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The developed y4 copter is an Unmanned Aerial Vehicle with autonomous subsystems which reports the
fully automated y4 copter for the first time. Automation is implemented through maintaining the desired
roll, pitch and yaw therefore the flight stability as well as in case of controlling elevation. An improved and
efficient algorithm that uses Quaternion is implemented to determine Euler angles avoiding Gimbal lock in
case of developing an inertial measurement unit. It has a selfstabilization system powered by Proportional
Integral Derivative control system which is computationally affordable by an ordinary 8 bit
microcontroller capable of performing only integer operations. A remote is designed to communicate with
the y4 copter from the base station using XBee transceiver modules which come with secured
communication with long range. The developed system demonstrates simple design offering lower cost and
secured means of control.
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