5.1. Parametric identification
For the purpose of parametric identification a human pilot was
instructed to fly the quadrocopter above the target so that the
visual recognition system was in mode 2 during the experiment.
The pilot’s control commands for the thrust, pitch and roll were
recorded together with the responses of the quadrocopter—pitch
and roll angles, vertical acceleration, the velocity and the positions
in all three axes. The quadrocopter system transfer function from
the control input to the quadrocopter’s position was separated into
three first-order transfer functions per axis (illustrated in Fig. 9)
and the results are as follows: