In this paper,a piece-wise PID controller is devel- oped for a micro UAV.In UAV's fixed-point flight,the measur- ing precision of transducers needs to be improved and the rudder quivering problem due to engine shake exists.By applying the designed fusion algorithm for rolling,coursing,and pitching,the fixed-attitude stabilized control as well as tracking control of fixed-height and fixed-destination flight can be effectively real- ized.The experimental results verify the stability of pitching and roiling channels and show that the controller has good per- formance in restraining unfavorable effects from uncertainty.In addition,dynamic tracking performance is well guaranteed.
