This document provides information about a quadcopter drone project completed by four students. It includes a certificate of completion, table of contents, and chapters covering the quadcopter materials and design. The main components discussed are the frame, KK2.1.5 circuit board, DC brushless motors, electronic speed controls, Li-Po battery, remote control, and receiver. The document provides details on the purpose and functioning of these various components that make up the quadcopter.

1. [ELECTRICAL 6th SEM.]
[Four rotor Drone] | Ashish Patel, Ashish Parmar, Jitu Baidiyavadra,
Ravi Parmar
2017 [QUADCOPTER DRONE]

2. 1
CERTIFICATE
This is to certify that
BAIDIYAVADRA JITU 149830309001
BHANDERI ASHISH 149830309002
PARMAR ASHISH 149830309035
PARMAR RAVI 149830309041
From KALYAN POLYTECHNIC; JAMNAGAR. Completed
Semester V Project Report having title “QUADCOPTER
DRONE CONTROL” in a group consisting of 04 persons under
the guidance of the faculty guide Mr. KISHAN JOGI SIR.
Institute guide Head of Department
Mr. Kishan Jogi Sir. Mr. Kishan Jogi Sir

3. 2
Index
Abstract……………………………………………. [3]
Chapter-1 Introduction…………………………. [4-7]
Chapter-2 Quadcopter Materials………………… [8]
Chapter-2.1 Frame…………………………….. [9-10]
Chapter-2.2 K.K.2 Circuit Board…………… [11-14]
Chapter-2.3 DC Brushless Motor…………… [15-22]
Chapter-2.4 Electronic Speed Control……… [23-33]
Chapter-2.5 Li-Po Battery…………………… [34-36]
Chapter-2.6 Remote Control………………… [37-39]
Chapter-2.7 Receiver…………………………. [40-41]
Chapter-3 Block Diagram……………………….. [42]
Chapter-4 Quadcopter Layout………………….. [43]
Chapter-5 Advantages &
disadvantages……………………………… [44-46]
Chapter-6 Applications……………………… [46]

4. 3
ABSTRACT
 Quadcopter Drone is working principle on aviation, It means
airborne, airplane, etc……This research focused on
develops a remotely operated Quadcopter system. The
Quadcopter is controlled through Graphical User Interface
(GUI). Communication between GUI and Quadcopter is
done by using wireless communication system. The
Quadcopter balancing condition is sensed by KK2
multicontroller. For smooth landing, Quadcopter is equipped
with ultrasonic sensor. All Signals from sensors are
processed by KK2 Circuit board. The experiment shows that
Quadcopter can hover with maintain it balancing and
stability. Quadcopter can accept load disturbance up to 250g
during it Hover condition. Maximum operated time of
Quadcopter is six minutes using 3200mAh Lipo battery and
operate time can be increase by using largest battery
Capacity.

5. 4
Chapter-1
INTRODUCTION
 A Quadcopter being recovered after photographing
the Head of the Charles regatta in Cambridge,
Massachusetts.
 A quadcopter, also called a quadrotor
helicopter or quadrotor is a multirotor helicopter that is

6. 5
lifted and propelled by four rotors. Quadcopters are
classified as rotorcraft, as opposed to fixed-wing
aircraft, because their lift is generated by a set
of rotors (vertically oriented propellers).
 Quadcopters generally use two pairs of identical fixed
pitched propellers; two clockwise (CW) and two
counter-clockwise (CCW). These use independent
variation of the speed of each rotor to achieve control.
By changing the speed of each rotor it is possible to
specifically generate a desired total thrust; to locate for
the centre of thrust both laterally and longitudinally;
and to create a desired total torque, or turning force.
 Quadcopters differ from conventional helicopters
which use rotors which are able to vary the pitch of their
blades dynamically as they move around the rotor hub.
In the early days of flight, quadcopters (then referred to
as 'quadrotors') were seen as possible solutions to some
of the persistent problems in vertical flight; torque-
induced control issues (as well as efficiency issues
originating from the tail rotor, which generates no
useful lift) can be eliminated by counter-rotation and
the relatively short blades are much easier to construct.

7. 6
A number of manned designs appeared in the 1920s and
1930s. These vehicles were among the first successful
heavier-than-air vertical take-off and landing
(VTOL) vehicles. However, early prototypes suffered
from poor performance, and latter prototypes required
too much pilot work load, due to poor stability
augmentation and limited control authority.
 In the late 2000s, advances in electronics allowed the
production of cheap lightweight flight
controllers, accelerometers (IMU), global positioning
system and cameras. This resulted in a rapid
proliferation of small, cheap consumer quadcopters
along with other multi rotor designs. Quadcopter
designs also became popular in unmanned aerial
vehicle (ESC or drone) research. With their small size
and manoeuvrability, these quadcopters can be flown
indoors as well as outdoors.
 At a small size, quadcopters are cheaper and more
durable than conventional helicopters due to their
mechanical simplicity. Their smaller blades are also
advantageous because they possess less kinetic energy,

8. 7
reducing their ability to cause damage. For small-scale
quadcopters, this makes the vehicles safer for close
interaction. It is also possible to fit quadcopters with
guards that enclose the rotors, further reducing the
potential for damage. However, as size increases, fixed
propeller quadcopters develop disadvantages over
conventional helicopters. Increasing blade size
increases their momentum. This means that changes in
blade speed take longer, which negatively impacts
control. At the same time, increasing blade size
improves efficiency as it takes less energy to generate
thrust by moving a large mass of air at a slow speed than
by moving a small mass of air at high speed. Therefore,
increasing efficiency comes at the cost of control.
Helicopters do not experience this problem as
increasing the size of the rotor disk does not
significantly impact the ability to control blade pitch.
 Due to their ease of construction and control,
quadcopter aircraft are frequently used as
amateur model aircraft projects.

9. 8
Chapter-2
QUADCOPTER MATERIALS
 FRAME
 K.K.2.1.5 CIRCUIT BOARD
 DC BRUSLESS MOTOR
 ELCTRONIC SPEED CONTROL (ESC)
 LI-PO BATTERY, 11V
 REMOTE CONTROL
 RECIVER

10. 9
Chapter-2.1
FRAME
 This is the most important basic part of
a Quadcopter.As the name indicates , the copter has
4arms.The frame should be light as well as rigid to host a
LIPO battery , 4 BLDC motors ,4 ESC & controller.

11. 10
 You can build your own frame using Aluminium or
wood channels. But I suggest you to go for a readymade
one like F450 FRAME which is easy to assemble.
 The frame arms are made of ultra strength material to
survive any crash. The frame boards are high strength
compound PCB frames, which makes wiring of ESCs and
battery more safe and easier.Tomake your flight colourful
the frame arms come with different colours.

12. 11
Chapter-2.2
KK2.1.5 Circuit Board
 The KK.2.1.5 Multi-Rotor controller manages the flight of
(mostly) multi-rotor Aircraft (Tricopters, Quadcopters,
Hex copters etc). Its purpose is to stabilize the aircraft
during flight and to do this, it takes signals from on-board
gyroscopes (roll, pitch and yaw) and passes these signals
to the Atmega324PA processor, which in-turn processes
signals according the users selected firmware (e.g.

13. 12
Quadcopter) and passes the control signals to the installed
Electronic Speed Controllers (ESCs) and the combination
of these signals instructs the ESCs to make fine
adjustments to the motors rotational speeds which in-turn
stabilizes the craft.
 The KK2.1.5Multi-Rotor control board also uses signals
from your radio system via a receiver (Rx) and passes
these signals together with stabilisation signals to the
Atmega324PA IC via the aileron; elevator; throttle and
rudder user demand inputs. Once processed, this
information is sent to the ESCs which in turn adjust the
rotational speed of each motor to control flight orientation
(up, down, backwards, forwards, left, right, yaw
 The most common Control board widely used is KK
control board. Many versions are available.
 The models available are KK2.0, KK2.1.5 & KK2.1 HC.
 The first 2 models have on board LCD.This may break
when the copter crashes (for a beginner).To avoid this the
third model was introduced where the LCD unit is
remotely connected.

14. 13
 The KK board has built in Gyros, accelerometers & a
Microcontroller to control the ESCs.
 The LCD screen and built in software makes install and
setup easier than ever. A host of multi-rotor craft types are
pre-installed. Simply select your craft type, check motor
layout/propeller direction, calibrate your ESCs and radio
and you’re ready to go! All of which is done with easy to
follow on screen prompts!
 The original KK gyro system has been updated to an
incredibly sensitive dual chip 3 Axis gyro and single chip
3 axis accelerometer system making this the most stable
KK board ever and allowing for the addition of an Auto-
level function.
 At the heart of the KK2.0 is an Atmel Mega324PA 8-bit
AVR RISC-based microcontroller with 32k of memory.
An additional 2 motor output channels have been added to
the KK2.0 allowing for a total of 8 motors to be controlled.
A handy Piezo buzzer is also included with the board for
audio warning when activating and deactivating the board.
 If you’re new to multi-rotor flight or have been unsure
about how to setup a KK board then the KK2.0 was built

15. 14
for you. The 6 Pin USBasp AVR Programming interface
ensures future software updates will be quick and easy.
 The version KK2.1.5 has upgraded gyro system (6050
Microprocessor system) making this the most stable KK
board ever and allowing for the addition of an auto-level
function. At the heart of the KK2.1.5 is an Atmel
Mega644PA 8-bit AVR RISC-based microcontroller with
64k of memory. An additional polarity protected header
has been added for voltage detection, so no need for on-
board soldering. The KK2.1.5 added polarity protection to
the voltage sense header and a fuse protected buzzer
outputs, in case something is accidentally plugged in
incorrectly.

16. 15
Chapter-2.3
DC BRUSHLESS MOTOR

17. 16
 A Brushless DC motor is an
internally commutated electric motor designed to be run
from a direct current power source. Brushed motors were
the first commercially important application of electric
power to driving mechanical energy, and DC distribution
systems were used for more than 100 years to operate
motors in commercial and industrial buildings. Brushed
DC motors can be varied in speed by changing the
operating voltage or the strength of the magnetic field.
Depending on the connections of the field to the power
supply, the speed and torque characteristics of a brushed
motor can be altered to provide steady speed or speed
inversely proportional to the mechanical load. Brushed
motors continue to be used for electrical propulsion,
cranes, paper machines and steel rolling mills. Since the
brushes wear down and require replacement, brushless DC
motors using power electronic devices have displaced
brushed motors from many applications
 When a current passes through the coil wound around a
soft iron core, the side of the positive pole is acted upon
by an upwards force, while the other side is acted upon by

18. 17
a downward force. According to Fleming's left hand rule,
the forces cause a turning effect on the coil, making it
rotate. To make the motor rotate in a constant direction,
"direct current" commutators make the current reverse in
direction every half a cycle (in a two-pole motor) thus
causing the motor to continue to rotate in the same
direction.
 A problem with the motor shown above is that when the
plane of the coil is parallel to the magnetic field—i.e.
when the rotor poles are 90 degrees from the stator
poles—the torque is zero. In the pictures above, this
occurs when the core of the coil is horizontal—the
position it is just about to reach in the last picture on the
right. The motor would not be able to start in this position.
However, once it was started, it would continue to rotate
through this position by momentum.
 There is a second problem with this simple pole design.
At the zero-torque position, both commutator brushes are
touching (bridging) both commutator plates, resulting in a

19. 18
short-circuit. The power leads are shorted together
through the commutator plates, and the coil is also short-
circuited through both brushes (the coil is shorted twice,
once through each brush independently). Note that this
problem is independent of the non-starting problem
above; even if there were a high current in the coil at this
position, there would still be zero torque. The problem
here is that this short uselessly consumes power without
producing any motion (nor even any coil current.) In a
low-current battery-powered demonstration this short-
circuiting is generally not considered harmful. However,
if a two-pole motor were designed to do actual work with
several hundred watts of power output, this shorting could
result in severe commutator overheating, brush damage,
and potential welding of the brushes—if they were
metallic—to the commutator. Carbon brushes, which are
often used, would not weld. In any case, a short like this
is very wasteful, drains batteries rapidly and, at a
minimum, requires power supply components to be
designed to much higher standards than would be needed
just to run the motor without the shorting.

20. 19
 The back EMF is the reason that the motor when free-
running does not appear to have the same low electrical
resistance as the wire contained in its winding. This is the
same EMF that is produced when the motor is used as a
generator (for example when an electrical load, such as a
light bulb, is placed across the terminals of the motor and
the motor shaft is driven with an external torque).
Therefore, the total voltage drop across a motor consists
of the CEMF voltage drop, and the parasitic voltage drop
resulting from the internal resistance of the armature's
windings. The current through a motor is given by the
following equation:
 In a dynamo, a plane through the centre of the contact
areas where a pair of brushes touch the commutator and
parallel to the axis of rotation of the armature is referred
to as the commutating plane. In this diagram the
commutating plane is shown for just one of the brushes,
assuming the other brush made contact on the other side
of the commutator with radial symmetry, 180 degrees
from the brush shown.

21. 20
 In a real dynamo, the field is never perfectly uniform.
Instead, as the rotor spins it induces field effects which
Drag and distort the magnetic lines of the outer non-
Rotating.

22. 21
Exaggerated example of how
the field is distorted by the
rotor.
Iron filings show the
distorted field across the
rotor.
 The faster the rotor spins, the further the degree of field
distortion. Because the dynamo operates most efficiently
with the rotor field at right angles to the stator field, it is
necessary to either retard or advance the brush position to
put the rotor's field into the correct position to be at a right
angle to the distorted field.

23. 22
Centred position of the
commutating plane if there
were no field distortion
effects.
Actual position of the
commutating plane to
compensate for field
distortion.
 These field effects are reversed when the direction of spin
is reversed. It is therefore difficult to build an efficient
reversible commutated dynamo, since for highest field
strength it is necessary to move the brushes to the opposite
side of the normal neutral plane.
 The effect can be considered to be somewhat similar to
timing advance in an internal combustion engine.
Generally a dynamo that has been designed to run at a
certain fixed speed will have its brushes permanently fixed
to align the field for highest efficiency at that speed.

24. 23
Chapter-2.4
Electronic Speed control
 An electronic speed control or ESC is an electronic
circuit with the purpose to vary an electric motor's speed,
its direction and possibly also to act as a dynamic brake.
ESCs are often used on electrically powered radio
controlled models, with the variety most often used
for brushless motors essentially providing an
electronically generated three-phase electric power low
voltage source of energy for the motor.

25. 24
 An ESC can be a stand-alone unit which plugs into the
receiver's throttle control channel or incorporated into the
receiver itself, as is the case in most toy-grade R/C
vehicles. Some R/C manufacturers that install proprietary
hobby-grade electronics in their entry-level vehicles,
vessels or aircraft use on board electronics that combine
the two on a single circuit board.
 A generic ESC module rated at 35 amperes with an
integrated BEC.
 ESC systems for brushed motors are very different by
design; as a result brushed ESC's are not compatible with
brushless motors. Brushless ESC systems basically create
a tri-phase AC power output of limited voltage from an
on-board DC power input, to run brushless motors by

26. 25
sending a sequence of AC signals generated from the
ESC's circuitry, employing a very low impedance for
rotation. Brushless motors, otherwise called out
runners or in runners depending on their physical
configuration, have become very popular with
"electroflight"radio-control aeromodeling hobbyists
because of their efficiency, power, longevity and light
weight in comparison to traditional brushed motors.
However, brushless AC motor controllers are much more
complicated than brushed motor controllers.
 The correct phase varies with the motor rotation, which is
to be taken into account by the ESC: Usually, back
EMF from the motor is used to detect this rotation, but
variations exist that use magnetic (Hall Effect) or optical
detectors. Computer-programmable speed controls
generally have user-specified options which allow setting
low voltage cut-off limits, timing, acceleration, braking
and direction of rotation. Reversing the motor's direction
may also be accomplished by switching any two of the
three leads from the ESC to the motor.
 ESCs are normally rated according to maximum current,
for example, 25 amperes or 25 A. Generally the higher the

27. 26
rating, the larger and heavier the ESC tends to be which a
factor when calculating mass is and balance in airplanes.
Many modern ESCs support nickel metal hydride, lithium
ion polymer and lithium iron phosphate batteries with a
range of input and cut-off voltages. The type of battery
and number of cells connected is an important
consideration when choosing a Battery eliminator
circuit (BEC), whether built into the controller or as a
stand-alone unit. A higher number of cells connected will
result in a reduced power rating and therefore a lower
number of servos supported by an integrated BEC, if it
uses a linear voltage regulator. A well designed BEC using
a switching regulator should not have a similar limitation.
 Increasing oil prices and insufficient resources for carbon
fuels have been pushing car makers to research electric
propulsion alternatives. Brushless electric motors are
projected to be the major power source in a couple decades
or sooner. Larger size and increased current offer better
torque and much less maintenance for tomorrow's electric
cars. Vendors are working on ways to improve batteries,
charging times and weight.

28. 27
Electric bicycles
 A motor used in an electric bicycle application requires
high initial torque and therefore uses Hall sensor
commutation for speed measurement. Electric
bicycle controllers generally use brake application
sensors, pedal rotation sensors and provide potentiometer-
adjustable motor speed, closed-loop speed control for
precise speed regulation, protection logic for over-voltage,
over-current, and thermal protection. Sometimes pedal
torque sensors are used to enable motor assist proportional
to applied torque and sometimes support is provided
for regenerative braking but infrequent braking and the
low mass of bicycles limits recovered energy. An
implementation is described in and for a 200 W, 24 V
Brushless DC (BLDC) motor.
 P.A.S or PAS may appear within the list of components
of electric conversion kits for bicycles which
implies Pedal Assistance Sensor or sometimes Pulse Pedal
Assistance Sensor. Pulse usually relates to a magnet and

29. 28
sensor which measures the rotational velocity of the crank.
Pedal pressure sensors under the feet are possible but not
common.
Electric aircraft
 Experimental electric aircraft such as the Elazar use
electronic speed controls. Most of the requirements and
trade-offs are similar to those for any other electric vehicle
Cars
 ESCs designed for sport use in cars generally have
reversing capability; newer sport controls can have the
reversing ability overridden so that it cannot be used in a
race. Controls designed specifically for racing and even
some sport controls have the added advantage of dynamic
braking capability. The ESC forces the motor to act as
a generator by placing an electrical load across the
armature. This in turn makes the armature harder to turn,

30. 29
thus slowing or stopping the model. Some controllers add
the benefit of regenerative braking.
Helicopters
 ESCs designed for radio-control helicopters do not require
a braking feature (since the one way bearing would render
it useless anyhow) nor do they require reverse direction
(although it can be helpful since the motor wires can often
be difficult to access and change once installed). Many
high-end helicopter ESCs provide a "Governor mode"
which fixes the motor RPM to a set speed, greatly
aiding CCPM-based flight.
Airplanes
 ESCs designed for radio-control airplanes usually contain
a few safety features. and it use to controls rotation of
motor If the power coming from the battery is insufficient
to continue running the electric motor the ESC will reduce
or cut off power to the motor while allowing continued use
of ailerons, rudder and elevator function. This allows
the pilot to retain control of the airplane to glide or fly on
low power to safety.

31. 30
Boats
 ESCs designed for boats are by necessity waterproof. The
watertight structure is significantly different from that of
non-marine type ESCs, with a more packed air trapping
enclosure. Thus arises the need to cool the motor and ESC
effectively to prevent rapid failure. Most marine-grade
ESCs are cooled by circulated water run by the motor, or
negative propeller vacuum near the drive shaft output.
Like car ESCs, boat ESCs have braking and reverse
capability.
Quadcopters
 Electronic Speed Controllers (ESC) are an essential
component of modern quadcopters (and all multirotor)
that offer high power, high frequency, high resolution 3-
phase AC power to the motors in an extremely compact
miniature package. These craft depend entirely on the
variable speed of the motors driving the propellers. This
wide variation and fine RPM control in motor/prop speed
gives all of the control necessary for a quadcopter (and all
multirotor) to fly.

32. 31
 Height is determined by the amount of power to all four
motors. Forward motion is achieved by driving the aft
(back) props faster than the forward props. Sideways
motion is achieved by running the left or right props faster.
'Rudder' movements (yaw), (turning left or right) are again
achieved by slowing or speeding individual motors - and
this control is reliant on the fact that two of the rotors
rotate clockwise while the other two rotate counter
clockwise so that, again, slowing or speeding individual
motors (and props) will produce a change in attitude in the
craft.
 Quadcopters are a rapidly growing hobby subject but also
provide aerial mounts for video cameras for sports
coverage, agricultural research, inspection of electrical
pylons and historic exploration.
 Quadcopter ESCs usually can use a faster update rate
compared to the standard 50 Hz signal used in most other
RC applications. PPM signals up to 400 Hz can be used in
some cases, and other control options can increase this rate
even higher. Also some software delays, such as low-pass
filters, are removed in order to improve control latency.

33. 32
 Most modern ESC contain a microcontroller interpreting
the input signal and appropriately controlling the motor
using a built-in program, or firmware. In some cases it is
possible to change the factory built-in firmware for an
alternate, publicly available, open source firmware. This
is done generally to adapt the ESC to a particular
application. Some ESCs are factory built with the
capability of user upgradable firmware. Others require
soldering to connect a programmer.
 As the brushless motors are multi-phased, normally 3
phases, you can’t just apply power to it to make it spin.
The motors require some special phase-control electronics
that is capable of generating three high frequency signals
with different but controllable phases, but the electronics
should also be able to source a lot of current as the motors
can be very “power-hungry”.
 ESCs do the perfect job of controlling BLDCs. The ESCs
is simply a brushless motor controller board with battery
input and a three phase output for the motors. For the
control it is usually just a simple PPM signal (similar to
PWM) that ranges from 1ms (min speed=turn off) to 2ms
(max speed) in pulse width.

34. 33
 The frequency of the signals does also vary a lot from
controller to controller, but for a QuadCopter it is
recommended to get a controller that supports at least
200Hz or even better 300Hz PPM signal, as it should be
possible to change the motor speeds very quickly to adjust
the QuadCopter to the stable position.
 ESCs can be found in many different variants, where the
source current is the most important factor. You should
always choose an ESC with about 20A or more in sourcing
current as what your motor will require.
 Computer-programmable speed controls generally have
user-specified options which allow setting low voltage
cut-off limits, timing, acceleration, braking and direction
of rotation. Reversing the motor’s direction may also be
accomplished by switching any two of the three leads from
the ESC to the motor.

35. 34
Chapter-2.5
LI-PO BATTERY
 Lithium Polymer –LIPO are a type of rechargeable battery
that has taken the electric RC world by storm, especially
for Quadcopters. They are the main reason electric flight
is now a very viable option over fuel powered models.
 LiPo batteries are light in weight & hold huge power in a
small package. They have high discharge rates to meet the
need of powering quadcopters.

36. 35
 Remember LiPo batteries are much expensive & have life
time of only 300 to 400 charge cycles.
 Special care to be taken to Charge, discharge or store the
LiPo. Because of the volatile electrolyte used in LiPo they
can burst or catch fire easily when mishandled.
 Unlike conventional NiCad battery cells that have a
voltage of 1.2 volts per cell, LiPo battery cells are rated at
3.7 volts per cell. So you get in multiples of 3.7v like 7.4
& 11.1v batteries.
 RC LiPo battery packs will have at least two or more cells
hooked up in series to provide higher voltages. So a 11.1
v battery, which is widely used , has 3 cells x 3.7 volts
(3S)
 Capacity indicates how much power the battery pack can
hold and is indicated in milliamp hours (mAh). A
3200mAh would be completely discharged in one hour
with a 3200 milliamp load placed on it. If this same battery
had an 1100 milliamp load placed on it, it would take 2
hours to drain down.
 If you want to increase your flight time use more capacity
battery like 3000maH.

37. 36
 LiPo batteries can be found in packs of everything from a
single cell (3.7V) to over 10 cells (37V). The cells are
usually connected in series, making the voltage higher but
giving the same amount of amp-hours.
 Another thing to be-aware of when selecting the right
battery is the discharge rate, formerly known as the C-
value. The C-value together with the battery capacity
indicates how much current you are able to source from
the battery. The calculations follow this simple rule:
MaxSource = Discharge Rate x Capacity
For e.g. take a battery of capacity 4000maH, with a
discharge rate of 20C mentioned. . With this battery you
will be able to source a maximum of 20Cx4000mAh =
80A. So in this case you should make sure that the total
amount of current drawn by your motors (ESCs) won’t
exceed 80A.
 Discharge rate is simply how fast a battery can be
discharged safely. In the RC LiPo battery world it is called
the “C” rating. Remember you should never discharge a
LiPo BATTERY BELOW 80% OF ITS CAPACITY.

38. 37
Chapter-2.6
REMOTE CONTROL
 You need a RC Transmitter (2.4 GHz RC radio
transmitter) to direct the quadcopter direction and
position. A 2.4 GHz RC radio receiver on the

39. 38
quadcopter receives commands from the RC transmitter
on the ground. (One way link). You get a Receiver along
with the corresponding Transmitter.
 The transmitter is the hand-held controller you use to
remotely control your craft. The transmitters have two
sticks, two trim buttons or a slider per stick, a number of
switches, a display, and a power button.
 Transmitters and receivers need a frequency range to
operate and the new frequency range is 2.4 GHz, with
digital spectrum modulation.2.4GHZ is the ISM
(Industrial, Scientific & Medical) Radio band which needs
no license to operate.
Modes & Channels
 When you read the manual of a Transmitter, you come
across the terms “set to Mode 1 Mode2, 3, etc. This refers
to the Default Configuration of the Sticks on the
Transmitter.
 Most widely used is the MODE 2 which means the Left
stick controls THROTTLE & RUDDER & the Right stick
controls ELEVATOR & AILERONS.

40. 39
 A transmitter is described primarily by the number of
channels it supports. The one shown above in fig. is a 6
channel one.
 Generally speaking, each function of an airplane
requires one channel. For example, a typical 4 channel
airplane will have throttle, ailerons, elevator, and rudder
control.
 Channels being the mechanism for communicating
commands. One channel is typically used to communicate
one attribute. Information about the throttle or up/down
position of your left stick requires one channel. Similarly
the rudder or right / left position of your left stick requires
one channel. Having left and right sticks therefore
requires 4 channels.
 The receiver is the generally small match box size
device to which the Transmitter sends its commands. The
receiver gets its power from the main battery. Always use
the Receiver that comes with the Transmitter box.
 The one you see in the picture above is an LCD model
which allows you to program the radio at the field and no
more to carry laptop to the field to change any setting.

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Chapter-2.7
RECIEVER
 Apart from the KK controller board we’ve Hexa Quad
Flight controller boards in the market.

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 You can either use a KK board or Hexa Quad as a Flight
controller.
 Thunder QQ Super multi-rotor flight controller.
 Avionic Hexa Quad controller.
 It has a built in 3 axis gyroscope and 3 axis acceleration
sensor with self stabilising function which gives it a super
stable flight performance. It supports all general
receivers.
 Receiver type and multi-rotor type are very easily
selected via the small DIP switches and calibration is also
extremely easy with the set button. Once calibrated
sensitivity is also a very simple affair with just one small
adjuster on the front of the unit making this flight
controller one of the easiest to set up ever.

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Chapter-3
BLOCK DIAGRAM

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Chapter-4
LAYOUT OF QUADCOPTER

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Chapter-5
Advantages and Disadvantages of
Drone
Advantages of drones:
 Has successfully struck militants of Al Qaeda and
other terrorist groups.
 Intelligence gathered by surveillance drones
contributed to the assassination of Osama Bin Laden.
 Helps detect forest fires.
 Monitor environmental data (i.e. populations of
animals).
 Can seek missing children and felons.

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Disadvantages of drones:
Domestic drones violate right to privacy.
Some drones are lethal and not just used for
surveillance.
People feel paranoid and like they're being watched
by the government.
With drones being unmanned flying machines, less
aviation jobs are needed.
 They're very expensive and a rarity among the world.

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Chapter-6
Applications
Research platform
 Quadcopters are a useful tool for university researchers to
test and evaluate new ideas in a number of different fields,
including flight control theory, navigation, real time
systems, and robotics. In recent years many universities
have shown quadcopters performing increasingly
complex aerial manoeuvres.
 Swarms of quadcopters can hover in mid-air, fly in
formations, and autonomously perform complex flying
routines such as flips, darting through hula hoops and
organising themselves to fly through windows as a group.
 There are numerous advantages to using quadcopters as
versatile test platforms. They are relatively cheap,
available in a variety of sizes and their simple mechanical
design means that they can be built and maintained by
amateurs.
 Due to the multi-disciplinary nature of operating a
quadcopter, academics from a number of fields need to
work together in order to make significant improvements
to the way quadcopters perform. Quadcopter projects are
typically collaborations between computer science,
electrical engineering and mechanical engineering
specialists.

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Military and law enforcement
 Quadcopter unmanned aerial vehicles are used for
surveillance and reconnaissance by military and law
enforcement agencies, as well as search and rescue
missions in urban environments. One such example is the
Aeron Scout, created by Canadian company Aeron Labs,
which is a small UAV that can quietly hover in place and
use a camera to observe people and objects on the ground.
 The company claims that the machine played a key role in
a drug bust in Central America by providing visual
surveillance of a drug trafficker's compound deep in the
jungle (Aeron won't reveal the country's name and other
specifics).
 After a recreational quadcopter (or "drone") crashed on
the White House lawn early in the morning of January 26,
2015, the Secret Service began a series of test flights of
such equipment in order to fashion a security protocol
against hostile quadcopters.
 During the Battle of Mosul it was reported that
commercially available quadcopters and drones were
being used by Islamic State of Iraq and the Levant (ISIL)
as surveillance and weapons delivery platforms using
improvised cradles to drop grenades and other explosives.
The ISIL drone facility became a target of Royal Air Force
strike aircraft.

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Photography
 2016 model DJI Phantom 4 quadcopter with a high
definition 4k stabilized video and still camera, GPS
stabilization and automatic obstacle avoidance.
 Very Large Telescope image taken using a quadcopter.
 The largest use of quadcopters in the USA has been in the
field of aerial imagery. Quadcopter UAVs are suitable for
this job because of their autonomous nature and huge cost
savings. Drones have also been used for light-painting
photography.
Journalism
Main article: Drone journalism
 In 2014 The Guardian reported that major media outlets
have started to put serious effort into exploring the use of

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drones for reporting and verifying news on events that
include floods, protests and wars.
 Some media outlets and newspapers are using drones to
capture photography of celebrities.
Drone-delivery
Main article: Delivery drone
 In December 2013, the Deutsche Post gathered
international media attention with the project
Parcelcopter, in which the company tested the shipment of
medical products by drone-delivery. Using a Micro drones
md4-1000 quadcopter packages were flown from a
pharmacy across the Rhine River. It was the first civilian
package-delivery via drones.
Art
 Quadcopters have also been used in various art projects
including but not limited to drone photography. They may
be used in performance art with new degrees of positional
control that allows for new uses of puppets, characters,
lights and cameras.
 They have also been used in light shows including most
prominently in the 5 February 2017 Super Bowl LI
halftime show in which Lady Gaga, in a pre-recorded
segment, was accompanied by a swarm of 300 LED-
equipped Intel "Shooting Star" drones forming an
American flag in the sky.
Sport - Racing and Freestyle
 Quadcopters are used all over the world for racing (also
known as "drone racing") and freestyle events. Racing and

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freestyle quadcopters are built for speed and agility.
Racing and freestyle drones tend to be relatively small in
size, with 250mm between the propeller shafts and/or 5-6
inch props being the usually upper end of the size scale.
 Most pilots race and freestyle quadcopters smaller than
250mm down to the "Tiny Whoop" size as small as 50-
60mm between the propeller shafts.
 Racers race in both indoor and outdoor events typically
following a course defined by ground markers e.g. rope or
"witches hats", "gates" and flags.
 Gates are arches or other shaped frames that a quad must
fly through. Flags must be flown around.
 There are at least two international drone racing
organisations/promotions including the Drone Racing
League and Multi GP.
 Freestyle involves flying aerobatic tricks, many of which
are not possible with other craft. While freestyle and
racing drones appear fairly similar, and a freestyle drone
can be used for racing and vice-versa they are actually two
different classes of drone and two though related different
sports with many pilots participating in both.
 Although commercially ready to fly (RTF) and almost
ready to fly (ARF) are becoming more common, most
racing quadcopters are custom built by their pilots who
weigh a wide variety of factors into their component
selection to balance speed, agility, weight and cost.