment although the software development effort would quite tedious and error-prone. It was chosen to go with the first option as this was thought to be lead to more mature verification method prior

Our H1 drone was finally ready to be tested with new detachable landing gear, 3-axis gimbal and the Gopro camera (powered by an extra 3S-lipo battery). The objective of the test was to test the flight modes (mainly altitude control and position control) via 3DR telemetry connection to an Android phone and the Tower app. It was quite noticeable that the quad needs alot more power to overcome in-ground effects at take-off. This is mainly due to the mass balance with the camera at the nose of the airframe. The altitude control mode worked quite well even at low elevation of 3-4 metres. Unfortunately, at low-battery voltage an automated landing doesn't occur and this resulted in hard-landing (more like a hard crash!). This piece of software will have to be investigated. The manual operation of the Gopro is a bit cumbersome. The alternative of using the WIFI link to operate the camera was investigated but was not deemed a good idea given the potential inteference