This document presents information on unmanned aerial vehicles (UAVs), also known as quadcopters. It discusses the components of a quadcopter, including frames, motors, electronic speed controllers, microcontrollers, batteries, transmitters and receivers. It also explains key concepts like Euler angles, PID control and typical quadcopter layout. Some applications of quadcopters mentioned are aerial photography, roof inspection, search and rescue, and military uses. The document provides details on the Arduino microcontroller, transmitter, GUI software and tuning the PID control parameters.

1. Unmanned Aerial Vehicle
(UAV)

2. Presented By:
● Donald Wu
● Ricky Huynh
● Eduardo Romero Pacheco
Unmanned Aerial Vehicle(UAV)

3. Table of Content
1. Background
2. Applications
3. Frame
4. UAV Components
5. Control System
• What is an Arduino?
• Typical Quadcopter Layout
• Graphic User Interface
• PID
• Transmitter
6. Budget and Finance
7. References

4. Background
Euler angles describes 3 angles of the
quadcopter and they are
● Roll
● Yaw
● Pitch
1. Roll means to twist or oscillate
around a longitudinal axis
2. Yaw means to twist or oscillate
around a vertical axis
3. Pitch means to twist or oscillate
around the lateral axis

5. X650F Glass Fiber Frame
• Light weight (598G)
• Glass Fiber and
Aluminum
• Gold and Black Arms
• Landing Skids
• Folding Arms

6. Applications
● Aerial Photography
● Roof Inspection
● Search and Rescue
● Wild Fire
● Land Surveying (Flooding and etc)
● Delivery
● Pipeline Inspection
● Security
● Military

7. ● Electronic Speed Controllers (ESC) , Afro 30Amp
● 4 Brushless DC Motors ( NTM Prop Drive Series, 1100kv)
● 4 Propellers (10inches)
● Microcontroller (Arduino Uno)
● Power Distribution Board
● Battery Monitor
● Power Supply (lipo battery, 3000mAH)
● Transmitter and Receiver (Dx5e Spektrum 2.4 GHz)
● 3 Axis Gyroscope (gyro) MPU6050
● Strong base to hold the components
● Balanced Charger (Li-24)
● breadboard
Components for UAV

8. What’s an Arduino?
• Microprocessor
Board
• 14 Digital I/O
• 6 Analog I/O
• USB port
• Power Jack
• Voltages for support

9. Computer System: Typical Quadcopter
Layout
● Arduino Uno
● Battery monitor normally
attached to battery
● Lipo Battery
● Electronic Speed Control acts like
servomotor
● Reciever
● Gyro and accelerometer
● Calibrating the ESC and
MPU6050

10. Spektrum DX5e Transmitter
• Basic 5-channel
2.4GHz radio and
receiver
• HI/LO rates
• Servo Reversing
• Trainer System
• Arm/Disarm motor

11. GUI
• MultiWii (GUI software)
• MPU-6050 Module 3 Axis
sensor.
• Configurable Parameters such as
• Proportional Coefficient
• Integral Coefficient
• Derivative Coefficient
• Communicating Receiver to
Arduino

12. PID
● P calculates the present
value of the error
● I calculates the past value
of the error
● D calculates the future
value of the error

13. PID (Continues)
Increasing value for P:
It will become more solid/stable until P is too high where it starts to oscillate and loose
control. You will notice a very strong resistive force to any attempts to move the MultiRotor
Decreasing value for P:
It will start to drift in control until P is too low when it becomes very unstable.
Will be less resistive to any attempts to change orientation
Increasing value for I:
Increase the ability to hold overall position, reduce drift due to unbalanced frames etc
Decreasing value for I:
Will improve reaction to changes, but increase drift and reduce ability to hold position
Increasing value for D:
Dampens changes. Slower to react to fast changes
Decreasing value for D:
Less dampening to changes. Reacts faster to changes

14. Quadcopter Problem

15. Budget and Finance

16. References
● "Quadcopters." Quadcopters. Accessed April 13, 2015. http://ffden-
2.phys.uaf.edu/webproj/212_spring_2014/Clay_Allen/clay_allen/works.html
● "Commercial, Practical and Hobby Uses of Quadcopters." Array. Accessed
April 15, 2015. https://www.rcgeeks.co.uk/blog/the-rc-geeks-guide-to-
commercial-and-hobby-uses-of-quadcopters.html.
● "MultiWii." MultiWii software. Accessed September 1, 2015.
http://www.multiwii.com/