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This paper is part of the research on stabilizing quadcopter altitude in the Altitude-Hold mode by utilizing the commercial KK v2.0 and the customized YoHe v1.2 PID board. The YoHe v1.2 PID board used two sensors: the ultrasonic sensor and barometric sensor. Both sensors were used together to maintain the quadcopter at a consistent altitude. The purposes of this paper were first to analyze the sensors and to optimize them on the Altitude Hold mode and second to explain the quadcopter system configuration, especially for using the YoHe v1.2 PID board along with the KK v2.0 board. The relative error comparison showed the accuracy of the ultrasonic sensor was better for a lower altitude (below 175 cm). On the other hand, the accuracy of the barometric sensor was better for higher altitude (above 175 cm). This 175 cm height was used as a basis for the YoHe v1.2 PID to choose which sensor is acting as an input sensor for maintaining quadcopter altitude. The results of this experiment were programmed and compiled and its hex-code was embedded into the YoHe v1.2 PID board to make both sensors work together and complementary.

This paper presents a design of altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID. This practical design is implemented outdoor. Barometric and sonar sensor were used in this experiment as an input for the controller YoHe. The throttle signal as a control input was provided by the controller to leveling QuadRotor in particular altitude and known well as altitude stabilization. The parameter of type-2 fuzzy and fuzzy PID was tuned in several heights to get the best control parameter for any height. Type-2 fuzzy produced better result than fuzzy PID but had a slow response in the beginning.