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Rotary unmanned aerial vehicles are gaining popularity owing to their unique capabilities and flexibility. Multiple experiments and tests are being carried out to make them robust and versatile. This paper elaborates one such attempt of height control and automatic takeoff tests performed on a conventional mini helicopter. A brief description of the vehicle and experiments carried out is included. The simulations for the PID height control implemented on the helicopter using the developed equation for heave dynamics as a plant model have been performed and compared with experimental data and analyzed. The comparison of experimental and simulation is done to correlate theory and what occurs in practice, which would thereby help in improving experimental control. © 2015 by the Asian/Australian Rotorcraft Forum. All rights reserved.

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The passage contains ninety "e"s.
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