The aim of this master thesis is to realize an airworthy Zeppelin that is operated by manual remote control on the one hand and by autonomous regulation on the other hand.

The remote control and the radio protocol were partly taken over from the previous project works PA1_rur_04_6 and PA2_lks_04_I/II. The whole software was implemented in the standard language ?C?. Merging these projects required adjustment and further development of the software that was taken over. Besides, the Zeppelin was not capable of flying at the end of the project work 2, since there were too many malfunctions that disabled the flying. These malfunctions were now removed.

To sum up, one can say that the following issues were implemented successfully:

• an airworthy zeppelin, -extension of the Zepprot043T, -optimizing of the remote control, -communication with the altimeter, -receipt of data from the Global Positioning System (GPS), -communication with the position sensor, -multiprocessor communication between the Zeppelin- and the feedback controller, -transmission of the height-, position- and GPS ?data to the base station, -development of an user-interface (input of regulation parameters/ output of received data), -simulation of the height feedback control, -implementation of the height feedback control, -switching between the remote control and the height feedback controller through Joystick key combination.

There appeared irreproducible altimeter malfunctions during the test flights, whose origin could not be located up to this day. This prevented the testing of the height feedback controller on Zeppelin.

The Global Positioning System (GPS) and the compass module that is susceptible to malfunctions are too inaccurate for a flight route regulation in a limited user radius of 100 m in order to achieve a satisfying result during this master thesis. An autonomous navigation based on the predefined flight route is not possible under the current circumstances.