An Educational Bench Test for Aerial Angular Control of Multirotors

The Educational Bench for Angular Aero Control of Multirotors is an open-source, 1-DOF aerial test platform designed to bridge the gap between simulation and real-world drone operation. Built around an STM32F401RE microcontroller, the system enables the safe validation of control algorithms and motor dynamics without the risks associated with free flight. The hardware consists of a dual-rotor rigid arm equipped with a precision potentiometer for angular feedback and an integrated climate station (BMP280 and DHT22) to estimate real-time air density, enabling accurate thrust characterization under varying environmental conditions. The platform has been validated in studies presented at DINAME 2025 and IMAV 2024, demonstrating its effectiveness in online air density estimation and in the comparative analysis of ESC communication protocols (PWM vs. OneShot125). This low-cost and reproducible system provides a robust testbed for research and education in flight dynamics, control systems, and propulsion analysis.