Real-Time Software Architecture for Pid Angle Control in Experimental Pvtol Platforms

This paper presents a software platform developed in LabVIEW, based on a state machine model, for controlling the positioning and angular trajectory of a PVTOL (Planar Vertical Take-Off and Landing) system. Communication with the experimental platform was implemented using Arduino UNO R4 microcontrollers, integrating low-cost distance sensors and a 3DM-GX1 IMU. The data was acquired at 60 Hz via I2C and USB protocols. The software includes signal logging and controller response features for subsequent analysis. Experimental validation, using a classic PID control, demonstrated stable performance of the PVTOL, with no significant oscillations and robustness against external disturbances.