The document outlines the steps to build a manual quadcopter, including: 1) Selecting components like motors, batteries, an ESC, and a flight controller board. 2) Building a frame from laser-cut parts and mounting all the components. 3) Connecting the electrical components and uploading flight software to the controller. 4) Preparing the transmitter, receiver, and ESC calibration. 5) Conducting an initial test flight and adjusting the PID control parameters.

1. Lenn Tilley
Manual quadrocopter build Jan Folens
Olivier De Bie
dinsdag 22 januari 13

2. Components
• First of all it is important to know which components you need and what they
are. This site is a good reference.
• Here you can find a useful tool to see if it is possible to fly, if you have enough
power etc.
• On the next slide you can see which parts we’ve selected.
dinsdag 22 januari 13

3. Components
• Here you can find a list of the components we used:
✦ 5 motors : Turnigy D2836/9 950KV Brushless Outrunner Motor - 23A max
✦ 1 charger for lipo :Turnigy Accucel-6 50W 6A Balancer/Charger w/ accessories
✦ 1 Transmitter and 8ch receiver : Turnigy 9X 9Ch Transmitter w/ Module & 8ch Receiver (Mode 1) (v2
Firmware)
✦ 2 batteries : Turnigy 2200mAh 3S 30C Lipo Pack
✦ 4 ESC motor controllers : Turnigy Multistar 30 Amp Multi-rotor Brushless ESC 2-4S
✦ 1 safety bag for charging lipo betteries : Lithium Polymer Charge Pack 18x22cm Sack
✦ 1 Lipo alarm : On Board Lipoly Low Voltage Alarm (2s~4s)
✦ 3 sets of 4 propellers : 10x4.5 SF Props 2pc Standard Rotation/2 pc RH Rotation (Blue)
✦ 1 breadboard with components : Flight controller based on arduino with 6 DOF imu soldered
dinsdag 22 januari 13

4. Components
dinsdag 22 januari 13

5. Step 1:Frame
• Before you can start with connecting all of your components you need to
build a frame. We builded our own frame. The files for the laser cutter are
available here.
• This is the frame you will get if you build our frame.
dinsdag 22 januari 13

6. Step 2: Mounting the parts
• Here you can see a video where we mount all the parts to the frame
• Invoegen van filmpje waarbij we de onderdelen op het frame plaatsen
dinsdag 22 januari 13

7. Step 3: Connecting all parts
• Schematics of the connected parts
dinsdag 22 januari 13

8. Step 4: Uploading the software
• To upload a program to the arduino breadboard we need the arduino
software.
• You also need the multiwii software.
• Adjusting the code trough the multiwii config file. You can find information
about this process here.
dinsdag 22 januari 13

9. Step 5: Preparing the parts
• Setting up the transmitter and receiver
• Bounding the transmitter (Turnigy 9x 9Ch Transmitter) with the receiver
(Turnigy 9X8C-V2 8-channel receiver)
• explanation about the system setting of the transmitter (turnigy DX9)
• Initialise and programming the ESC’s
• Programming the ESC's with the remote control. You repeat this step for
every ESC connected with a motor.
• Final settings and calibration trough multiwii GUI.
• For calibration and adding functions to the program you can use the multiwii
GUI. Here you can find a detailed description. Make sure your sensors are
defined good. You can change them in the program by adding a “-” or delete
it in the config.ino file of the arduino program.
dinsdag 22 januari 13

10. Step 5: Test flight
• Now you are ready for your first test flight.
• If he flies smooth. We can start the PID regulation process. This process is
described in this movie.
dinsdag 22 januari 13