The use of an appropriate sensor on an unmanned aerial vehicle (UAV) is vital to assess specific environmental conditions successfully. In addition, technicians and scientists also appreciate a platform to carry the sensors with some advantages such as the low costs or easy pilot management. However, extra requirements like a low-altitude flight are necessary for special applications such as plant density or rice yield. A rotary UAV matches this requirement, but the flight endurance is too short for large areas. Therefore, in this article, a fixed-wing UAV is used, which is more appropriate because of its longer flight endurance. It is necessary to develop an own controller system to use special sensors such as Lidar or Radar on the platform as a multifunctionality system. Thereby, these sensors are used to generate a digital elevation model and also as a collision avoidance sensor at the same time. To achieve this goal, a small UAV was equipped with a hardware platform including a microcontroller and sensors. After testing the system and simulation, the controller was converted into program code to implement it on the microcontroller. After that, several real flights were performed to validate the controller and sensors. We demonstrated that the system is able to work and match the high requirements for future research.

中文翻译：

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用于嵌入式系统上的低空固定翼无人机的控制器，以评估特定的环境条件

在无人机上使用适当的传感器对于成功评估特定的环境条件至关重要。此外，技术人员和科学家还欣赏一个平台来携带传感器，这些平台具有一些优势，例如低成本或易于飞行员管理。但是，对于特殊的应用（例如植物密度或水稻产量），还需要诸如低空飞行的额外要求。旋转无人机满足了这一要求，但是飞行耐久性对于大面积而言太短了。因此，在本文中，使用了固定翼无人机，由于其更长的飞行寿命，因此更合适。有必要开发自己的控制器系统，以在平台上使用特殊传感器（例如激光雷达或雷达）作为多功能系统。从而，这些传感器不仅用于生成数字高程模型，而且还可以用作防撞传感器。为了实现这一目标，小型无人机配备了包括微控制器和传感器的硬件平台。在对系统进行了测试和仿真之后，将控制器转换为程序代码以在微控制器上实现。此后，执行了几次实际飞行以验证控制器和传感器。我们证明了该系统能够正常工作并满足未来研究的高要求。进行了几次实际飞行以验证控制器和传感器。我们证明了该系统能够正常工作并满足未来研究的高要求。进行了几次实际飞行以验证控制器和传感器。我们证明了该系统能够正常工作并满足未来研究的高要求。