Paper
ROScopter: A Multirotor Autopilot based on ROSflight 2.0
Authors
Jacob Moore, Ian Reid, Phil Tokumaru, Tim McLain
Abstract
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed to interface with ROSflight 2.0 and runs entirely on an onboard flight computer, leveraging the features of ROS 2 to improve modularity. This work describes the architecture of ROScopter and how it can be used to test application code in both simulated and hardware environments. Hardware results of the default ROScopter behavior are presented, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base.
Metadata
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Raw Data (Debug)
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"raw_xml": "<entry>\n <id>http://arxiv.org/abs/2603.05404v1</id>\n <title>ROScopter: A Multirotor Autopilot based on ROSflight 2.0</title>\n <updated>2026-03-05T17:30:58Z</updated>\n <link href='https://arxiv.org/abs/2603.05404v1' rel='alternate' type='text/html'/>\n <link href='https://arxiv.org/pdf/2603.05404v1' rel='related' title='pdf' type='application/pdf'/>\n <summary>ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed to interface with ROSflight 2.0 and runs entirely on an onboard flight computer, leveraging the features of ROS 2 to improve modularity. This work describes the architecture of ROScopter and how it can be used to test application code in both simulated and hardware environments. Hardware results of the default ROScopter behavior are presented, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base.</summary>\n <category scheme='http://arxiv.org/schemas/atom' term='cs.RO'/>\n <published>2026-03-05T17:30:58Z</published>\n <arxiv:primary_category term='cs.RO'/>\n <author>\n <name>Jacob Moore</name>\n <arxiv:affiliation>Brigham Young University</arxiv:affiliation>\n </author>\n <author>\n <name>Ian Reid</name>\n <arxiv:affiliation>Brigham Young University</arxiv:affiliation>\n </author>\n <author>\n <name>Phil Tokumaru</name>\n <arxiv:affiliation>AeroVironment, Inc</arxiv:affiliation>\n </author>\n <author>\n <name>Tim McLain</name>\n <arxiv:affiliation>Brigham Young University</arxiv:affiliation>\n </author>\n </entry>"
}