Real-Time Processing Limitations of Arduino-Based Flight Controllers for UAV Stabilization: An Experimental Analysis

Abstract

The increasing demand for drone-based delivery systems has highlighted the need for low-cost, accessible flight control platforms for prototyping and educational purposes. This paper presents an experimental investigation into the use of the Arduino UNO microcontroller as a flight controller for a quadcopter delivery drone. The prototype was constructed using an S500 airframe, four A2212 1000KV brushless DC motors, 30A electronic speed controllers (ESCs), an MPU6050 inertial measurement unit (IMU), and a FlySky FS-i6 transmitter-receiver system. A complete control program was developed in the Arduino IDE, implementing a complementary filter for attitude estimation and a PID (Proportional-Integral-Derivative) control loop to stabilize the aircraft. Experimental tests revealed critical limitations of the Arduino platform when applied to real-time flight control. The 8-bit ATmega328P processor operating at 16 MHz exhibited significant processing latency, with measured control loop jitter of ±225 µs and throttle response delay of 40-60 ms, both insufficient for the high-frequency data fusion required for stable multi-rotor flight. While individual component tests confirmed the functionality of all subsystems, integrated flight tests demonstrated excessive oscillation (3-5 Hz, amplitude ±15°), poor dynamic response, and an inability to maintain stable hover under varying throttle conditions. The results conclusively demonstrate that while the Arduino UNO is suitable for initial component verification and educational proof-of-concept, its limited processing power and lack of integrated sensor fusion capabilities render it fundamentally inadequate for practical UAV stabilization applications. This paper provides quantitative evidence of these limitations and establishes a scientific basis for transitioning to specialized flight controllers in drone delivery systems.