Abstract: This paper proposes an autopilot system that can be used to control the small scale rotorcraft during the flight test for linear-frequency-domain system identification. The input frequency-sweep is generated automatically as part of the autopilot control command. Therefore the bandwidth coverage and consistency of the frequency-sweep are guaranteed to produce high quality data for system identification. Beside that, we can set the safety parameters during the flight test (maximum roll/pitch value, minimum altitude, etc.•) so the safety of the whole flight test is guaranteed. This autopilot system is validated using hardware in the loop simulator for hover flight condition.

Key words: rotorcraft-based UAV, small scale helicopter, automated flight test, frequency response