A Blueprint for a Fixed-wing Autopilot on an Android

Smartphone
Joseph Tabarracci

Patrick Currier, PhD

Mechanical Engineering Department

Embry-Riddle Aeronautical University
Daytona Beach, FL, USA

Mechanical Engineering Department

Embry-Riddle Aeronautical University
Daytona Beach, FL, USA

Abstract The growing set of potential applications for UAVs is

driving research and development of more intelligent systems to
prove feasibility of future integration into national airspace. An
autonomous UAV architecture built upon a COTS Android
smartphone is proposed as a platform for widespread
development. A brief analysis is conducted on the feasibility of an
open-source, inexpensive, user-friendly autonomous system, built
upon the capabilities of a contemporary smartphone. An
examination of flight control, position estimation, attitude
determination, and long-range data connection through a
Samsung Galaxy Nexus determines that this type of system may
be developed by building on the concepts used in the existing
Paparazzi autopilot software.
KeywordsAutonomous UAV, Android, Smartphone Sensing,
Paparazzi Autopilot, IOIO for Android

I.

sensors, a MEMS digital barometric pressure sensor, a

powerful digital camera, and a touch screen display [3].
The feasibility of an open-source, inexpensive, userfriendly autonomous system, built upon the capabilities of a
contemporary smartphone, will be examined. Emphasis is to
be placed on comparing a modern mobile device with a more
traditional autopilot system. One such system, Paparazzi: The
Free Autopilot, is a free and open-source hardware and
software project intended to create an exceptionally powerful
and versatile autopilot systemby allowing and encouraging
input from the community [4]. An analysis of the components
of a smartphone as opposed to those of a Paparazzi-based
system, as well as an evaluation of the challenges and
potential hazards of a mobile-phone-centric autopilot will be
presented.

INTRODUCTION

The newest frontier in the development of cheaper,

unmanned systems may currently be tucked away in the
pockets of millions of people. According to Lane et al.
Todays smartphone not only serves as the key computing
and communication mobile device of choice, but it also comes
with a rich set of embedded sensors, such as an accelerometer,
digital compass, gyroscope, GPS, microphone, and camera.
Smartphone technology is also open and programmable,
encouraging
open-source
availability
and
user-end
development for home-brewed software solutions and
applications [1]. A driving factor in this development may not
only be the computational abilities of phones and tablets, but
also the widespread implementation of a robust and elegant
interfacing tool; the touch screen display. Should smartphones
become a platform for autonomous UAV advancement, this
one component could revolutionize the ability to interact
directly with the autopilot for non-technical users.
Another advantage of a smartphone-controlled system is
that these personal, mobile devices already contain modern
smart sensors and the software necessary to manage them [1].
One of the most appealing attributes of this type of
configuration is that, integrated systems, such as GPS,
accelerometers, and rate gyros, are standard equipment [2].
The Samsung Galaxy Nexus is an example of a prime
candidate for control and sensing in an autonomous aerial
system. This device contains the latest generation of smart

978-1-4799-0053-4/13/$31.00 2013 IEEE

II.

SENSOR COMPARISON

The Paparazzi software allows for unique integration of

almost every component of the autopilot hardware, including
GPS trackers, pressure sensors, IMUs, modems, and the
microcontroller unit (MCU) [4]. The MCU is a programmable
chip which contains [an] arithmetical processor, RAM and
ROM, [4] serving as the core processing device for all
control, estimation, and communication. The developers and
users of Paparazzi have successfully integrated dozens of new
components into the software, allowing end-users to configure
systems as desired.
A system running the Paparazzi autopilot may typically
utilize the Lisa/M v2.0 MCU, Aspirin v2.2 10DoM IMU, and
ublox LEA-6H Standalone GPS receiver, as recommended and
pre-configued by the Paparazzi developers [4]. These three
units represent the bulk of the hardware that would be replaced
by a smartphone in the proposed system. Table 1 compares
some important specifications for the sensors in this type of
autopilot, versus those of a Samsung Galaxy Nexus, an
example of a typical smartphone.
An initial look at Table 1 shows that the sensors of the
smartphone do not differ greatly from those in the more
traditional autopilot, but it is important to note a few major
discrepancies, based upon this information.

Table 1. A comparison of sensors in a traditional autopilot [4] and a modern

smartphone [2, 3]
COMPONENT
SYSTEM
(Attribute:)
Example Paparazzi
Samsung Galaxy
System
Nexus
u-blox LEA-6H[5]
GPS Tracker
SiRF SiRFstarIV
GSD4t[6]
Position Accuracy: <2.5 m
<2.5 m
0.01 m/s
Velocity Accuracy: 0.1 m/s
Heading Accuracy: 0.5 deg
0.01 deg
1 Hz
Update Rate:
2 Hz
InvenSense MPU-6000[7] Bosch BMA250[8]
Accelerometer
Resolution (max):
Nonlinearity:
Output Noise:
Gyroscope

61.0 G
+/- 0.5%
400 G/Hz
InvenSense MPU-6000[7]

Range:
Resolution (max):
Nonlinearity:
Rate Noise:
Magnetometer

+/- [250 - 2000] deg/s

0.0076 deg/s
0.2%
0.005 deg/s/Hz
Honeywell HMC5883[10]

Range:
Resolution (x,y,z):
Acquisition Time:
Barometer

+/- 800 T
0.5 T
6 ms
Measurement Specialties
MS5611-01BA03[12]
[450 - 1100] mbar
+/- 0.5 mbar
[0.01 - 0.07] mbar

Range:
Relative Accuracy:
RMS Noise:

3.91 mG
+/- 0.5%
800 G/Hz
InvenSense
MPU-3050[9]
+/- [250 - 2000] deg/s
0.0076 deg/s
0.2%
0.01 deg/s/Hz
Yamaha YAS530[11]
+/- 800 T
[0.15, 0.15, 0.30] T
1.5 ms
Bosch BMP180[13]
[300 - 1100] mbar
+/- 0.12 mbar
[0.02 - 0.06] mbar

Smartphone Advantages:

The GPS tracker in the Samsung device can resolve

velocity and heading much more accurately than the ublox component.

Both MEMS Gyroscopes are almost identical, only

differing in the rate noise.

Acquisition time is shorter and resolution is higher in

the Yamaha geomagnetic compass (magnetometer)
than in the standalone unit.

The barometric pressure sensor in the smartphone is

significantly more accurate than the equivalent
Paparazzi-utilized barometer.

Smartphone disadvantages:

The SiRF SiRFstarIV GSD4t only tracks GPS

location information at a rate of once per second.

Accelerometer precision may be a concern for the

smartphone system, as it has much lower resolution
than that of a more traditional UAV IMU.

There is twice as much output noise in the

accelerometer and rate gyroscope of the proposed
device than in the Paparazzi example.

The most significant concern for this implementation may

be the difference in GPS update rate and the impact it may
have on localization and the attitude and heading reference
system (AHRS). According to [14], modern AHRS generally

use Kalman filters to integrate gyros with some other

augmenting sensors, and are typically employed to provide a
long term stable orientation solution. All Paparazziconfigured AHRS configurations for IMU-based, fixed-wing
aircraft can call upon GPS data to improve velocity and
heading estimation [4]. This slower sampling rate may impact
navigation additionally in windy conditions, as a sustained
gust could force the system further off course between
localization increments. Autopilot operation with such a low
rate of GPS-based location, velocity, and heading
measurements will increase the importance for fidelity in the
other sensors, as well as the need for high-level estimation
filters to interpolate between measurement points.
III.

ACTUATION & COMMUNICATION

Since the smartphone contains only a USB port for wired

external communication, actuation and motor commands will
need to be accomplished by use of a peripheral input/output
(I/O) board. The IOIO (pronounced yo-yo) for Android is a
prime example. This board is developed by Sparkfun
electronics in collaboration with a software engineer and
blogger, Ytai Ben-Tsvi [15]. For the proposed system, a
device similar to the IOIO will communicate between the
autopilot command outputs of the smartphone and the motors
actuating the aircrafts power and control surfaces as detailed
in Fig. 1. The IOIO board offers well-documented user
support, a simple programming interface (JAVA API), and can
be purchased for less than fifty USD [15].
The first generation of this device is configured to connect
to Android mobile devices via USB or Bluetooth, but a short
USB dongle would be preferred for a secure, hard connection
[17]. Also, the second generation IOIO for Android holds
promise for several new user-requested features, such as
pulse-position modulation (PPM) output and USB on-the-go
capability, further expanding the potential applications of the
board with other devices [17]. The Paparazzi autopilot
software, for example, requires PPM-encoded signals to
interpret commands and inputs [4].
Another option in I/O boards, DIYDrones PhoneDrone
Board for Android, may prove even more robust for this
application. This board is intended for connecting an Android
device to radio control, servos, and robotics components [18].
It is capable of multiplexing between R/C and Android
control, such that a mixture of control is allowed between the
Android and the remote [18]. This means it can serve as a
receiver for external radio control and, with its spare serial
ports, may also serve as an input device for additional sensors
[18]. A blogger, known as deadfalkon, is currently working to
make an autonomous UAV using the PhoneDrone, but, as a
precaution, is utilizing a dedicated hardware failsafe to
ensure complete control over the system, should the automatic
control fail or become unreliable [19].
The Wireless Buddy Box System is a dual radio receiver,
designed to allow a secondary controller to take over the
flight at the flick of a switch [20]. If this type of hardware can

GPS

R/C
Barometer

Estimator
I/O Board

ACTUATION

FILTERING

Accel

Gyro

Compass

CONTROL

SAFETY LINK

DATA

SMARTPHONE

Servos
&
Motor

Navigation
Stabilization

components in mobile devices like the Samsung Galaxy Nexus

[3]. Two wireless data technologies to mention are the IEEE
802.16 family of standards (WiMAX) and long-term
evolution (LTE) [25].
Each of the noted fourth generation (4G) communications
standards exhibit latency under 50 ms, which is small enough
to support real-time applications, such as voice
communication [25]. According to [25], the latest releases of
WiMAX and LTE also support high user mobility,
maintaining connection when the device is moving up to 350
km/h (217 mph) within the network; this would be ideal for a
fast-moving aerial system. The widespread implementation of
4G technology and its eventual replacement may allow future
autonomous experimentation to maintain rapid and farreaching connections for telemetry, navigation updates, and
auxiliary and failsafe protocols.

Airspeed

Telemetry

GCS

OPTIONAL

MONITOR

IV.
Datalink

Figure 1. Overview of proposed system architecture (adapted from [16]).

be configured appropriately, it may be integrated into the

proposed system as a junction block, utilizing the I/O board
and R/C receiver' (RX) as inputs, and output to the actuators.
Though a Wireless Buddy Box setup may not be necessary
for the PhoneDrone board, which is pre-configured for such
multiplexing, an example of the device arrangement with the
IOIO for Android and a single servo actuator is portrayed in
Fig. 2. Safety is always held paramount, so a dedicated failsafe
should be included in an autonomous system of this scale.
A. Auxilary Sensing
Since aircraft control is conducted in relation to airspeed,
an important component for a fixed-wing drone is the
inclusion of an airspeed sensor. The Paparazzi project solicits
the use of the EagleTree Systems Airspeed MicrosensorTM V3
for differential pressure determination [4]. This compact
device is manufacturer pre-calibrated, compensates for air
temperature, and includes a Prandtl-style pitot-static tube to
mount on the airframe [22]. The sensors I2C interface will
connect directly to boards like the IOIO, just as it would have
to a standalone Paparazzi autopilot [23]. As depicted in Fig. 2,
this type of connection requires wiring to power (3.3V),
ground (GND), data (DA), and clock (CL), four connections
that are all integrated into the pins of the IOIO [24].
B. Long-Range Datalink
A major advantage of utilizing a smartphone is its capacity
for long-range communication. Two-way telemetry in a more
traditional system requires that an auxiliary modem and
receiver are installed and configured [4]. Contrary to this,
broadband data network receivers and Wi-Fi are integrated

CHALLENGES & SAFETY

While flying a drone without a pilot at the controls is

becoming increasingly common, there are still major
developments to be made in autonomous aerial systems,
specifically when dealing with potential integration into
national airspace [26]. Some of these topics deal with complex
autonomy and intelligent architecture, while others involve
standard safety protocols and the basics of ensuring a
successful mission. The Paparazzi project was developed with
several features which may prove to be advantageous for a
truly unsupervised autonomous autopilot system [4], but the
capabilities of modern mobile devices should provide the
necessary foundation to introduce these solutions [26].
Two paths for failure will be considered in the context of
the autopilot operation; loss of sensor data and loss of link.
Fail-safe routines and automatic task updates will be
addressed.
A. Loss of Sensors & GPS Degradation
Autonomous aircraft suffer from a unique challenge in that
their survival relies completely upon their ability to estimate
their state and interpret vital factors of their motion. In many
recent applications, the airframes utilized for autonomous
systems are inherently unstable or difficult for a pilot to
stabilize in manual operation. Quadrotor helicopters, for
example, rely completely upon their sensors and feedbackcontrol for stability, as they exhibit unstable open-loop
dynamics and sensitivity to wind and payload uncertainty [27].
One benefit of a system based upon the Paparazzi
architecture is the design of its state estimation filters. Each of
the pre-configured AHRS solutions offers its own strengths
and weaknesses, but it is their general construction that is of
more interest to smartphone autopilot development. Each filter
is constructed with conditional statements that check sensor
response on every iteration, to ensure that an inactive sensor is
not utilized or another measurement method is prescribed,
such as utilizing the magnetometer-resolved heading when a
GPS fix is unavailable [4]. This type of formulation could be

Figure 2. A possible layout of the connections between the systems hardware components. Photos: [15] and [21] (not to scale)

replicated in Android development to allow for more robust

sensor fusion.
Although GPS faults are a likely cause for navigation
errors, the failure of an IMU may be catastrophic to the
mission (and safety) of an autonomous aircraft. If the IMU in a
neutrally-stable or naturally unstable system were to become
unreliable, even for a few moments, the system could rapidly
become unrecoverable. For the smartphone-based system,
there may not be many solutions for automatic short-term
stability, as the most likely case in which the GPS and IMU
become unreliable is a software crash or freeze of the mobile
device.
If this occurs, the I/O board is independently powered and
could remain active as a standalone source of communication
between the RC safety link and the onboard servos, however,
the IOIO is not configured to behave as a solitary MCU [17],
and these attributes of the PhoneDrone are not known. If
either of them contains built-in memory, which could store
pre-programmed, embedded code to shut down and reboot the
smartphone if it were to become inactive, this would be a
definite advantage in keeping the system as simple as possible.
The command to initiate such a function could be set as a
remote input from a radio controller or could be built in as an
automatic check. An automatic initiation would involve a
watchdog timer to incrementally check for a response from the
control device; if a response is not received within a
designated amount of time, the phone would need to be reset
in an attempt to regain sensor availability while control is
automatically redirected to a human pilot on the ground.
B. Loss of Link
Much like existing Paparazzi autopilots, a GCS will
establish a two-way link with a smartphone-controlled aircraft
to monitor performance, update flight plans, and perform inflight tuning. This type of connection, likely a Wi-Fi, 3G, or
4G data network, is not immune to interference and loss. In
these cases, there must be solutions built into the system to
recognize the event and re-establish communication. A means
of mitigating the threat of this situation would be a secondary

link, such as radio modem operating directly through the I/O

peripheral to communicate with the onboard motors and
control surfaces. In a case where the primary signal is lost, the
aircraft could be switched to radio-modem only
communication. For a case in which the datalink and radio
signal to ground are completely lost, automatic routines would
be enacted to attempt saving the system or to intentionally
terminate the flight to avoid unnecessary risk to civilians.
These pre-defined control implementations, described below,
would be stored in either the I/O board or the smartphones
internal memory.
When a Paparazzi-piloted UAV travels outside of the
established mission area, it will automatically trigger the
standby routine [4]. Standby automatically brings the
aircraft back to a circular flight path around a designated
waypoint and altitude [4]. It holds that pattern until
commanded otherwise by the GCS. This type of routine may
be executed during a loss of link case, in order to bring the
aircraft back to a location where it may reestablish connection
or be within range for a pilot to take control and land safely.
However, in extreme cases of lost link or in flight conditions
that may result in human harm, it becomes necessary to put the
aircraft down on command, regardless of the damage that it
may cause to the system.
The Paparazzi system utilizes a flight termination routine
based upon range from the established mission area. One of
the flight plans global exceptions is a check of if the aircraft
is within the defined mission area; if it is not, the circlehome failsafe is executed. However, for cases in which the
software fails to execute the reroute, GPS does not report the
location, or the physical condition of the system prevents it
from operating as expected (damaged actuators or extreme
environmental conditions), it may wander even further beyond
the border of the mission area. Once the autopilot estimates
that
it
has
traversed
beyond
the
user-defined
KILL_MODE_DISTANCE parameter, the KILL routine is
automatically executed [4]. This mode is a closed-throttle
defined descent, such as a glide, spin, or dive [4].

The same type of arrangement may be enacted by the I/O

board automatically, in the extreme case that it does not
receive a signal from the autopilot or radio control for a userdefined interval of time. For example, a parameter may be
defined as KILL_MODE_TIME, representing the amount of
time lapse without radio input after the watchdog timer
attempts to hand control over to the ground-based pilot. If this
parameter is met in embedded conditional checks in the IOIO,
PhoneDrone, or the selected peripheral board, it would result
in a call of the KILL protocol. In the same sense, if the I/O
device contains embedded memory, it may also be occupied
with low-level static control commands; such as locking all
control surfaces neutral and maintaining a pre-set engine
speed. For a case in which flight must be manually terminated,
a set of commands will be set up for an I/O board to make in
response to an RC-commanded KILL routine.
C. Process Scheduling
A major unknown for a system of this scale is the
computational ability of the MCU: an Android-operated
smartphone. Though the Samsung Galaxy Nexus dual-core
1.2 GHz processors [3] dwarf the speed of the 78MHz-clocked
Lisa/M v2.0 [4], its operating system and software
environment may prove to be an encumbrance for safe
operation in the proposed application. Many tasks of the
autonomous control system may be considered real-time, as
they require reliable timing to ensure smooth operation [28].
An analysis of an Android smartphones ability to consistently
handle necessary information, without unacceptable lag, must
take place in the first steps of testing and system
implementation. Reliable estimation and control will all
depend on the ability of the microprocessors to keep up with
computation and communication while navigating through the
complexities of the operating system.
V.

CONCLUSIONS & FUTURE WORK

Though it may have once seemed absurd to think that a

mobile phone could serve as the brain of a complex, intelligent
aerial vehicle, it may soon be a reality. The preceding study
implies that a smartphone-autopiloted aircraft could be a
feasible platform for widespread intelligent UAV research and
development.
The
latest
commercial,
off-the-shelf
smartphones contain sensor packages that rival the IMUs of
some hobby-level aerial drones (see Table 1) and hold
significant promise for future implementation.
There are a few potential hurdles that will require further
research and testing before an autonomous smartphone UAV
may take to the skies. Some of these include testing the actual,
in-the-field response of the sensor network and determining
latency and delay determinacy for data transfer with a
smartphone, both to and from a peripheral I/O board by USB.
However, one certainty in mobile applications is that
smartphones and tablets will accelerate beyond the current
standards and capabilities as technology companies continue
to push the envelope of what is possible for personal devices.
This means that many potential shortcomings in the

implementation of a smartphone autopilot could be addressed

by the integrated hardware and advanced capabilities of the
following generation.
ACKNOWLEDGMENT
J. Tabarracci thanks Santiago Iglesias for pointing this
research in the right direction and sparking interest in Android
application development, and the co-author, Patrick Currier,
for continued support and enthusiasm in further research and
implementation of the smartphone autopilot.
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