Arıkan, Kutluk BilgeAlbayrak, Ozge BeyzaErsan, YagmurBagbasi, Aysen SuheylaBasaranoglu, Ahmet TurgutArikan, Kutluk BilgeDepartment of Mechatronics Engineering2024-07-052024-07-0520194978172813787210.1109/iccma46720.2019.8988694https://doi.org/10.1109/iccma46720.2019.8988694https://hdl.handle.net/20.500.14411/2736This article presents a Bicopter type of a flying robot with two rotary-wing units which are placed in a tandem form on the chassis. The rotors are tilted by the aid of the tilt mechanism. Cascaded type of PID controllers are designed on the dynamical models for the attitude and altitude dynamics. The simulated control systems are implemented and tuned on the Naze32 flight controller which is connected to a Raspberry Pi single board computer for real-time applications. The real-time performance is monitored and evaluated during the tests and it is seen that the system is suitable for indoor type of robotic applications.eninfo:eu-repo/semantics/closedAccessflying robotsbicopterflight testingpid tuningConference Object98103WOS:000543726100017