Index

Hardware Components

The fixed-wing drone selected for this study is the EasyGlider 4, chosen for its stability and suitability for autonomous flight.
The following hardware components were integrated into the system:

Electrical diagram of connections and communication

Figure: Electrical diagram of connections and communication

Main Flight Controller: Holybro Pixhawk 6C Mini
Companion Computer: Raspberry Pi Zero 2W
Global Positioning System (GPS): u-blox NEO-M8N
Wireless Communication via MAVLink: SiK Telemetry Radio V3
Wireless Communication via WiFi: External Raspberry Pi Antenna
Radio Control (RC) System:
RC Receiver: FrSky X8B
RC Transmitter: FrSky Taranis X9D
Battery: Soaring 2200mAh 11.1V 3S1P 30C
Airspeed Sensor: Mateksys ASPD-4525
Electronic Speed Controller (ESC): ROXXY BL-Control 720 S-BEC
Servos: Four Hitec HS-81 servos, one per control surface

These components were selected to ensure reliable flight control, communication, and sensor data acquisition for autonomous navigation.
Their connections and communication layout are shown in the figure above.
The Raspberry Pi was modified to include an external WiFi antenna, located on the right wing, to increase the range and bitrate of communication.
This modification required micro soldering of an IPEX IPX UFL connector to the Raspberry Pi.