Security Monitoring Quad Rotor Copter

Session: 2013 2017

Submitted by:

Ahmed Kamal 2013-EE-602

Muhammad Uzair 2013-EE-626

Asfand Muzammil 2013-EE-635

Moeez Ali 2013-EE-633

 Supervised by: Dr. Muhammad TahirDepartment of
Electrical Engineering

University of Engineering and Technology Lah

Number of pages in this repor 72
In the name of Allah, the most kind and most merciful
YES/NO

We would like to thank all our friends and relatives specially our parents
YES /-NO
who kept backing us up in all the times, both financially and morally and
also prayed for us throughout

We would also like to thank Dr.Umer Farooq and Sir Usman Rafique for guiding and
encouraging us to work hard and smart. We have found them very helpful and encouraging while
discussing the optimization issues in this dissertation work. Their critical comments on our work
have certainly made us think of new ideas and techniques in the fields of optimization and
software simulation.

We are grateful to the Allah Almighty who provides all the resources of every kind to us, so that
we make their proper use for the benefit of mankind. May He keep providing us with all the
resources, and the guidance to keep helping the humanity.

4
 Abstract
There is a great need of search, rescue and surveillance assets in our country which are easy to
use regardless of operational area. We want to provide a solution by using unmanned aerial
vehicles (UAVs) for this purpose. Our aim is to make a UAV which is suitable to operate in any
terrain. We have used a quad copter for our project which is controlled using a transmitter and on
the other end there is a receiver connected to the microcontroller. Moreover our quadcopter is
equipped with a wireless camera in order to get real time footage of the crisis area, global
positioning system (GPS) in order to get real time location of the UAV and it is able to deliver
medical kit at the crisis site. We have also made the frame of our quad copter flexible for any
future modifications.
 Table of contents
1 INTRODUCTION ERROR! BOOKMARK NOT DEFINED.

...............................................................1
................................................................3
................................................................4
...............................................................4
...............................................................5
................................................................6
...............................................................6
............................................................................

1.1 History of Quadcopter...................................

1.2 General Classification of Flying Vehicles
1.3 Advantages of Quadcopter............................
1.4 Classification of Quadcopter.........................
1.5 Aims and Objectives.....................................
1.6 Scope of study...............................................
1.7 Outline of Project..........................................

2 BACKGROUND AND LITERATURE REVIEW....................................................... 7

2.1 Aerodynamics................................................................................................................7
2.1.1 Aircraft Model.........................................................................................7
2.1.2 Vertical Flight Model............................................................................10
2.1.3 Quadcopter Model.................................................................................12
2.2 Motor and Propeller......................................................................................................15
2.2.1 Propeller................................................................................................15
2.2.2 Motor Control.......................................................................................16
2.3 Tx and Rx.....................................................................................................................19
2.4 Stabilization..................................................................................................................20
2.4.1 PID controller........................................................................................21
2.4.2 Kalman Filter........................................................................................24

3 PROJECT DESIGN.....................................................................................................25

3.1 METHODOLOGY............................................................................................................25
3.2 ARCHITECTURE OVERVIEW...........................................................................................26

6
3.3 Material selection.........................................................................................................26
3.3.1 Nylon.....................................................................................................27
3.3.2 Carbon fiber composite.........................................................................27
3.3.3 Steel......................................................................................................27
3.3.4 Wood.....................................................................................................28
3.3.5 Aluminium............................................................................................28

7
 3.4 Frame components.......................................................................................................28
3.4.1 Central Hub..........................................................................................28
3.4.2 Spar......................................................................................................29
3.4.3 Package................................................................................................29
3.5 Frame design................................................................................................................29
3.5.1 Structure...............................................................................................30
3.6 Design Description......................................................................................................33
3.6.1 Motors..................................................................................................33
3.6.1.1 Brushless vs. brushed motors.............................................34
3.6.2 Propellers..............................................................................................36
3.6.3 Electronic speed controller (ESC)........................................................38
3.6.4Battery.....................................................................................................39
3.6.4.1 Lithium polymer batteries versus nickel batteries..............40
3.6.5 Transmitter and receiver.........................................................................41

4 IMPLEMENTATION & EVALUATION...................................................................43

4.1 DEVELOPMENT STAGES................................................................................................43

4.1.1 Initial design and hardware integration..............................43
4.1.2 Flight algorithm....................................................................44
4.1.3 Stabilization..........................................................................44
4.1.4 Payload and Gps...................................................................46
4.1.5 Camera interface...................................................................46
4.2 EVALUATION............................................................................................................47

5 CONCLUSIONS & FUTURE WORK.......................................................................48

REFERENCES.........................................................................................................................50

APPENDIX A: HDL OR C SOURCE CODE.........................................................................52

APPENDIX B: LIST OF COMPONENTS...........................................................................622

APPENDIX C: PROJECT TIMELINE..................................................................................63

Table of figures
Figure 1.1 3D Model of GyroplaneNo. 1....................................................................................2
Figure 1.2. Oehmichen No.2.......................................................................................................2
Figure 1.3. Covertawings Model A..............................................................................................3

8
Figure 1.4. Classification of Aircrafts..........................................................................................4

Figure 1.5 Classification of Quadcopter......................................................................................5

Figure 2.1 Major acting forces.....................................................................................................7

Figure 2.2 Wing design of aircraft...............................................................................................8

Figure 2.3 Vertical and Horizontal Movement...........................................................................9

Figure 2.4 Helicopter takeoff.....................................................................................................10

Figure 2.5 Acting forces............................................................................................................10

Figure 2.6 Swash-plate..............................................................................................................11

Figure 2.7 Movements...............................................................................................................11

Figure 2.8 Torque effect............................................................................................................12

Figure 2.9 Quad-copter Theoreticalmodel.................................................................................13

Figure 2.10 Roll, Pitch and Yaw................................................................................................13

Figure 2.11 Movement of X-shaped Quad-copter......................................................................14

Figure 2.12 Propeller Pitch........................................................................................................15

Figure 2.13 Propeller comparison..............................................................................................15

Figure 2.14 CW and CCW propellers........................................................................................16

Figure 2.15 Circuit diagram of motor.........................................................................................17

Figure 2.16 Inter ESC circuit.....................................................................................................17

Figure 2.17 BLDC structure 1...................................................................................................18

Figure 2.18 Hall sensors............................................................................................................18

Figure 2.19 Motor rotation........................................................................................................19

Figure 2.20 TDM in channels....................................................................................................20

Figure 2.21 Accelerometer........................................................................................................20

Figure 2.22 Gyroscope..............................................................................................................21

Figure 2.23 Magnetometer........................................................................................................21

Figure 2.24 PID.......................................................................................................................22

Figure 2.25 Ki effect................................................................................................................22

Figure 2.26 Kd effect...............................................................................................................23

9
Figure 2.27 Kp effect...............................................................................................................23

Figure 2.28 Kalman filter........................................................................................................24

Figure 2.29 Data comparison...................................................................................................24

Figure 3.1 Architecture overview diagram................................................................................26

Figure 3.2 Plus type configuration.............................................................................................30

Figure 3.3 X type structure.....................................................................................................31

Figure 3.5a Upper 2D view.......................................................................................................32

Figure 3.5b Lower 2D view.......................................................................................................32

Figure 3.6 Dimensions of the frame..........................................................................................32

Figure3.7 Brushless DC motor BL2215/2.................................................................................35

Figure 3.8 Propellers used in project..........................................................................................37

Figure 3.9 2D Dimensions of propeller used.............................................................................38

Figure 3.10 Electronic Speed Controller....................................................................................39

Figure 3.11 Li-Po 3300 mAh battery.........................................................................................40

Figure 3.12 Fly Sky FS-T6 2.4GHz Digital Proportional 6 Channel Tx and Rx........................42

Figure 4.0 Basic block diagram of Quad-copter working..........................................................43

Figure 4.1 Hardware Implementation........................................................................................44

Figure 4.2 Fiber-glass base for motor........................................................................................46

10
 1 Introduction
Unmanned aerial vehicles (UAVs) are crafts capable to flight without a human pilot control.They are controlled remotely by
an operator, or can also be controlled autonomously by following programmed paths using the GPS data as well. Such aircrafts have
already been used by military for recognizance flights and now a days we can see a sudden increase in their use by every major
country and for a lot of applications, it is an estimate that in future 90% of US Air force will consist of drones[1]. Further use of UAVs,
specifically as a tool for surveillance, warrant continued development of UAV technology.
A quadcopter helicopter is an aircraft whose lift is generated by four rotors. The control of aircraft is accomplished by varying
their speeds of these four motors relative to each other. Quadcopter crafts naturally demand a sophisticated control system in order to
make a balance flight. Uncontrolled flight of a quadcopter would be virtually impossible by human operator, as the dynamics of such a
system demand constant adjustment in the speed of four motors simultaneously with respect to the change in different parameters
affecting the balanced flight of quadcopter. Controlling a quadcopter is very important and its nearly impossible without a computer-
based control system in order to make quick decisions for all type of disturbances. The availability of high performance sensors and
small size controllers has resulted in revival of quadcopter concept.
Our idea is to make a quadcopter frame (body) suitable for adding multiple gadgets which can be used for a number of
applications mainly search, rescue and surveillance. The main goal of our project is to make a quadcopter suitable for surveillance and
rescue operations, at the same time our quadcopter body is flexible for any further addition of gadgets and units for desired
applications, it will be able to lift a payload less than 1kg which can be any operating unit for a specific purpose or any other type of
payload.

1.1History of Quadcopter
In 1907 the first quadcopter aircraft construction was finished It was named Breguet- Richet Gyroplane No. 1 (Figure 1.1), a
quadcopter with four propellers of 8.1 meters in diameter each and its weight was 578 kg including the weight of two pilots and with
50 hp (37.3 KW) internal combustion engine, which drove the rotors through a belt and pulley system. Their main concern was to
make a vertical fight, because there were no aircrafts which were capable for making vertical flights till that time and the applications
of vertical flight were very important and necessary. This experiment was unsuccessful at that time but in 1932 Louis became one of
the pioneers of helicopter development.[2]

1
Figure 1.1. 3D Model of Gyroplane No. 1

In this period there were a lot of attempts made by many other engineers like Oemichen, who designed six different vertical
lift machines but they failed to make vertical takeoff from ground, so he added hydrogen -filled balloons in order to handle the
stability and lift. His second aircraft, Oemichen No. 2 (Figure 1.2) had four rotors and eight propellers, five of these propellers were
meant to stabilize the aircraft, another for steering and finally two for forward propulsion. This design achieved a considerable degree
of stability and controllability.

Figure 1.2. Oehmichen No.2

Later in 1956, a quadcopter helicopter prototype called Convertawings Model A (Figure 1.3) was designed both for military
and civilian use. Is was controlled by varying the thrust between rotors, and its flight were a success, even in forward flight.[2]

2
Figure 1.3. Covertawings Model A

Quadcopters are available to public use both for researchers and hobbyists. This is only possible due to availability of cheap
electronics and lightweight resistant materials available to the public. Their demand is increasing day by day in different areas like
surveillance, payload delivery etc.

1.2General Classification of Flying Vehicles

At present there are three main areas of quadcopter development: military, transportation (of goods and people) and
Unmanned Aerial Vehicles (UAVs). UAVs can be classified into two major groups : heavier-than-air and lighter-than-air. These two
groups selfdivide in many other that classify aircrafts according to motorization, type of liftoff and many other parameters. Vertical
Take-Off and Landing (VTOL) UAVs like quadcopters have several advantages over fixed-wing aircrafts. They can move in any
direction and are capable of hovering and fly at low speeds [2]. In addition VTOL capability allows deployment in almost any terrain
while fixed-wing aircrafts require a prepared airstrip for takeoff and landing

Figure 1.4. Classification of Aircrafts

3
 1.3Advantages of Quadcopter
Vertical takeoff and landing (VTOL) have several advantages over fixed-wing planes. They do not need any runway for
takeoff and landing and they are can be deployed in almost any terrain. Quadcopter specially have multiple advantage over
helicopter, the most important of which is reduced mechanical complexity and higher safety. Advantages may be summarized as
follows:
i. No gearing required between the motor and the rotor.
ii. No variable propeller pitch required for changing the angle of attack.
iii. No rotor shaft tilting required.
iv. Four smaller rotors instead of one big rotor resulting in less stored kinetic energy and
thus less damage in case of accident.
v. Minimal mechanical complexity, quadcopter require less maintenance as compared to
helicopter and planes.

The main advantage of the quadcopter over a helicopter is simplicity in building, the frame of quadcopter is much simple
as compared to the helicopter and there are no complexities because the only moving parts in quadcopter are the four motors. No
servo control is necessary to control the pitch of the motors as all movement is controlled simply by varying motor speed.
1.4Classification of Quadcopter
Quadcopters are classified into two types based upon their axis and orientation , the motor and propeller direction is same
and even the design is almost same but configuration is different. They are
> Cross-type
> X-type

Figure 1.5 Classification of Quadcopter

Here we can see that the design of both these configuration is same but their movement direction is different, Cross shaped quadcopter
move forward in plus shape in the direction of motor-1 but X-shaped quadcopter move forward in direction of motor-1 and motor-2 in
X shape[1]. These configurations can be achieved by programming the controller.

4
 1.5Aims and Objectives
The main aim of our project is to make a UAV from the base in order to get better understanding of the designing and
modeling of UAVs, then transform the UAV into a useful surveillance, search and rescue asset. Our UAV will have no limited
base for payload so that it could be able to lift any shape of payload and the modification process is easier in order to add any
other gadgets in the UAV other than ours. Initially our UAV will deliver the medical kit from the control station to the target area
but we also want to add some other useful gadgets in future. Objectives are outlined as follows:
To gain better understanding about quadcopter.
To know the relationship of battery-motor-prop combination.
To understand the stabilization system of quadcopter.
To make quadcopter suitable for search and rescue operations.
To make surveillance system easier using UAVs.
To design a multipurpose UAV in which modification is easier.

1.6Scope of study
The scope of study is as follows:
1. Types of quadcopter, applications and developments are studied.
2. The structure of quadcopter is studied.
3. Stabilization sensors and interfaces studied.
4. Control system of quadcopter is studied.
5. Stabilization algorithm for quadcopter studied.
6. Electronics to control and interface devices studied.
7. Aerodynamics of flight studied.
8. Structural stability of quadcopter studied.

In this project we mainly studied four areas aerodynamics for understanding the flying mechanism of quadcopter, computer
programming to write algorithms for control, stability and other features, control system to implement stabilization features in
quadcopter for a smooth flight by detecting and removing error, electronics in order to interface multiple modules and circuits
with each other for final model. This shows the relevance of this project with the subjects we studied in university.

1.7Outline of Project
There are six chapters in this project; Chapter 1 presents the basic introduction about history of quadcopters, some basic
knowledge, aims, objectives and scope of study. In Chapter 2, background and literature review of the project is discussed.
Chapter 3 presents all the requirements for this project in order to make it operational. Chapter 4 presents the design of
quadcopter and other features necessary in the project. Chapter 5 involves the final implementation of ideas and knowledge
practically and methods used. Chapter 6 presents the initial testing and future recommendations for development in this project.

5
 2 Background and Literature Review
First we have to leam and understand all the major portions of our project like frame , control system and stability. In
order to do that we needed to do a lot of research in these areas so we could decide the specifications of our project efficiently. We
studied all these areas to reach our final goal by combining them and to make them useful. Some of the study and research is not
related to our engineering department but we had to do that in order to complete our project.
2.1Aerodynamics
The most challenging aspect for us was to understand the aerodynamics in order to make a UAV operational because
without the knowledge of aerodynamics we would not be able to make the UAV take off smoothly. In order to do that we first
understood the physics of flying and then we learned the way how this study is applied in different aircrafts like airplanes,
helicopters, multi-rotors etc.
2.1.1 Aircraft Model

In the diagram (Figure 2.1) we can see that there are four major forces acting on any aircraft in order to make a flight, in
order to understand the physics of flying we have to understand these forces first and by using them we can cancel out the
opposing forces in order to make the useful forces to dominate so the aircraft can make a flight by overcoming the factors which
are stopping them to fly [2].

The forces we want to exert on the aircraft in order to make it fly are thrust using the motor and propeller combination but as we
know Newtons third law Every action has an equal and opposite reaction, so in order to oppose the forces that we exert on the
aircraft in order to make it fly as a reaction we experience two opposing forces of Weight and Drag. Weight is the original weight
of aircraft which opposes the aircraft to lift upwards and drag is the force that opposes the aircraft to move forward in horizontal
direction. We have to increase the forces on both vertical and horizontal axis of aircraft in order to make it fly in air. Forces acting
on vertical axis are lift and weight and forces acting on horizontal axis are thrust and drag. In (Figure 2.2) the diagram of wing
design we can see how lift is created in aircraft in order to lift it up in air.

6
 The wing of aircraft is designed in such a way that it is aerodynamically feasible to lift the whole mass in the air. The
incoming air form the propeller builds up two pressure conditions on the wing of aircraft. On the upper side of the wing there is
high speed air because of which the pressure on the upper part of wing decreases and on the lower side of wing there is low speed
air which increases the pressure on the lower portion of the wing. The Bernoullis Principle helps us to understand the lift
process of aircraft. Because of this pressure difference on two sides of the wing, the higher pressure side of wing pushes it
towards the lower pressure side because of which the wing lifts up and along with the wing of aircraft the fuselage also lifts up.
Using this principle the whole aircraft lifts up in the air vertically[2].
For forward movement along the horizontal axis there are again two forces. Thrust acts to pull the aircraft forward and as
a reaction Drag acts to pull the aircraft backward, in order to move forward the thrust created by the motor and propeller should
be greater than drag. In this way after reaching the point where the thrust and drag are the same the aircraft is free to move in
either direction by exerting any more force on the thrust or drag, this allows the forward movement of aircraft. By the combined
effect of thrust and lift the aircraft fly.

7
 F Thrust
ratio = = ---------------= --------
W Weight m.g From this diagram (Figure 2.3) we can see the effect of thrust, lift, weight and drag in the
vertical and horizontal movement of aircraft, vertical movement is possible due to force F
because of thrust, the reaction force D because of drag and lift L which also depends upon F because the air speed is exerted on the
wing using the motor thrust and then there is weight W which is the actual weight of the aircraft and it opposes the lift L. The mass of
aircraft is m, the acceleration due to thrust is a and the acceleration due to gravitational for acting on the aircraft is g which decreases
as the aircraft increases its height. The acceleration due to thrust will be divided into two parts, horizontal and vertical acceleration.
m, a a

The ratio should be greater than 1 in order to make a flight.

Vertical: F. sin(c) D. sin(c) + L. cos(c) W = m.av

Horizontal-. F. cos(c) D. cos(c) L, sin(c) = in. a^

a v = vertical acceleration

(Ik = horizontal acceleration

From these equations we can see the factors involve in vertical and horizontal movement of aircraft as well as in horizontal movement
of aircraft, by representing these forces in rectangular coordinates (Figure 2.3), we can understand the basics of flying. Our project is
related with the vertical flight model because airplane needs a runway in order to takeoff but a quadcopter is a vertical flying aircraft
which is very much similar to the helicopter in operation.

8
 2.1.2 Vertical Flight Model
Quadcopter is mainly a vertical flight aircraft and as a reference we can take the helicopter because it is also a vertical flight
aircraft and it experiences the same forces during flight and we can get a better understanding of vertical flight problems through this.
We will take helicopter model as a reference to get awareness of vertical flight problems and their solutions so after understanding
them we will be able to relate them to the quadcopter.

Figure 2.4 Helicopter takeoff

In the diagram (Figure 2.4) we can see the difference between vertical flying aircraft and airplane. The thrust and lift are acting on the
upper side of helicopter body and the weight and drag acts on the lower side of the helicopter body in case of takeoff . This is
different from the airplane because airplane do not takeoff vertically [3]. The major problem now is to deal with the forces acting on
the aircraft during flight which may cause the aircraft to get unstable during flight.

Figure 2.5 Acting forces

When helicopter make a flight, there are mainly three forces acting on the three x, y and z-axis. These forces cause the
helicopter to get unstable and stops it to make a smooth and stable flight. Pitch acts on the y-axis and makes the helicopter to move on
the front and rear side on a 180 degree plane. Roll acts on the left and right side of the helicopter and make the

9
helicopter move 360 degree along the x-axis. Yaw acts on the helicopter and make it move along
z-axis during flight.

Figure 2.6 Swash-plate

Swash-plate in a helicopter is used to lift it
off from ground and at the same time it is
also responsible for helicopter movements
and stability during flight [3]. In helicopter
we are actually able to change the pitch of
propeller. We can easy see in the diagram
(Figure 2.6) there are control rods on the
moveable swash-plate; using them we can
change the pitch of propeller. Pitch of
propeller is actually the distance it travels in
the air after one revolution, like is the pitch
is 5 then the helicopter will travel 5-inches
in the air after one revolution. When the
pilot in helicopter takeoff he actually pull
the liver in order to increase the pitch of
propeller so that the lift increases and the
thrust also increases because of which the
helicopter takeoff. The stationary swash-
plate on the helicopter is used in movements
of helicopter. There are control rods attached
to the stationary swash-plate which are used
to tilt the propeller. By tilting the plate the
propeller on one Figure
side of2.7helicopter
Movementsget
higher
In this and on the(Figure
diagram other side thewe
2.7) propeller
can seegetthe movement of
lower so because
helicopter of this
as a result arrangement
of moving there rods attached to
the control
is
themore
staticlift swash-plate.
created on the sidewe
Here where
willtheexplain pitch of
propeller is higher
helicopter which and
is less
usedlift for
is created on and backward
forward
the side where
movement. propeller
Forward is lower,
movement ofbecause of
helicopter
which the helicopter make movements on
different sides both x and y plane.
controlled by using control rods attached to the swash-plate in such a way that the propeller on
the rear side of helicopter is at more height than the propeller on the forward side using the static
swash-plate to tilt a little on the forward side of helicopter which makes the lift on the forward
less as compared to the lift on the rear side of helicopter this makes the helicopter to move
forward.

We have seen previously the pitch and roll effect on helicopter and measures taken in
order to overcome them and to make smooth movements of helicopter possible. As an effect of
the movement of main propeller in order to liftoff, pitch and roll, it moves in one direction
creating torque in one direction and in order to oppose this movement there is a counter torque
created in opposite direction which cause the helicopter spin in one direction. In order to
compensate this counter torque we use a small propeller to keep the helicopter in a stable state by
moving it in both directions. So finally the yaw effect of helicopter is controlled using this
method.
2.1.3 Quadcopter Model
Quadcopter is our main concern but now as we understood the aerodynamics of airplane
and helicopter this is very easy for us to map out these effects on a quad copter. Quad copter is
also a vertical takeoff machine and it is very much similar to the helicopter in terms of the forces
acting on it but differs in terms of methods used to control them. The major difference in
quadcopter and helicopter is that in quadcopter the roll, pitch, yaw, all movements, takeoff and
landing is done by varying the speed of four motors.
 Figure 2.9 quadcopter theoretical model
We can see in the diagram (Figure 2.9) that there are four rotors and each of them

produce torque in one direction, is the torque produces by rotor-1 and in order to compensate
7k T3 T2 T4
there is a counter torque produced by rotor-3, in the same way there are and
produced by rotor-2 and rotor-4 which produce counter torques in order to make quadcopter fly.

The effects of roll and pitch on quadcopter are same as on helicopter but in quadcopter
we control them by changing the speed of motors in order to get stability, like I will explain one
scenario here in case of pitch control, if the quadcopter tilts towards one side due to external
disturbances or un-equal weight distribution [4]. We will increase the motor speed on one side of
quadcopter and decrease the speed of motors on the other side of quadcopter to compensate the
torque effect, by doing this we will remove the pitch effect on the quadcopter.
Figure 2.11 Movement of X-shaped quadcopter
Here in this diagram (Figure 2.11) we can understand the movements of quadcopter. For
forward movement we will increase the speed of rear motors and decrease the speed of front
motors and in order to move the quadcopter back we will increase the speed of front motors and
decrease the speed of rear motors in this case the lift on the front side of quadcopter increases and
lift on the rear side of quadcopter decreases which makes the quadcopter move backwards. In the
same way movements are made possible in each direction as there is no swash-plate so all of the
movements are done by changing the speed of motors. In order to lift up we will increase the
speed off all four motors and this will lift the quadcopter up and when we want to land it we will
simply decrease the speed of all four motors [4].
The main problem for us is to control the yaw of quadcopter. The yaw mainly occurs as a
response of the motors movement and these forces the quadcopter to spin in one direction, yaw
control is done increasing the speed of motors in diagonal in order to compensate the spin
produced by counter torque effect.
 2.2Motor and Propeller
The motor speed control is the most important task in order to make quadcopter fly
because not only the liftoff and landing is done through the motor speed but all the movements
are made by varying the speed of motors and most importantly the stability of quadcopter is also
done by motor speed control. In order to control the motor speed we use electronic speed
controllers (ESCs), the combination of motor and propellers is the key factor in creating thrust
and the torque is also controlled by varying the speed of motors and by changing the orientation
of propellers.

2.2.1 Propeller
The propeller selection is also a very important task, there are multiple scenarios for this
like if we want to make a quadcopter for high speed applications then we will use a propeller of
small size but high pitch, this will make the quadcopter move with high speed but the lifting
capability is less because of small size.

Figure 2.12 Propeller Pitch

As we can see here that a propeller with higher
pitch travels more distance in the air after one
revolution but a propeller with less pitch will travel
less distance after one revolution is complete this
will decrease the speed of quadcopter.

A B C D E F G H I J
K l
Figure 2.13 Propeller comparison
 Here we have shown the comparison between different propellers in order to deliver the
knowledge we have gained in order to select the propeller that fits for our purpose. As we do not
need our quadcopter to move at high speed, our main purpose is to lift the payload and deliver it
to the target for that reason we need a propeller which is fit for load lifting capability, so
weselected 10*4.7 propellers. The diameter as given is 10 inches and pitch is 4.7, after each
complete revolution the propeller will travel 4.7 inches in the air. The other main concern is to
set these propellers opposite to each other in order to control the spin of quadcopter by cancelling
the counter torque produced by each motor. For this purpose we will set the propellers on the
same axis opposite in orientation to each other, if one propeller is clock wise (CW) than the
propeller on the opposite side of same axis will be counter clock wise (CCW) orientated in order
to cancel the torque effect.

Figure 2.14 CW and CCW propellers

Here we can see the difference between clock wise (CW) and counter clock wise (CCW)
propellers.

2.2.2 Motor Control

Motor control is the major concern in quadcopter in order to achieve our main goal, we
are using electronic speed controllers (ESCs) for controlling the speed of quadcopter. ESCs are
themselves very complex because they are responsible for each rotation of the motor. The motor
we are using is Brushless DC (BLDC) motor; we input DC voltage from the battery to the ESC
and then ESC will be connected to the motor and control its rotation. Here in the diagram (Figure
2.15) we can see that the receiver (Rx) give command to the ESC and ESC is connected to the
motor, it reads the command and then transmit the processed data to the motor in order to control
the rotational parameters.
 Figure (2.15) Circuit diagram of motor
The ESC is a sort of an inverter it converts the DC voltage into three-phase AC, then
gives the input to the BLDC motor which itself is three-phase AC motor. In this diagram (Figure
2.16) we can see the ESC internal circuit.

Figure 2.16 Inter ESC circuit

We can see in the circuit there is a pulse width modulated (PWM) signal from the controller
which sends the speed information to the ESC. Then there is (BEC) stands for battery
elimination circuit which can send up to 3 amps to the servo if needed and in case of low power
it shuts down the motor and while shutting down it send its last bits of power to the Rx and
servo. Then another main component in ESC is FETs (Field-effect transistor) are mainly used
to switch between different commutations stated of motor. There is Atmega-328
microprocessor which is programmed in order to control the speed of motor using external
input from the
controller. Oscillator is used to give machine cycle to the microprocessor in order to make it
work. Capacitor in ESC is used to smooth the AC output for the BLDC.
BLDC structure is different from other motors because in BLDC the magnet is inside
the motor and there are separate coils on the outer surface which get magnetism after passing

Figure 2.17 BLDC structure 1

current through them in this way the rotation of BLDC is done.

We can see that the FETs in the ESC are used to control the rotation of BLDC, there are
six MOSFETs in which three are connected to the three coils and three are used to give ground to
the circuit, hall sensors (HS) indicate that they are in front of north pole or south pole, after
gathering this information we will give switch effect in order to make rotation.
mai*n

Figure 2.18 Hall sensors

 Here we can see that hall sensors are providing information of their state which is sent to
the ESC to monitor the movement and this will make efficient rotation possible, by monitoring
the data of rotation [5].

Figure 2.19 Motor rotation

After every 60 degree the rotational data is sent to the ESC, as there are six commutation steps in
BLDC, the microprocessor receives data from BLDC and then sends the rotational command to
the BLDC in this way a circuit is complete in one direction and the motor will rotate
accordingly.

2.3Tx and Rx
The transmitter in our case is a six channels and 2.4 GHz radio frequency (RF)
transmitter, time division multiplexing (TDM) is done in the transmitter and then demultiplexing
at the receiver end, the transmitter gives time slops of 2ms on each channel, in this way the data
from every channel is sent to the receiver and the value range up because of the channel division.
 Channel output sequence
i i i i i i i

Channel 1

Channel 2
__1
1_ _ _channels
Figure 2.20 TDM ini
_ _ _ _ _!_ _ _ _ _ _ _ _ _ _ _ !_ _ _ _ _ _ _ _ _ _ _ !_ _ _ _ _ _ _ _i_ _ _ _ _ _ _ _ _ _ _ _
i L
i
i

In this diagram we can see the time slots for each channel and these will
i i i i
i i j
____r i

be used in sending control

Channel information
3 to the quadcopter, each of these ! i j

channels is used to send ; iyaw and throttle information.

movement,
i i i i i

! !
i i

!
Channel 4 i i i

I
i i i i r l i i i
Channel 5 I I I l ! i i
i i 1 1 i
1
! ! ! -------------------1
i i i > i

Channel 6

__
i

n i l i

Data clock

ji_h_h_Ji _h_r i i

2.4Stabilization
For stabilization we use Inertial measurement Unit(IMU) which consist of an accelerometer, gyroscope and magnetometer.
These sensors are used to stabilize the quadcopter.
Accelerometer is used to send the movement data of quadcopter to the controller and the data is processed in order to stabilize
the movement of quadcopter [10]. (Figure 2.21) we can see in the diagram that accelerometer is like a box and there is ball which
gives us the movement of quadcopter which is then send to the controller in form of voltage data.

GROONC

[13]
Figure 2.212.22
Figure Accelerometer
Gyroscope[9]
After that
The there is gyroscope
magnetometer which is
is an electromagnet which gives us data about the orientation of the quadcopter by comparing the effect of earth
alsomagnetic
used tofield
detect
uponthe error in
the magnetometer. The data is then processed to make the orientation of quadcopter right [9]. Figure 2.23
movement
shows usbythecalculating the tiltmagnetic
effect of external in field upon the electromagnet in the magnetometer.
the movement but the more important
thing is that the gyroscope data is
more accurate for detecting minute
tilts or errors in the movement
(Figure 2.22).
 Figure 2.23 Magnetometer [9]
By excessive experimentation it is observed that the gyroscope gives us more accurate measurement of angle for the first 25%
of tilt and the accelerometer gives us more accurate measurements of angle after the 25%, so in order to get the optimum angle we
combined the gyroscope and accelerometer data in the algorithm in order to calculate the accurate angle.
2.4.1 PID controller
Proportional Integral and Differential (PID) controller is used to correct the error [12] (Figure 2.24). We can see that it first
sets the set-point which is where we want the state to stay and then it calculates the error in order to provide the output to remove the
error by keeping the state close to the set-point.
 We can see that it sums up the proportional (Kp), integral (Ki) and differential (Kd) in
order to give optimum output to remove the error [7].

As we know that Ki is the integral effect, by increasing the value of Ki it produce an

integrated effect on the output and effect all the outputs by increasing the response.(Figure 2.25)
 By increasing the Kd value the response of PID towards the change in error increases
and we get oscillations in output and at small Kd the response upon change in error decreases
and the power to sense the change in error decreases.(Figure 2.26) as we know that Kd is
differential effect so it monitors the error change with respect to time.

By increasing the Kp value the response upon the current error increases as we know
the Kp is proportional effect.(Figure 2.27) [7].
The tuning of these parameters is main task in order to get best output to keep the
quadcopter stable, we have experimented a lot on these parameters in order to get optimum
response.
 2.4.2 Kalman Filter
The data from the sensors is very much discontinuous and in order to bring continuity in
the data we use Kalman filter so it could be efficiently processed by PID. What kalman filter
does is that it takes the current value from data and the previous after that it predicts the next

Figure 2.28 Kalman filter

Figure 2.29 Data comparison

In the diagram (Figure 2.29) we can easily see that
before filtering the data is very much discontinuous
and after passing the incoming data through kalman
filter there is much better continuity in the results
and this can be processes efficiently.

value itself in order to eliminate the discontinuity of sensors data. (Figure 2.28)
 3 Project Design
Project design is mainly concerned with the construction of frame suitable for carrying
payload and for future modifications. This area also requires a lot of research in order to make a
suitable frame because frame is the most basic component of our project and it includes multiple
bases for control and communication and arms to hold the motors. The frame should be light
weight and strong as well in order to lift the load and with stand the resistance from air.
Following are the main features of project design.

3.1Methodology:
Arduino microcontroller and software is used for the control and command for
our project we used Arduino uno for our project as it has wide range of libraries
available (like gps, survo, nrf24l01) and online help is easily available. And Arduino can
be powered either by giving it DC voltage or by providing it power from the circuit
board to its Vin and ground pins.
And for stabilization point of view we are using (microprocessor unit) MPU
6050 sensors, as stabilization is the main feature of our project because we cannot have a
flight without stabilizing our UAV. MPU 6050 has multiple sensors including gyroscope,
accelerometer and magnetometer which help in providing accurate change in movements
of our quad-copter so we can make decisions accordingly. We are using inertial
measurement unit GY-521 (IMU GY-521). It has 6 DOF as accelerometer and gyroscope
sensors reads in X, Y and Z axis giving us 6 degrees of freedom. And we are using a 2.4
GHz transmitter and receiver for flight and communication and a wireless camera is also
used for real time video feed to the ground station.
 3.2Architecture Overview:
The design of the our project is illustrated graphically with the help of a block diagram shown in following figure

RF Trgnjmittc*

Figure 3.1 Architecture overview diagram

3.3Material selection:
Payload 1 Controlle
Controll Payload 2 ESC-1 P^OCOf-
er r ESC-2 1 Motor-
Stun gurv3
ESC 3 2 t^otor
Smiot> ESC-4 3 Motor-
-i 4

input Output Output Inputs

s s s
1. I. 0P8HTP0
1.
2. Display 2.
ESCPuykwwJ 2. I MU
. mu " i
3Keypad coring
3. GPS-Tags GVS21
4. otner

We had number of materials in mind for making of our quad-copter frame like plastic, fiber glass, steel, aluminium and wood.
These materials have different types of mechanical properties. List of different materials is and their mechanical properties are
compared in below table.
 Materials Modulus of Ultimate tensile Density

Elasticity (GPs) Strength (MPa) g/cm3

Nylon 6.6 830 1.14
2.61
Carbon fiber 770 1.70
220
Stainless steal 200 1790 7.70

Wood (red oak) 14.1 0.67

112
Aluminium 71 570 2.78

Table 3.1 Comparison of mechanical properties of different materials

3.3.1 Nylon:
Nylon is a polymer material that is very light and easy to manufacture. It is abundant and easy to produce, however,
it is not very stiff , and its mechanical properties are incredibly sensitive to environmental conditions. Ultra violet rays will
breakdown the molecular structure, compromising its strength. Humidity also severely compromises its strength: a relative
humidity of 50% cuts its ultimate tensile strength (UTS) in half.

3.3.2 Carbon fiber composite

Carbon fiber composite is comprised of carbon fibers in a matrix of another material, typically an epoxy resin.
Carbon fibers are incredibly stiff, having the highest modulus of all materials investigated. It is very light and also strong: its
UTS is 1.3 times if aluminium yet it weighs 40% less but its strength is directional with UTS along its transverse axis
(perpendicular to the fiber) is only 28 MPa. Also a carbon fiber composite fails with little deformation consequently failure is
often abrupt and violent, as opposed to most metals, which bend before breaking.

3.3.3 Steel
Steel is an alloyed metal, which highest UTS if the materials studied, beating the competition by a factor of two or
more, and has the second highest stiffness. It is however by far the heaviest, nearly three times as heavy as aluminium. Its
increased density requires more time to machine making it a difficult material to use.
 3.3.4 Wood
Wood is most used structural material in the world. It is light weight and easy to work
with but it is not as strong as the other surveyed materials. It is less elastic and breaks easily as
compared to other materials. Red oaks UTS along its transversal axis is merely 7.2 MPa. Not to
mention the countless environmental issues to consider. Ultra violet rays break down the fibers of
the wood, and there is potential for not

3.3.5 Aluminium
Aluminium is an alloy of aluminium that has been developed especially for aerospace
applications. It is good compromise between strength, rigidity, and weight. Although it is not as
strong as steel, but weighs considerably less and it is not as light as carbon fiber, but does not
have the same directional load dependency [11].
In our project, the aluminium was selected for the frame because of its good strength to weight
ratio as it is properly, low price and easily availability.

3.4Frame components
Frame is designed to be as light as possible to utilize as much of thrust capabilities from
motors as possible. The minimum length of the spar is 14 to place appropriate distance between
propellers [11]. In addition spar had to be sufficiently strong to deal with the moment forces
exerted on the arm.

3.4.1 CENTRAL HUB

The central hub carries all the electronics, sensors, and the battery. Aluminium used in
rapid prototyping has good strength to weight ratio. As it contains all the sensors and processing
ability therefore the central hub must be strong and resilient to elastic deformation in all
directions. In addition, the material must be light weight to increase the flight potential. Taking
all these specifications into account aluminium was our first choice as material. Once we selected
our material next step was to cut out desired plate for central hub we made 6 x 6 plate and we
mounted central hub on the frame but we had some difficulties while mounting electronics on the
hub as it was plane aluminium plate with no slots available for fitting electronics so we used
different objects like sticking tape and glue to attach electronics and battery on the central hub
which was not as efficient and practical approach and caused disturbance while testing so we
moved on to fiber glass for central hub and we designed a central hub with having different slots
for electronics. And we cut fiber glass sheet into our desired shape and design with the help of
CNC machine, producing perfect and desired central hub.
 3.4.2 Spar
There are many possible materials for the spars of the quad-copter. Each comes with its
own sets of strength and weakness. It is comprised of many long strands of aluminium
interwoven into tubes, rods, sheets, and many other shapes. This material has many qualities that
helped optimizing the design. One of the primary deciding factors is that it is extremely light
weight. The lift from the motors travels along the longitudinal axis of arm therefore aluminium is
strong enough to support the inflight forces exerted by the servos and mass of electronics that is
attached to it. Aluminium also has a very high stiffness, which is important to lessen vibration
and limit changes in the thrust angles from deformation. The four aluminium rods that will
comprise the arms of the quad-copter will be fastened together in the middle with central hub.

3.4.3 Package
Package is the key component of our project. It includes the components we need to
drop at our destination it has to be light weight and should also accommodate required
components of package in the box. So material we selected for it is polythene box as it is
extremely light weight will also provide required strength for components to hold inside the box
it is aligned in the centre of our frame, causing no issues during flight due to unbalancing,

3.5Frame design
The structure of the quad-copter needed to satisfy multiple requirements. Most
generally, it needed to hold the various parts of the quad-copter together while remaining as light
weight as possible. Additionally, the structure needed to have a modal nature of frequency
sufficiently large to avoid resonance with vibrations caused by rotations of the propellers and
motors [8]. It must be decided upon for the radial compression members that could provide the
minimal strength required of the compression members while maintaining the stiffness requires
preventing from buckling.
In frame design aluminium is chosen in order to set lighter weight. In this type, the
main spar has the length of 28 inches. The motor is placed 14.4 inches from the central hub. The
central hub is 6 inches circular fiber glass sheet
 3.5.1 Structure
There are 2 types of quadcopter namely +plus type and x cross type. In cross type
controlling is simple while Pairs of motors are controlled in cross type.
The following figures show the types of quadcopter. The cross type is chosen for the quadcopter.
In plus type structure the frame is designed like a + sign and angle between two spars is 90
degree and two adjacent motors have opposite motion of propellers i.e. if one motor is moving
clockwise then other motor will be moving counter clockwise and vice versa.
When a motor rotates lets say in clockwise direction it will produce torque in counter clockwise,
opposite direction of its motion, so main purpose of having two adjacent motors rotations
opposite is to produce torque in both directions so that it would be cancelled out and should not
produce any yaw movement. Basic structure is illustrated in following figure.

Figure 3.2 plus type configuration

In cross type frame is designed like a x sign and angle between two spars is 90
degrees. In this type also we have rotations two of adjacent motors is opposite to each other to
overcome the torque produced by the motors as opposite rotations will produce opposite torques
causing them to cancel each others effect.
Figure 3.3 X type structure

QUAD QUAD
+ X

Figure 3.4
CLOCKWISE ROTATON Plus vs X-configuration
COUNTER-CLOCKW SE ROTATON
USE PUSHER PROPELLER USE NORMAL PROPELLER
Dimensions:
 3.6Design Description

We used AutoCAD Software to make the design of quadcopter, which shows that there
are two arms of 2.3ft length and base of 6 inches and in (Figure 3.5a) the diagram we have also
shown the controller, battery and other equipment used. Following are the modules constituting
the product to be developed. Please note that we are documenting only the salient properties and
methods of each module to keep the description simple and more readable.

3.6.1 Motors
There are several options available in motor selection. Not only are there numerous
brands to select from, but motors seem to lie in the general categories. These categories include
commercial brushed motors, commercial brushless motors and hobby supplier brushless motors.
Hobby supplier brushed motors are also available, but in limited sizes. The principal concern in
motor selection is power output versus motor weight, as any weight added will require power
expenditure to keep it aloft, which is a secondary desire for reliable and long term performance.
In the early days of quad-copter construction, it used DC motors or brushed motors.
These types of motors have serious disadvantages. The first is that they have a very short
lifespan. This lifespan was further shortened by techniques used to shorten their weight. Weight
was saved by ignoring limited power to the motor which would severely curtail its lifespan. The
motors would slowly wear out and not offer the thrust it was once capable. This would cause the
other motors to have to cut back on thrust to compensate for the bad motor, and as a result the
motors would only be as good as weaker one. The other disadvantage is that because brushed
motors are designed to be driven at very high speed, a gearbox had to be used to apply the
appropriate speed to the propeller. This would add additional weight and would offer another
place for the vehicle to fail.
A survey of different motors, available motor types was conducted. It was concluded
that DC motors do not have sufficient power-to-weight ratios to produce enough lift required to
carry the UAV. The DC motors could be geared down to turn large rotors, but this would increase
the size of the vehicle. Hence a brushless DC motor that possesses the appropriate features was
selected for the design. Given a fixed payload consisting a structural, controller, and power
subsystems, motors weight is the only variable that parameterizes the total mass of the system.
The power output of a motor was compared to the power requirements for lifting the total mass
of the craft in order to select an appropriate motor-rotor combination.
 3.6.1.1 Brushless vs. brushed motors
Brushless motors prove to be a much better alternative. A brushless DC (BLDC) motor
is a synchronous electric motor which is powered by different current electricity. It has an
electronically controlled communication system, instead of a mechanical communication system
based on brushes. In such motors, current and torque, voltage and (revolution per- minute) RPM
are linearly related. BLDC motors offer several advantages over brushed DC motors including
higher efficiency and reliability, reduces noise, electromagnetic interferences. Brushless motors
do not require mechanical contact between parts to supply current. This greatly reduces wear and
tear on the motor [5]. They do however require an electronic speed controller to supply three
alternating current signals. These motors do not require the use of a gearbox.

Features BLDC motor Brushed DC motor

Communication Brushed communication

Electrical communication based on Hall

position sensors.

Maintenance maintained is less as there are no brushes Periodic maintenance is required.

present.

Life longer Shorter

speed/torque
flat- as it enables working at all speeds moderately flat at higher speed, brush
characteristics
with rated loads. friction increases, thus it reduces

torque.
Efficiency
Speed range high- as no
Higher- there is no voltage
mechanical drop across
limitation Moderatemechanical limitations by the
the Lower-
imposed
brushes.
by brushed/ commutator. brushes.

high- reduced size due to superior Moderate/low- the heat

Electric size Low.
noise
output power/ frame Arcs in the brushes willproduced
generateby the
noise
generation armature is dissipated in the air gap,
thermal characteristics. Because BLDC thatthis
causes EMI in the nearby
increasing the temperature in the
has the windings on the stator, which is equipment.
air gap and limiting specs on the output
Cost connected
Higher. to the case, the heat dissipation Low.
power/frame size.
is better.

Rotor inertia Low, because it has permanent magnets on Higher rotor inertia which limits the
Control the rotor.plus
Complex This improves the dynamic Simpler
expensive. dynamicand
characteristics.
inexpensive.
response.

Control requirements A controller is always required to keep the Controller is only required for variable
motor working. The same controller is speed.
used for variable speed control.

Table 3.2 comparison of BLDC motor and brushed DC motors [15]

For UAVs, brushless motors are the ideal choice. Due to its higher efficiency battery life
increases. It has low noise which smoothens operations in air and absence of brushes allows
continuous operations at high rotational speeds without frequent maintenance.

Figure3.7 brushless DC motor BL2215/2

Specification
No. Of cells 2-3x Li-Poly
Max. efficiency 82%
Max. efficiency current 14 - 24.5A 075%}
No load current / 10 V 0,5 A
Current capacity 2215/20 24.5 A/60s
Internal Resistance 275 mohm
Dimensions 22x15 mm
Shaft diameter 3 mm
Weiqht 59 q/2.08oz.
Recomended model weight 2215/25 300-900g 2215/20 400-
1100g
Recomended prop without gearbox
9*4.7 10*4.7 10K5

BL2215/20 KV=1200 Sample data sheet

Model Voltage Propeller RPM Max Max Trust
Current
BL2215/20 12.0V 10X4.7(Slow) 7400 20.2A 1125g
BL2215/20 12.0V 9X4.7(Slow) 9900 17.5A 1020g
BL2215/20 10.9V 10X5 (Thin) 9350 2 4.5 A 1200g
BL2215/20 10.9V 8X3.3(Slow) 11050 16.5A 960g
Weight of Model Li-Po ESC ?
Propeller
Trainer 1000g./35.2oz. 3S ISOOmAH EMAX 25A
10X5 (Thin)

3D 600g./21oz. 3S ISOOmAH EMAX 25A 10X4.7(Slow)

Aerobatic 800g./28oz. 3S ISOOmAH EMAX 25A 10X5 (Thin)

Table 3.3 specifications of BLDC motor E-max BL2215/20

The motor selected for this project is BL2215/20 brushless motor. The motor is shown in figure
3.7 . The most important factor that was considered while selecting the motor was the kV, or
rpm/V, and the weight. A motor weight of 59g with an rpm of 7400 and 10 x 4.7 propellers would
supply about 1125g of max thrust at 11.1V. They work very well with 25A speed controllers
which are used on this project.

3.6.2 Propellers
The propeller is the thrust producing component on the quad-copter. A propeller is a
type of fan that transmits power by converting rotational motion into thrust. Design of the airfoil
for the propellers is highly studied and coveted engineering secrets and has been used for more
than a century. Over the years many classes of airfoils have been developed. Each design created
for different applications, producing different flight specifications. For the RC quad- copter
application there is only one class, the small scale fixed-pitch rotor blade. The miniature quad-
copter most commonly uses a twin-blade propeller for each of its motors. The twin-blade design
is light and provides excellent mission endurance. Assuming compressibility effects are
negligible the best airfoils have high-aspect ratio, which increases lift. In aerodynamics, however,
maximizing lift is only important as minimizing drag. A high lift to drag ratio is desirable.
There are two types of propellers used in quad-copters.
Pusher type for clockwise rotation, and
Tractor type for counter-clockwise rotation.

There are different kinds of propellers recommended by the motors, which have been described
above. A higher RPM of the propeller gives higher speed and manoeuvrability, but it is limited in
the amount of weight it will be able to lift for any given power. A larger diameter or higher pitch
will draw more power at the same RPM, but will also produce much more lift. A slow rotating
propeller is used when we have a motor with less revolution but can provide more torque. Using
a larger or higher pitched propellers will give a same lift to a higher rotating one of the
length/pitch. We choose 10x4.7 propellers, which are more appropriate for our vehicle such as
excessive thrust requirement, acceptable amount of current drawn by motor with that propeller,
the power consumption is also between the acceptable limit and by using 10x4.7 is also match for
the time flight which we expected.
 Figure 3.8 propellers used in project
Dimensions

3.6.3 Electronic speed controller (ESC)

The electronic speed controllers, or ESCs, are very important part of the quad-copter.
They used to control the power output of the motors to vary the throttle and are required with the
use of brushless motors. Originally, speed controllers were simply a potentiometer controlled by a
servo. This method of speed control is very wasteful on that any unused voltage is converted in
heat. From the perspective of the battery consumption, the motors will always appear at 100%
power. Modern electronic speed controllers are supplied with a pulse width modulated signal.
The duty cycle of thus signal corresponds to the desired speed at which the motor should be
operating at. The electric speed controller converts this signal to a three-phase alternating current
which is fed to the brushless motors. When a higher speed is required the alternating current
signals frequency and amplitude are increased. The E-max electronic speed controller was
chosen as the optimal ESC for the project. It was selected firstly because of its light weight, has
programmable functions, and has a sufficient amperage rating with its acceptable continuous
current equal to 25A. this speed controller recommended the 2-4 cells battery. This can also
handle the supplied DC voltage between 5.5 V to 16.8 V.
 Figure 3.10 the electronic speed controller

Cottfnmoui Burt? Dimension BEC BEC

Item Programmable
Current current Li-xx Battery (cell) LW*H(nnn) Weight (g) wires Included Mode Ollt|>ll!
-Simon-6A 6A 8A 22*1?*7 5 Linear 0 8A/5V YES

Simon-12A 12A 15A 2-3 25*20*' 9 Lmwr 1A5V YES

Sunon*20A 20A 25A 2-3 52-26-7 28 Lmear 2A5V VES

Simon-25A 25A 30A 2-3 52 26-7 28 Linear 2A5V YES

Simon*30A 30A 40A 2-3 52-26-7 28 Linear 2A5V YES

Simon-.'OA-OPTO 30A 35A 2-6 57-26-9 25 YES

Simoii-IOA-IBEC 40A 50A 2-6 73-28-12 41 Switch 3A-5V YES

Suuon-60A-UBEC GOA 80A 2-G 73-36 12 63 Switch 5A5V YES

Simcm-80A-UBEC 80A 100A 2-6 86 38 12 81 Switch 5A/SV YES

Table 3.4 specifications of the electronic speed controllers

3.6.4Battery
Choosing the correct battery a quad-copter is time consuming and difficult. The
batteries that are generally used are NiMH (nickel). Nickel batteries present several problems.
They do not contain energy to give an extended flight time. Roughly five to six minutes of flight
time is produced during normal flight before the battery gives up. Operating the quad-copter
takes a lot of practice and patience you may have to charge battery many times before even
achieving a stable hover. Another disadvantage of nickel batteries is inconsistent discharging
from numerous battery drains. This results in quick drops in voltage towards the last life time of
a battery, which can cause instability in our motors. The last of our consideration when choosing
a battery was its weight. The battery is the heaviest component on the quad-copter, possibly
outweighing the rest of the components on the UAV.
 3.6.4.1 Lithium polymer batteries versus nickel batteries
The development of lithium ion polymer packs is an extraordinary improvement in
battery technology, slowly rendering its cheaper counterpart, nickel, obsolete. The Li-poly packs
test very consistently, with the random drops in the voltage a thing of the past. Li-poly batteries
area also three times more energy dense than nickel batteries; consequently, they have a lower
weight, which increases flight time dramatically [6]. A Li-po battery solves the majority of
issues with nickel batteries, although it has some of its own.
The lithium batteries are very expensive. A model with 11.1V and 8400 mAh costs about $50
plus. The Li-po batteries are so energy dense there is a possibility that they will catch fire if used
casually which can ruin the battery. Running a high current through such an energy dense battery
can be very dangerous.

Figure 3.11 Li-Po 3300 mAh battery

Another option we had was to connect several smaller batteries in a configuration the one
described above in a 3s li-Po packs. The issue with that configuration is the batteries need to be
discharged at the exact same rate. If one cell performs slightly better than others and drains
slower, the cell configuration becomes unbalanced, accumulating charge with each charge and
discharge. This can result in the pack actually catching fire in addition to lowering performance
on the unbalanced cells however with the computing system of the batterys charge can be
controlled.
Nickel batteries need to be completely discharged often to their charging capacity
because they develop memory or voltage depression characteristics. An easy way to assure the
battery is fully discharge is to allow the UAV to continue running after the batterys power has
been depleted past flight capability [6]. Contradictory, Li-Po packs cannot be discharged too
mush. There is a cut-off point where the battery should not be used any more even though if
there is a little energy left. To avoid the cells being discharged too much discharging rate should
be kept in mind while operating.
So in short Li-Po battery is best selection for this project.

3.6.5 Transmitter and receiver

The most important part of a UAV is the wireless transmitter and receiver, which
provide the vehicle within the range of transmitter. The quad-copter needs a wireless transmitter
for the manual flight. We had 2 options while selecting a transmitter and receiver for our project
one was 72 MHz 4 channel FM radio and other one was 6 channels 2.4 GHz After further study
of both we decided to use 2.4 GHz transmitter and receiver as it had high resistance against the
PF noise and also had high-speed response. It has programming features for helicopter, airplane,
sailplane and quad-copter [19].

Transmitter type 6-channels, dual stick with propriety microprocessor

Dimensions

W: 7.5, H: 8, D: 2.5
Weight
1.7lb

Modulation

1 GFSK

pulse width

1.5 ms
Table 3.5a transmitter specifications
Receiver type 6-channels

Receiver sensitivity 1.5 microvolts

Dimensions L: 2.25, W: 0.6, H: 0.82

Weight 0.075lb

Table 3.5b receiver specifications

Figure 3.12 Fly Sky FS-T6 2.4GHz Digital Proportional 6 Channel Transmitter and Receiver [19].
 4 Implementation

Arduino microcontroller and software is used for the control and command for our project. The basic implementation of our
project is shown in the following figure showing different components and working of these components we implemented our project
in five different steps which are highlighted below.

IMU
Gyro & Acc

SCL SDA
PWM
Figure 4.0 basic block diagram of quad-copter working
Transmitter
2.4 GHz MC
RF Receiver ( A rUd u i n o )
RData-^
2.4GHz

4.1 Development Stages

Following were the discrete phases we have experienced incrementally to realize our product in the given time:
4.1.1 Initial design and hardware integration:
ESC 4 ESC 3
>: udn:- n.
ESC 2
sot
controller
ed
 After doing our research on material selection we stared initially by building the frame body, for that purpose, we used hollow
aluminium rods as arms of our quadcopter. Main focus at that time was to have an optimum design which will give us best response
regarding stability, speed and control during flight . After that we focused on the hardware implementations of our key components
which were IMU sensors, motors, speed controllers, control board (Arduino)we tested working of motors and ESCs, they were
working accordingly so we moved on next stage of programing flight algorithm on Arduino.

Figure 4.1 hardware implementation

4.1.2 Flight algorithm:

After checking motors and ESCs working we worked on the flight initials for our quad- copter. We interfaced ESCs and
controlled motors speed. ESC receives signal from Arduino, using servo library, and speeds up or down motors accordingly after
getting command on the speed controlling we moved on the left right movements of quad-copter which can be achieved by changing
the both motor speeds. For example if we want to turn left we have to increase right side motors speed and decrease left sides speed
uniformly so that torque difference remains same and quad-copter doesnt produce any unwanted yaw movement.

4.1.3 Stabilization:
Stabilization is the main feature of our project as it is very difficult to have a flight without crash in absence of stabilization.
We used IMU GY-85 sensors and kalman filter and PID controller [16].
Inertial measurement Unit (IMU) which consist of an accelerometer, gyroscope and magnetometer their sensors are used to stabilize
the quadcopter.
Accelerometer is used to send the movement data of quadcopter to the controller and the data is processed in order to stabilize
the movement of quadcopter [10]. We can see in the diagram that accelerometer is like a box and there is boll which gives us the
movement of quadcopter which is then send to the controller in form of voltage data[13].
 After that there is gyroscope which is also used to detect the error in movement by calculating the tilt in the movement but the
more important thing is that the gyroscope data is more accurate for detecting minute tilts or errors in the movement. The
magnetometer is an electromagnet which gives us data about the orientation of the quadcopter by comparing the effect of earth
magnetic field upon the magnetometer [9]. The data is than processed to make the orientation of quadcopter right
PID is a proportional integral and derivative controller is a control loop feedback system that is mostly used for error detection and
correction. Multi-copters and quad-copter uses this controller for stability realization. It first sets the set-point which is where we want
the state to stay and then it calculates the error in order to provide the output to remove the error by keeping the state close to the set-
point.
It sums up the proportional (Kp), integral (Ki) and differential (Kd) in order to give optimum output to remove the error. In quad-
copter tuning we initially set Integral gain and Derivative gain zero then start increasing proportional gain and see quad-copters
response against that at first with low proportional gain quad-copter oscillates back and forth, during tie down stability test, by
increasing its proportional gain these oscillations frequency decreases and we keep tuning its proportional gain until it gives its best
response against that which is not stable yet. After getting its optimum response we start tuning derivative gain and see its response
against each gain value usually in our case it stated showing high frequency oscillations at first but after increasing a little it stated
showing reasonable result after getting a derivative gain we play with integral gain which almost makes it stable after increasing a
little gain.
We also use kalman filter which takes the data from the controller which is very much discontinuous and in order to bring continuity
in the data we use Kalman filter so it could be efficiently processed by PID, what kalman filter does is that it take the current value
from data and the previous after that it predicts the next value itself in order to eliminate the discontinuity of and gives better result by
predicting future error.
Initially we had problems in obtaining a stable flight so we worked again on our frame as it was causing vibrations during flight
testing. So we moved on to fiberglass for the central hub and we also made fiberglass bases for motors, as they perfectly fits on the
base, causing less mess and more stiffness in our design.

Figure 4.2 Fiber glass base for motor

 4.1.4 Payload and GPS
After getting the stable flight we moved on to the application side of our project and implemented the payload slot and its
delivery mechanism. What we did is we made a payload releasing mechanism using servo motors, which can deliver payload of
different types like it may be medical kit or food supply or could be any equipment we want to deliver. We also implemented gps
module on our quad-copter which will continuously update our ground control about our quad-copter position.

4.1.5 Camera interface:

As we stated earlier that our project will also provide real time feed to the ground control for that purpose we implemented a
wireless camera on our quad-copter which is set at an angle and is fixed there and it has its own receiver module which receives the
live feed from the camera installed on the quad-copter. We wanted to make it moveable for better vision and processing but due to
limitation of number of channels in our transmitter and receiver we discarded that. We provided power to the camera from the Li-Po
battery so no extra power source is required for that purpose.
4.2 Evaluation
In our project the main testing area was with the stability testing on all axis. First we tested the speed control of motors after
that we interfaced the receiver with controller in order to write algorithm to decode the data from transmitter in order to get results on
the other end. In the next step we start testing the stabilization features of our quadcopter by testing them on each axis and filtering the
error in order to get better response [18], after testing the stability we finally interfaced the stability and receiver info in order to make
final algorithm of flight. After that we did testing of payload delivery and gps link with the controller. Finally we send the gps data
using the RF transmitter to the base.
There were many errors in the start but after getting better understanding of flight algorithm and channel filtering we were
able to get much better results
 5 Conclusions & Future Work
We choose this project to solve some of the major problems like search, rescue and
surveillance using our knowledge. Our goal is to provide efficient solution for such problems
using reliable and efficient UAVs. We studied them and implemented in easy to use form. The
final conclusion of this effort is that UAVs are very suitable and efficient in areas like search,
surveillance and rescue as quick response asset.
There are several possible improvements in our project which can be made. Some of the possible
ideas for future is mentioned below.

Idea 1: Auto-Pilot Mode

Details: In Auto-Pilot Mode our quadcopter will be able to fly autonomously by
manually giving it coordinates of the area, after that our UAV will divide the area into boxes and
it will search box by box. We have to write algorithm for this purpose.

Idea 2: Image Processing

Details: We can process the surveillance data at the back end using Open CV or any
other software. For example, in case of autonomous search the quadcopter will be able to process
the real time video of the crisis area, if it spots any human in that area it will stop and report to
the command and control base and wait for further commands from the base. This will reduce
human effort in search process.

Idea 3: GPS Tagging

Details: This idea can be basically used for moving objects tracking. Like if the victim is
moving in a vehicle we can drop a GPS tag on the vehicle and we can get real time location of
the victim using GSM.

Idea 4: Control Station

Details: A control station can be made in which a screen and other control units can be
installed. The LCD can be installed with Raspberry Pi, GPS coordinates and image processing
can be done easily. This will provide us one base to control and monitor the UAV data.
Idea 5: Destabilization of Target
Details: A stun gun can be installed on the quadcopter in place of payload. In this way
the quadcopter can be used for criminal handling as well. If it spots the target then it will be able
to stun the target after getting command from the base.
References

[1] RC toys, [online]. Available: http://www.rctoys.com/

[2] K. Munson. (1968). Helicopters and Other Rotorcraft Since 1907 [Online]. Available:
http://aviastar.org/helicopters_eng/oemichen.php

[3] G. Done and D. Balmford, Bramwells Helicopter Dynamics. Oxford Butterworth-

Heinemann, 2001

[4] Aerovironment,[online]. Available: http://www.aerovironment.com

[5] S. W. Colton. (2010, June) Design and prototyping methods for brushless motors and
motor control. Massachusetts, United States. Accessed: October 2012. [Online].
Available: http: //web.mit.edu/scolton/www/SCThG.pdf

[6] P. Energy, Battery types: Which batteries to use? accessed: October 2012. [Online].
Available: http://www.pureenergybattery.com/pdf/batterytypes.pdf

[7] Bouabdallah, S., Noth, A. and Siegwart, R. "PID vs LQ Control Techniques Applied to
an Indoor Micro Quadrotor". In Proceedings of
the IEEE International Conference on Intelligent Robots and Systems,
Sendai, Japan, 2004.

[8] P. Pounds, R. Mahony, P. Hynes, and J. Roberts, Design of a four-rotor aerial robot, in
Australasian Conference on Robotics and Automation, vol. 27, 2002, p. 29.

[9] C. W. Kang and C. G. Park, Attitude Estimation with Accelerometers and Gyros using
Kalman filter, proc. Of EU cont. conf, Hungary, (2009).
 [10] M. Pedley, Tilt Sensing Using a Three-Axis Accelerometer, document
number, AN3461, Rev. 6, 03/2013

[11]H. Lim, J. Park, D. Lee, H.J. Kim, Build your own quadrotor 2012

[12] H. A. Izadi, Y. Zhang, and B. W. Gordon, Fault tolerant model predictivecontrol

of quad- rotor helicopters with actuator fault estimation,in IFAC World Congress, vol.
18, no. 1, 2011,pp. 6343-6348.

[13] P. Martin and E. Salaun, The true role of accelerometer feedback inquadrotor
control, in IEEE International Conference on Robotics and Automation, 2010, pp.
1623-1629.

[14] T. Carancho. aeroquad software. Accessed:

[Online]. Available: https://code .google.com/p/aeroquad/

[15] brushed motors vs brushless, radio control tips, January 2015 [Online].
Available: http://www.radiocontroltips.com/brushed-motor-v-brushless-motors/

[16] A. Kivrak, Design of control systems for a quad-rotor flight vehicle squipped
with inertial sensors, M.S. thesis, Atilim University, 2006.

[17] P. Castillo, A. Dzul, and R. Lozano, Real-time stabilization and tracking of a

four rotor mini rotorcraft, IEEE Transactions on Control Systems Technology, Vol 12,
No 4, July, 2004.

[18] S. Waslander, G. Hoffmann, J. Jang, C. Tonlin, Multi-agent quadrotor testbed

control design: integral sliding mode vs. reinforcement learning, 2005 IEEE/RSJ
International Conference on Intelligent Robots and Systems, 2005.
[19] 72 mhz vs 2.4ghz radio systems compared, February 2013, accessed: January
2015. [Online]. Available: http://sjrcf.com/docs/72mhz%20vs%202.4%20ghz.pdf
 Appendix A: HDL or C Source Code

GPS

GPS Transmitter:
#include <SPI.h>
#include <nRF24L01p.h>
#include <SoftwareSerial.h>
#include <TinyGPS.h>

nRF24L01p transmitter(7,8);//CSN,CE
long lat,lon; // create variable for latitude and longitude object
float longitude;
float latitude;
SoftwareSerial gpsSerial(4, 3); // create gps sensor connection
TinyGPS gps; // create gps object

void setup(){
gpsSerial.begin(4800); // connect gps sensor
delay(150);
Serial.begin(115200);
SPI.begin();
SPI.setBitOrder(MSBFIRST);
transmitter.channel(90);
transmitter.TXaddress("Artur");
transmitter.init();
}
void loop(){
///////////////////////////////////////////////////////////////////
while(gpsSerial.available()){ // check for gps data
if(gps.encode(gpsSerial.read())){ // encode gps data
gps.get_position(&lat,&lon); // get latitude and
longitude // display position longitude = lon; latitude =
lat;
 }
else{ lon = 0; lat = 0;
longitude = lon; latitude = lat;

}
}
//////////////////////////////////////////////////////////////////
transmitter.txPL(longitude);
transmitter.txPL(latitude);
transmitter.send(SLOW);

delay(3000);
}

GPS Receiver

#include <SPI.h>
#include <nRF24L01p.h>
#include <LiquidCrystal.h>
//LiquidCrystal lcd(5,4,3,2,1,0);
LiquidCrystal lcd(27, 26, 25, 24, 23, 22);

nRF24L01p receiver(53,48);//CSN,CE

void setup() { lcd.begin(16,2);

lcd.clear(); delay(150);
Serial.begin(115200);
SPI.begin();
SPI.setBitOrder(MSBFIRST);
receiver.channel(90);
receiver.RXaddress("Artur");
receiver.init();
}
float longitude;
float latitude;

void loop(){ if(receiver.available())

{ receiver.read();
receiver.rxPL(longitude);
receiver.rxPL(latitude); if(longitude ==
0 && latitude == 0)
{ lcd.setCursor(0,0); lcd.print("Lon: ");
lcd.setCursor(5,0); lcd.print("*****");
lcd.setCursor(0,1); lcd.print("Lat: ");
lcd.setCursor(5,1); lcd.print("*****");
}
else{
lcd.setCursor(0,0);
lcd.print("Lon: ");
lcd.setCursor(5,0);
lcd.print(longitude)
;
lcd.setCursor(0,1);
lcd.print("Lat: ");
lcd.setCursor(5,1);
lcd.print(latitude);
}
}
}

Payload delivery
#include <Servo.h> int
led = 13; int b = 7; int
state;
Servo s1;
void setup() {
pinMode(led,OUTPUT);
pinMode(b,INPUT);
s1.attach(10);
s1.write(90);
digitalWrite(led,LOW);
}
void loop() { state =
digitalRead(b);
if(state==HIGH)
{ s1.write(90);
digitalWrite(led,HIGH);
}

else{
s1.write(0);
digitalWrite(led,LOW);
}

Stabilization
#include <Servo.h>
#include "Wire.h"
#include "SPI.h"
//#include "Mirf.h"
//#include "nRF24L01.h"
//#include "MirfHardwareSpiDriver.h"
#include "I2Cdev.h"
#include MMPU6050.h'

MPU6050 accelgyro; int16_t ax, ay, az;

int16_t gx, gy, gz;

#define Gry_offset 0 #define Gyr_Gain

0.00763358 #define Angle_offset 0 #define pi
3.14159

#define FRMotor_offset 1000

#define FLMotor_offset 1000
#define RRMotor_offset 1000
#define RLMotor_offset 1000

#define FRMotor 10 #define FLMotor 3

#define RRMotor 9 #define RLMotor 11
#define THR 2 #define ROL 4 #define PIT 5
#define YAW 6

Servo FR_Mot,FL_Mot,RR_Mot,RL_Mot;

long data;

int rc_thr,rc_rol,rc_pit,rc_yaw;

float kp_Roll, ki_Roll, kd_Roll; float

kp_Pitch, ki_Pitch, kd_Pitch; float kp_Yaw,
ki_Yaw, kd_Yaw;

float r_angle_Roll, f_angle_Roll, omega_Roll;

float r_angle_Pitch, f_angle_Pitch, omega_Pitch; float
f_angle_Yaw, omega_Yaw;

float SampleTime = 0.08;

unsigned long preTime_Roll = 0; unsigned long

lastTime_Roll; float Input_Roll, Output_Roll;
float errSum_Roll, dErr_Roll, error_Roll, lastErr_Roll; int
timeChange_Roll;

unsigned long preTime_Pitch = 0; unsigned long

lastTime_Pitch; float Input_Pitch, Output_Pitch;
float errSum_Pitch, dErr_Pitch, error_Pitch, lastErr_Pitch;
int timeChange_Pitch;

//========================================= void setup() {

Wire.begin();
accelgyro.initialize(); // Get the sensor ready for working
pinMode(THR,INPUT); // These outputs control both the motors speed and direction
pinMode(ROL,INPUT);
pinMode(PIT,INPUT);
pinMode(YAW,INPUT);
 RR_Mot.attach(RRMotor);
RL_Mot.attach(RLMotor);
FR_Mot.attach(FRMotor);
FL_Mot.attach(FLMotor);

RR_Mot .write(RRMotor_offset);
RL_Mot.write(RLMotor_offset);
FR_Mot .write(FRMotor_offset);
FL_Mot.write(FLMotor_offset);
//Mirf.spi = &MirfHardwareSpi;
//Mirf.init();
//Mirf.setRADDR((byte *)"serv1");
//Mirf.payload = sizeof(long);
//Mirf.config();
Serial.begin(115200); // Initialize Serial communication with PC
}
//================================================ void loop() {
//Recive();

rc_rol=pulseIn(ROL,HIGH);
rc_pit=pulseIn(PIT,HIGH);
rc_yaw=pulseIn(Y
AW,HIGH);
rc_thr=pulseIn(THR,HIGH);

accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); // Read all axis acceleration and
gyro voltage values for further processing
r_angle_Pitch = (atan2(ay, az) * 180 / pi + Angle_offset); // Calculate acceleration based angle
omega_Pitch = Gyr_Gain * (gx + Gry_offset); Serial.print(" omegaP=");
Serial.print(omega_Pitch); // Calculate gyro filterde value

r_angle_Roll = (atan2(ax, az) * 180 / pi + Angle_offset); // Calculate acceleration based angle

omega_Roll = Gyr_Gain * (gy + Gry_offset); Serial.print(" omegaR=");
Serial.print(omega_Roll); // Calculate gyro filterde value

if (abs(r_angle_Roll)>0){
PID_Roll();
 Control_roll();
}
if (abs(r_angle_Pitch)>0) {
PID_Pitch();
Control_pitch();
}
} //-- void PID_Roll() {

unsigned long now = millis();

float dt = (now - preTime_Roll) / 1000.0;
preTime_Roll = now;
float K = 0.8; // Kalman Constant
float A = K / (K + dt);// Kalman Absolute factor in term of time derivative f_angle_Roll = A *
(f_angle_Roll + omega_Roll * dt) + (1 - A) * r_angle_Roll; Serial.print("
f_angle=");Serial.print(f_angle_Roll); // Calculate the final error (tilt angle) through KALMAN
filter

timeChange_Roll = (now - lastTime_Roll); //Calcultae time every time loop comes here
if(timeChange_Roll >= SampleTime) { // If time elapsed when the descission to be maid the
calculate PID
Input_Roll = f_angle_Roll; // Final tilt Angle to be corrected towards 0 dgree for
balance point
error_Roll = Input_Roll; // P error without Kp
errSum_Roll += error_Roll * timeChange_Roll; // I error without Ki
dErr_Roll = (error_Roll - lastErr_Roll) / timeChange_Roll;// D error without Kd
Output_Roll = kp_Roll * error_Roll + ki_Roll * errSum_Roll + kd_Roll * dErr_Roll;
lastErr_Roll = error_Roll;
lastTime_Roll = now;
}
}

//===================================================================
void PID_Pitch(){

unsigned long now = millis();

float dt = (now - preTime_Pitch) / 1000.0;
preTime_Pitch = now;
float K = 0.8; // Kalman Constant
 float A = K / (K + dt);// Kalman Absolute factor in term of time derivative f_angle_Pitch = A *
(f_angle_Pitch + omega_Pitch * dt) + (1 - A) * r_angle_Pitch; Serial.print("
f_angle=");Serial.print(f_angle_Pitch); // Calculate the final error (tilt angle) through KALMAN
filter

timeChange_Pitch = (now - lastTime_Pitch); //Calcultae time every time loop comes here
if(timeChange_Pitch >= SampleTime){ // If time elapsed when the descission to be maid the
calculate PID
Input_Pitch = f_angle_Pitch; // Final tilt Angle to be corrected towards 0 dgree for
balance point
error_Pitch = Input_Pitch; // P error without Kp
errSum_Pitch += error_Pitch * timeChange_Pitch; // I error without Ki
dErr_Pitch = (error_Pitch - lastErr_Pitch) / timeChange_Pitch;// D error without Kd
Output_Pitch = kp_Pitch * error_Pitch + ki_Pitch * errSum_Pitch + kd_Pitch * dErr_Pitch;
lastErr_Pitch = error_Pitch;
lastTime_Pitch = now;

}
}
//===================================================================
void Control_pitch() {

FR_Mot.writeMicroseconds(FRMotor_offset + rc_thr + Output_Pitch);

FL_Mot.writeMicroseconds(FLMotor_offset + rc_thr + Output_Pitch);

RR_Mot.writeMicroseconds(RRMotor_offset + rc_thr - Output_Pitch);

RL_Mot.writeMicroseconds(RLMotor_offset + rc_thr - Output_Pitch);

// void Control_roll() {

FR_Mot.writeMicroseconds(FRMotor_offset + rc_thr + Output_Roll);

RR_Mot.writeMicroseconds(RRMotor_offset + rc_thr + Output_Roll);
FL_Mot.writeMicroseconds(FLMotor_offset + rc_thr - Output_Roll);
RL_Mot.writeMicroseconds(RLMotor_offset + rc_thr - Output_Roll);

}
//
Appendix B: List of Components

No. Components No of
components

1 Frame X1

2 Motor X4
3 Electronic Speed Control X4
4 Arduino Uno X2
5 Radio transmitter and Receiver X 1

6 IMU 6050 X1
7 NRF 24L01 X2

8 Gps module X1
9 Servo motor X1

10 LCD X1

11 Arduino mega X1
 Appendix C: Project Timeline
TITLE Search and Rescue Quadcopter

DATE 27-05-2015
STARTING
No. DESCRIPTION OF MILESTONE DURATION
WEEK
1 1 Understand the basic aerodynamics of quadcopter TOTAL NUMBER
3 Weeks
PROJECT ID 14 OF WEEKS IN
2 5 Working on Arduino 4PLAN
Weeks

3 9 Working on Arduino, ESC and Motors

4 Weeks

4 15 Interfacing Arduino with GY-85 1 Week

5 17 Working on PID coding and Frame design 3 Week

6 20 Working on PID for Pitch and Roll 2 Week

7 22 Working on PID for Yaw 1-2 Week

8 24 Stabilizing initial tests of Pitch, Roll and Yaw 4 Week

9 26 GPS and NRF24L01 interfacing with Arduino 2 Week

Testing and troubleshooting 2-3 Week

10 28
11 30 Finalize the report and prepare presentation 1-2 Week