Samenvatting

Twirre V2 is the evolution of an architecture
for mini-UAV platforms which allows automated
operation in both GPS-enabled and GPSdeprived
applications.
This second version separates mission logic, sensor data processing and high-level control, which results in reusable software components for multiple applications.
The concept of Local Positioning System (LPS) is introduced, which, using sensor fusion, would aid or automate the flying process like GPS currently does. For this, new sensors are added to the architecture and a generic sensor interface together with missions for landing and following a line have been implemented. V2 introduces a software modular design and new hardware
has been coupled, showing its extensibility and adaptability