Fig. 3: Avionics and control of the P-Flap.
A Electronics layout of the perching robots, showing components and connections. This includes communication buses (Serial, I2C, SPI, VRPN), active electronics (microcontrollers MCU and uC, regulators R1, R2, R3, light-emitting devices IR LED) and stand-alone components (inertial-measurement unit GPS/IMU, brushless electric motor BLDC, electronic driver ESC and battery (4S Lipo)). B Triple control strategy that running on the companion computer. The control inputs are the position XYZ and attitude (only pitch angle Θ shown here). The outputs are the throttle \({\Xi }_{{{{{{\rm{F}}}}}}}\), the rudder deflection δe and elevator deflections δr. The leg angle is also regulated along β. C Structural PCB concept that composes half of the body. D Optical line-scan sensor TSL1401. E Last-meter leg control strategy.
