Thesis

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DESIGN AND DEVELOPMENT OF QUADCOPTER
FOR
AERIAL SURVILLANCE
By
Muhammad Saad Khan 11587
Usman Rashid 11569
Zain-ur-Rehman khan 11420
Supervised by
Sir Khalid Javed
Designation, Iqra University, Islamabad Campus
Final Year Project Submitted as partial fulfillment of
Requirement for the Degree of BEEE
Department of Electronics Engineering
Iqra University Islamabad Campus
August 2013

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Abstract
The aim of this project is to design and development of Radio Control Quadcopter using off the
shelf components. The project is divided into two phase’s hardware development phase and
software implementation of the flight controls. The hardware phase consists of aerodynamic
hardware and the electronic control hardware, whereas the software phase consists of various
modules to implement stability in flight and navigation. This project implements a feed-back
control system by using various sensors to attain stability in flight and in performing flight
maneuvers.
The design discussed in this report is based on the development of Unmanned Aerial Vehicle
(UAV) quad rotor helicopter or simply know a Quadcopter, hardware, control system and flight
dynamics. The team considered many different designs before we settled on creating a
Quadcopter. The Quadcopter is built of anfiber glass frame, electric motors driven rotor, an
embedded on board computer, power distribution system and various sensor modules. The
hardware platform utilized for the on board computer was flight controller module having 3 axis
gyro, accelerometer and magnetometer module along with high performance barometer. The
motors are driven through this board by PWM which allows controlling each motor speed
individually to give stable flight. The software also uses a PID controller to reject errors so that
to make the inputs into the microcontroller more accurate and precise. PID controller has a
quicker response and ability to balance it completely.

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ACKNOWLEDGEMENTS
First, we would like to express deepest appreciation and sincerest gratitude to our Supervisor Sir
Khalid Javed, This project would not have been completed without their calibration. Who was
not only our supervisor and advisors but encouraged and guided us throughout the semester. The
group would like to extend our thanks to our head of the department Dr Usama Mir. We would
also like to thank lab Engineer Sir Naseem for his extensive help in the making of our Project.

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DECLARATION
We hereby declare that this research, neither as whole nor as part has been copied out from any
source. It is further declare that we have prepared this report entirely on the basis of our personal
data, research and efforts made under the sincere guidance of teachers especially our supervisor
Sir Khalid Javed. If any part of this thesis is proved to be copied out from any source or found to
be reproduction of some other, we will stand by the consequences. No portion of the work
presented has been submitted in support of any application for any other degree or qualification
of this or any other university or institute of learning.
Muhammad Saad Khan 11587
ZainurRehman Khan 11420
Usman Rashid 11569
Furqan Muhammad Khan 11572
Department of Electronics Engineering
Iqra University Islamabad campus Islamabad

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DEDICATION
We dedicate this thesis to our respected supervisor Sir Khalid Javed who conveyed us on this idea of aero
quad. There is no doubt without their endure support and console we could not have completed this
project.

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THESIS APPROVAL SHEET
It is certify that Muhammad Saad Khan, Zain-ur-Rehman khan, Usman Rashid and Furqan
Muhammad Khan Student of BE(EE) Department of Electronics Engineering, Student ID
(11587, 11420, 11569 and 11572 respectively) of IQRA University Islamabad, has submitted the
final Thesis report on “Design and Development of QUADCOPTER for aerial surveillance”.
We have read the report and it fulfills the partial of Bachelor of Engineering in Electronics
Engineering.
INTERNAL EXAMINER:
Name: Mr. Fahad Bin Muslim
Designation: Assistant Professor
Organization: Iqra University Islamabad Campus
Signature: _____________________
EXTERNAL EXAMINER:
Name: Muhammad Asim
Designation: Professor
Organization: Case
Signature: _____________________
SUPERVISOR:
Name: Mr. Khalid Javed
Designation: Lt Cornel
Organization: Iqra University Islamabad Campus
Signature: _____________________

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Table of Contents
Abstract.....................................................................................................................................................2
ACKNOWLEDGEMENTS......................................................................................................................3
DECLARATION ......................................................................................................................................4
DEDICATION..........................................................................................................................................5
Aim: ............................................................................................................................................................10
Scope:..........................................................................................................................................................10
Background study: ......................................................................................................................................10
CHAPTER 1 ...............................................................................................................................................11
1) Structure:.............................................................................................................................................11
1.1 Suitable Structure Material: ........................................................................................................11
1.2 Selection of Material:............................................................................................................................11
1.3 Design:..................................................................................................................................................11
1.1.2 Selection of Hardware:.......................................................................................................................12
a. Principle:.........................................................................................................................................13
b. Stator:..............................................................................................................................................13
c. Rotor: ..................................................................................................................................................13
d. Specs & Operation:............................................................................................................................. 14
2. Electronic Speed Controller:...............................................................................................................14
3. Battery:...................................................................................................................................................15
4. Propellers ...............................................................................................................................................16
5. RF Transmitter and Receiver:.................................................................................................................16
Chapter 2.....................................................................................................................................................17
2.1 Electronic Hardware: ............................................................................................................................17
2.2 Selection Phase: ....................................................................................................................................17
2.3 Flight Controller Module:.....................................................................................................................17
2.4 IMU (Inertial Measurement Unit):........................................................................................................18
2.4.1 Gyroscope: .....................................................................................................................................18
2.4.3 Magnetometer: ...............................................................................................................................20
2.5 Barometric sensor: ................................................................................................................................20

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2.6 Onboard 16 MP Data flash chip on board: ...........................................................................................21
2.7 Atmel's ATMEGA2560 and ATMEGA32U-2 chips for processing:...................................................21
2.7.1 ATMEGA 2560: ............................................................................................................................21
Table 2.1 .................................................................................................................................................21
2.7.2 ATMEGA32U-2: ...........................................................................................................................22
3.1 Software Implementation:.................................................................................................................23
3.2 Methodology:....................................................................................................................................23
Schematic Wiring for Motor:..................................................................................................................23
3.3 Pulse width modulation: ...................................................................................................................23
3.5 PID:...................................................................................................................................................25
3.6 Flight Control Algorithm:.................................................................................................................25
3.7 Position control:................................................................................................................................27
Problems & Conclusions: .......................................................................................................................29
1. 1st
Flight: .........................................................................................................................................29
2. 2nd
Flight: ........................................................................................................................................29
3. 3rd
Flight:.........................................................................................................................................29
4. 4th
Flight:.........................................................................................................................................29
5. 5th
Flight:.........................................................................................................................................30
6. 6th
Flight:.........................................................................................................................................30
7. 7th
Flight:.........................................................................................................................................30
8. 8th
Flight:.........................................................................................................................................30
9. 9th
Flight:.........................................................................................................................................30
10. 10th
Flight:...................................................................................................................................30
Conclusions:............................................................................................................................................30
APPENDIX:............................................................................................................................................32
Schematics and Wiring Diagrams...........................................................................................................32
Wiring Diagram .......................................................................................................................................33

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Introduction:
Research and development of unmanned aerial vehicle (UAV) and micro aerial vehicle (MAV) is getting
high encouragement nowadays, which operates without a human pilot. In earlier 1990s, UAVs were used
for military operation practices. But the UAVs of that time were very large fixed wing aircrafts having the
span of wings up to 50 to 100 ft in range. Payloads for these large UAVs included designators, camera,
laser, missiles system and radar, laser. Since the application of UAV and MAV can be apply in variety of
areas such as rescue, missions, military operations, film making, agriculture and others. UAV can reach to
those areas easily where human approach is limited or unfeasible. Also the utilities of application uses in
UAV are much demanding in the coming era.
Quadcopter is becoming much more demanding in industry nowadays; specially our team is very
interested in smaller UAVs because the UAVs can be used not for only military application but also for
commercial and industrial use. We selected the quadcopter design because of its stability,
maneuverability, low flight zone and have very large payload.
The design of quadcopter consists of very lightweight aluminum frame attached by four motors that are
receiving power from electronic speed controller (ESC) that allow to communicate with the
microcontroller which in turn control the speed of each individual motor. This design while simple in
theory, gives us a very flexible and robust platform when implementing various design elements. Use of
four brushless motor direct current (BLDC) motors in copter design is able to change direction, hovering,
elevation and tilt rapidly. This Quadcopter design implemented a multiple axis accelerometer and
gyroscope to implement six degree of freedom which reads the information regarding the status of
Quadcopter. The use of these sensors allows us to maintain stability in constantly changing the
atmospheric condition and maintaining the stability in flight as well at the same time.

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Aim:
Our design goal for UAV is to build a quadcopter that is capable of providing stable flight in order to
survey the UAVs surrounding. We choose a quad rotor system that uses an accelerometer, barometric
sensor and gyroscope to provide stability in flight.
Scope:
Our goal for UAV is to build a multirotor plane that is capable for stable flight in order for aerial
surveillance for surroundings. We choose quad rotor system that uses an accelerometer, barometric sensor
and gyroscope to provide stability while in flight. The quadcopter would also have the ability to take carry
additional payload in order to attach camera for video surveillance and other sensors as well.
Background study:
Research and development of unmanned aerial vehicle (UAV) and micro aerial vehicle (MAV) getting
high encouragement nowadays, which operates without a human pilot. In earlier 1990s UAVs were uses
for military operation practices. With the passage of time and maturing of application, technology
demanding things to be very Diminutive and efficient so that they can be very effective and have
more productivity as capered to earlier technology belonging or stuff. Similarly in the field of
UAV must also have to be diminutive than, earlier one, thus this motivation gives up an idea to
build, design and implement a multirotor.
Quadcopter has several advantages over conservative or conventional helicopter design is that it has very
simple mechanical design with very low flight mode. Beside this, quadcopter change direction by
manipulating the propellers speed individually and does not require any cyclic collective pitch control and
rotation like in conventional helicopter exhibit.

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CHAPTER 1
This chapter is about the hardware which is used in this project. Hardware has been divided into
two parts. The first one is structure and the second one is electronics components.This chapter
provides brief knowledge about structure and material used in this project.
1) Structure:
1.1 Suitable Structure Material:
The main part of the structure is frame. The materials for making the frame are carbon fiber,
aluminum and plywood etc. The theme of the material is that the material should be rigid and
light weight. Plywood is the best choice for this. It is very light weight but also very sensitive
and could easily be broken into pieces. In order to avoid such incidents carbon fiber could be
used. Although it fulfills both requirements i-e light weightiness and rigidness but the reason for
not using this is that it is very costly.
1.2 Selection of Material:
After considering all characteristics of these materials, the group decided to choose aluminum for
the frame. The main reason for selecting aluminum is its cost effective property. Also it is
available even on a very short notice. On the other hand it has some draw backs but the main
disadvantage is that it produces some sort of vibration which is totally undesirable but the good
thing is that it could be minimized by using vibration damper or other phenomena which is
discuss later.
1.3 Design:
Frame consists of four round hollow pipes with base of aluminum. The length of each pipe is 12
inches. These pipes are connected in X-shape configuration. All these pipes are perpendicular to
each other. The dimensions of frame should be measured very carefully because the frame is
only responsible to provide stable flight platform. The one edge of these pipes is connected with
the base, while on the other edge motor will be mounted. As shown in figure.

The mot
motor, ba
give stab
centered
1.1.2 Se
The hard
Moto
highe
used
only
moto
perm
on sta
or to motor
attery, came
bility and hig
at 0 gravity.
election of
dware require
1. Moto
or that used
er efficiency
to perform
use for ligh
r is differen
manent magn
ator winding
r distance is
era, flight co
gher maneuv
.
f Hardwar
ed for better
ors:
in this proje
y; because of
heavy weigh
ht pay load.
nt than the
et while sta
g will tend to
Pa
24 inches.
ontrol board
verability in
re:
flight and st
ect is brushle
f absence of
ht tasks. Wh
They canno
convention
ator has wind
o rotate the r
ge 12 of 35
The chassis
and other n
n flight. To
tability are l
ess DC moto
f brushes it h
hile on the o
t able pick h
nal DC mot
dings. After
rotor, as a res
s of frame i
necessary com
achieve this
listed below.
or. The main
has minimum
other hand t
heavy loads
tor, the roto
r excitation,
sult the moto
is responsib
mponents w
s result the f
.
n purpose o
m current los
the normal D
s. The constr
or of a mo
the magnet
or start spinn
le for conta
which will us
frame need
of using this
ss that’s why
DC motors c
ruction of B
otor consist
ic flux gene
ning
aining
sed to
to be
is its
y it is
could
BLDC
of a
erated

a. Princ
The b
b. Stato
pattern
these
low to
is app
efficie
c. Rotor
Depen
may v
speed
ciple:
asic principl
or:
The stator
ns either in
two is the st
orque at low
plied across t
ency and tor
r:
The rotor
nding upon
vary. By inc
would poss
Pa
le of the mot
r of a motor
delta (∆) o
tar pattern gi
RPM. This
the winding
que.
of a typical
the applicat
creasing the
ibly decreas
ge 13 of 35
tor is listed b
has windin
or in star (Y
ives higher t
is because i
that is not d
l BLDC mo
tion requirem
number of
e.
below.
ngs. These w
Y) pattern. T
torque at low
in the ∆ conf
driven, thus i
otor is made
ments, the n
f poles we c
winding can
The main dif
w RPM, whil
figuration, h
increasing lo
e out of per
number of p
can get bette
be arranged
fference bet
le ∆ pattern
half of the vo
osses and, in
manent mag
poles in the
er torque bu
d in 2
tween
gives
oltage
n turn,
gnets.
rotor
ut the

m
pr
w
is
n
co
m
The BLD
as an inp
typical A
rapidly s
but also
Eliminati
powering
d. Specs
motor is 24
roduced whe
weight of 120
s opposite m
et torque w
ontroller (E
motor. The A
2. Elect
DC motors ar
put and will
AC; it is a DC
witching per
to vary th
ion Circuit
g up the rece
s & Opera
The mo
Amps. The
en 1volt is a
00g.The wei
motor will sp
will be equal
sc). The Es
Amps of Esc
tronic Spe
re three phas
convert it in
C but in the
rform this ac
he speed an
(BEC) whi
eiver.
Pa
ation:
otor requires
KV rating
applied. The
ight of moto
pin in the sam
l to 0. Each
sc will respo
will be great
eed Contro
se so they ne
nto 3 phase
form of step
ction. The ro
nd the direc
ich eliminat
ge 14 of 35
s 11.1volts f
of motor is
thrust of eac
or is 59g. Th
me direction
h motor is
onsible for
ter than the
oller:
eed an extra
DC current.
ps. The ESC
ole of ESC i
ction of mo
es the need
for excitation
s 1200 whic
ch motor is
he direction o
n to counter
controlled b
varying the
amps of the
a circuitry wh
. Actually th
C has transis
is not only p
otors. This
d of extra b
n. Ampere r
ch means th
1200g mean
of motor is a
the torque e
by its own
e speed and
motor.
hich will tak
he output of
stors in its ci
providing the
controller a
battery or p
required by e
hat 1200 rpm
ns motor can
alternated i-e
effect, so tha
electronic s
direction o
ke the DC cu
the ESC is
ircuitry whic
e 3-phase cu
also has Ba
power sourc
every
m are
n lift a
e that
at the
speed
of the
urrent
not a
ch by
urrent
attery
ce for

3. B
Quadcop
of 4000 m
also prov
enduranc
Battery:
pter operates
mAh and a m
vides power
ce of the craf
on 11.1 volt
max current
to all indiv
ft depends on
Pa
tlithium-ion
of 120 Amp
idual circuit
n dischargin
ge 15 of 35
polymer (lip
ps. Motors r
ts providing
ng of the batt
po) 3 cells b
require 11.1
a stable 5 v
tery.
battery which
volts to ope
volts to the
h carries a ch
erate. The ba
APM board
harge
attery
d. The

4. P
This is al
on flight
the load
diameter
5. RF T
RF Tx a
channels
and 2 mi
Propellers
lso an impor
because its
and as a res
and 6cm in
Transmitte
and Rx is a
and works o
lliseconds re
rtant factor o
pitch will be
ult lower wi
pitch.
er and Rec
wireless co
on the bandw
espectively.
Pa
of the projec
e treated as
ill be endura
ceiver:
ontrol used
width of 2.4
ge 16 of 35
ct. The size
a load on th
ance. The pr
for pre plan
GHz. The s
Figure 7
and pitch of
he motor, gre
ropellers use
nned or ma
ignal freque
f propeller h
eater the pitc
ed in this pro
anual flight
ency and tim
has a great im
ch greater w
oject are 10c
control. It h
me period is 5
mpact
will be
cm in
has 6
50 Hz

This chap
2.1 Elec
This is th
available
2.2 Sele
After lite
main adv
both hard
UAV is a
2.3Fligh
The boar
power m
pter is about
ctronic Ha
he second p
e for this kind
ection Pha
erature review
vantages due
dware and s
available on
ht Contro
rd consists
odule, powe
t the detailed
ardware:
part in hardw
d of UAV.
ase:
w and discu
e to which w
software, all
a single chip
ller Modu
of different
er protection
Pa
C
d discussion
ware. This i
ssion with su
we select thi
l the sensors
p.
ule:
modules i.e
unit, GPS e
ge 17 of 35
hapter 2
on electroni
includes the
upervisor, d
s board for
s that are ne
e. IMU, pro
extension.
ic parts that a
best possib
decided on op
the project
eeded for st
ocessing uni
are used in t
ble microcon
pen source f
are this is a
table flight a
it, I/O ports
this project.
ntroller boar
fight module
an open sour
and maneuv
s, telemetry
rd for
e. The
rce in
ver of
port,

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• Arduino language compatible.
• I/O ports, allowing user to change according to as per requirement.
• 3-axis gyroscope, accelerometer and magnetometer sensors.
• Onboard 16MB data flash chip for automatic data logging.
• IMU 6 Degree of Freedom.
• Barometric sensor.
• Atmel's ATMEGA2560 and ATMEGA32U-2 chips for processing.
It has digital and analog input/output ports. This takes the analog or digital signal as an input and
then processes it or customize it according to requirement and then send it to the output to
complete the operation.
The board has 8 digital and 8 analog pins, which works on 5 volts.
2.4 IMU (Inertial Measurement Unit):
This is an electronic module embalmed on the board which measure velocity and acceleration of
the aircraft and now days also used in the UAV’s. This unit basically consists of different sensors
such as accelerometer, gyroscope and magnetometer. This unit manufactured and designed for
maneuvering of aircraft UAV’s and many other spacecraft’s. This is all possible with the help of
the combination of the sensor values, which is then, passed to the processor.
2.4.1 Gyroscope:
It is a device used to measure or retain the orientation of the aircraft or also used to
measure the angular velocity based on the principle of angular momentum. Gyroscopes basically
measure rotational velocity in 1, 2, or 3 directions or axis. In this project, we use 3-axis
gyroscope. The gyroscope measures the angular velocity in degree per second.
For accurate monitoring of fast and slow motions, this parts feature user-programmable
gyroscope of full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps).:

2
A
and vibra
3 axes. T
a test ma
shows th
When th
and in th
ensure th
of ±2g, ±
.4.2 Accel
Acceleromete
ation of craft
The accelero
ass body whi
he acceleratio
e mass attac
his way acce
he accuracy
±4g, ±8g, and
lerometer:
er is a device
ft in a space
meter measu
ich is placed
on of a body
ched to the s
eleration pro
in all aspect
d ±16g.
Pa
:
e that accura
or in any fra
ures the acce
d at rest in th
y which is at
spring is dis
oduced in tha
ts, the accele
ge 19 of 35
ately detects
ame of refere
eleration by
he frame of r
t rest is 9.8 m
splaced the s
at body whi
erometer use
or measure
ence. It dete
experiencin
reference. Fo
m/sec2
straig
spring tries t
ich will sens
ed is user-pr
the accelera
ects the accel
ng the weigh
or-example t
ght upward d
to retain its
sed by the a
rogrammable
ation in tilt, s
leration in 1
ht of that bod
the accelerom
due to its we
original pos
acceleromete
e full-scale r
shock
, 2 or
dy by
meter
eight.
sition
er. To
range

2
M
UAV’s. I
three dim
interferen
(measure
2.5 Bar
Similarly
sensor de
sensing t
this devic
height fo
check th
height w
based on
decade. T
of both p
.4.3 Magne
Magnetomete
It is also cal
mensions, bu
nce, the mag
ed by an acce
rometric se
y for measur
evice, and w
the variation
ce is set the
or the flight
e height rap
hich was fix
n leading tec
The applied
pressure and
etometer:
er is comm
lled as a dig
ut does not n
gnetometer
elerometer)
ensor:
ring the alti
we all know
n in air press
particular he
than it will
pidly becaus
xed. The bar
chnology tha
sensing prin
temperature
Pa
only found
ital compass
necessarily p
measures E
can be used
itude barom
that pressur
sure and give
eight. For ex
l automatica
se we know
rometer sens
at is micro-e
nciple in this
e signal.
ge 20 of 35
on smart d
s as it measu
point north.
Earth’s magn
to determine
meter will co
re is varied w
es the altitud
xample befor
ally go to th
that craft w
sor used in t
lectromecha
s sensor has
devices like
ures the stre
In environm
netic field w
e the 3-dime
omes in acti
when we go
de according
re or during
hat height. In
will manage
this project i
anical system
low error, l
e mobile, ta
ength of the
ment that is
which combi
ensional orie
ion. Barome
o upward so
g to it. Anot
flight if we
n this way w
itself to att
is a new gen
m which has
losses and ha
ablets space
magnetic fie
free of mag
ined with gr
entation.
eter is a pre
the barome
ther way of u
set the parti
we don’t ne
tain the desi
neration altim
s been using
ave high sta
ecraft,
eld in
gnetic
ravity
essure
eter is
using
icular
eed to
irable
meter
g over
ability

2.6Onb
T
from flas
base with
2.7 Atm
2
board 16 M
This is use to
sh after fligh
h help wirele
mel's ATM
.7.1 ATM
Microcont
Operating
Input Volt
Input Volt
Digital I/O
Analog Inp
DC Curre
DC Curre
Flash Mem
SRAM
EEPROM
Clock Spe
MP Data fl
o log data c
ht. And then
ess commun
MEGA2560
MEGA2560
troller
g Voltage
tage (recom
tage (limits)
O Pins
put Pins
nt per I/O P
nt for 3.3V
mory
M
ed
Pa
lash chip o
coming from
n the data is
ication whic
0 and ATM
0:
A
mmended)
)
Pin 4
Pin
2
4
ge 21 of 35
on board:
m different m
analyzed. T
ch is an exten
MEGA32U
ATmega256
5V
7-12V
6-20V
54 (of which
16
40 mA
50 mA
256 KB of w
8 KB
4 KB
16 MHz
Table 2.1
modules. Th
This data is a
nsion of this
U-2 chips
60
h 15 provide
which 8 KB
1
he recorded
also transmit
s project.
for proces
e PWM outp
used by boo
data is ach
tted at runtim
ssing:
put)
otloader
ieved
me to

2.7.2 ATM
F
P
M
C
N
M
E
U
U
MEGA32U-
Flash (Kbyte
Pin Count
Max. Opera
CPU
No. of Touch
Max I/O Pin
Ext Interrup
USB Transc
USB Speed
Pa
-2:
es)
ting Freque
h Channels
ns
pts
ceiver
T
ge 22 of 35
32
32
ency 16
8-b
12
22
20
1
Ful
Table 2.2
Kbytes
MHz
bit AVR
ll Speed

of 35
Chapter 3
3.1 Software Implementation:
Project is programmed in C language because this language is familiar to everyone and easy to
program. In order to program our Quadcopter we go through from many forums. DIY drone’s
forums give very effective information and help to build a multi rotor.
3.2 Methodology:
From the beginning of project, first it was figured out that how to speed the motors and how to
control each motor individually. Electronic speed controller (ESC) used to control the speed of
motor. ESC is a small circuit device that has purpose to vary the speed and the direction of
motor. The principle of ESC is to provide the variable current according to the throttle
positioning in RC. Current vary in ESC by the help of pulse width modulation scheme.
Regardless of the type used ESC, interprets control information not as a mechanical motion
instead of this in a way that varies the switching frequency of a field effect transistors. The rapid
change of switching frequency causes the motor to vary the speed. The switching of ESC is
controlled by the duty cycle of PWM given by the microcontroller flight controller module.
Schematic Wiring for Motor:
Four motor with ESC are connected through flight controller module. Each motor is connected to
individual ESC so that the signal coming from microcontroller can be change for each motor for
respective change in speed, control and stability. In Appendix there is schematic diagram for
wiring.
3.3 Pulse width modulation:
Pulse width modulation PWM is an efficient modulation technique that provides intermediate
amount of power between full cycles of wave. The power delivered can be vary by varying duty
cycle of input wave. The duty cycle describes the portion of wave that has to be delivered to
device for operation, either this duty cycle can be corresponds to low power or high power. If
power delivered to device is fully high it corresponds to 100% duty cycle mean fully ‘ON’, if

low; then
give diffe
each mot
In practic
cycle is a
achieved
different
n correspond
ferent amoun
tor speed for
cal it is imp
achieved. In
d is 94% from
duty cycle c
ds to 0% dut
nt power to e
r stable fligh
ossible to ac
n this project
m Transmitt
checked by o
Pa
ty cycle or f
each motor.
ht.
chieve 100%
t we use PW
ter or from m
oscilloscope
ge 24 of 35
fully ‘OFF’
Thus this pr
% duty cycle
WM scheme
microcontrol
are.
the variation
rinciple is a
e or fully ‘O
to driven m
ller board. B
n in duty cy
an efficient s
ON’. Practica
motor as wel
Below given
ycle made ES
scheme to co
ally 92-98%
l. The duty
n diagrams s
SC to
ontrol
% duty
cycle
shows

3.4 Soft
To main
accelerom
reading
accelerom
movemen
3.5PID
The Quad
accelerom
controlle
tune the P
motors w
balance i
PID loop
discussio
tware filte
ntain a stab
meter provid
the angular
meter and t
nt of the qua
:
dcopter softw
meter so that
r has a very
PID control
will react qui
in order to m
p showing th
on on how Q
ering:
ble flight m
des the accur
r measurem
the gyroscop
ad copter in o
ware also us
t the input of
quick respo
loop by chan
cker when it
make our qua
e putout is f
Quadcopter fl
Pa
many sensor
rate short ter
ment over a
pe which sc
order to mai
ses a PID con
f microcontr
nse and able
nging the va
t detects a ch
ad copter hov
feedback to i
light and pos
ge 25 of 35
are assemb
rm measurem
a longer ti
cales the ou
intain its stab
ntroller to re
roller can be
e to balance
alue in micro
hange in ang
ver successfu
input to mini
sition contro
bled on flig
ments, wher
ime. This c
utput depen
bility and co
eject errors in
e made more
the complete
ocontroller s
gle. We have
fully. Below
imize the err
ol algorithm
ght controll
eas the gyro
copter asse
nding on th
ontrol in fligh
n reading of
e accurate an
ely. For exam
uch that the
e to find the
there is give
ror in the rea
works is dis
ler module.
oscope is bet
embled both
e speed and
ht.
f gyroscope a
nd precise. PI
mple we can
Quadcopter
perfect PID
en diagram o
adings. A de
scussed below
The
tter in
h the
d the
and
ID
n
r
of
etail
w.

3.6 Flig
The Qua
angles no
working
changing
vertical a
From a te
need con
just need
is extrem
autonom
For hove
rotors are
avoid th
affecting
adjustme
In order
earlier. T
each roto
ght Contr
adcopter pos
ot only repre
of these ang
g the roll wi
axis. As show
echnical poi
ntinuously ve
ds to vary the
mely difficu
ously. This r
ering the Qu
e clockwise
he Quadcopt
g its flight, s
ent of flight p
to fully cont
To change th
or. This mak
rol Algori
sition can b
esent the po
gles is that b
ill bend it t
wn in figure
nt of view, t
ery minute a
e speed of ea
ult, so a f
requires an e
uadcopter in
while other
ter from sp
so hovering
parameters t
trol the Qua
he pitch and
es the Quadc
Pa
ithm:
e represente
osition but a
by changing
o left or rig
.
F
the balancing
adjustment t
ach rotor. As
flyable Qua
enough contr
air each ro
two are anti
pinning. In
is not a sim
o make this
adcopter it ju
roll angles,
copter start b
ge 26 of 35
ed by three
lso the direc
pitch the Q
ght and fina
Figure 3
g of Quadco
to makesitse
s performing
adcopter mu
rol system fo
tor generate
-clockwise t
atmosphere
mple task or
possible.
ust need to c
the main id
bending in d
angles i-e P
ction of the
Quadcopter w
ally Yaw wi
opter is a ver
elf completel
g these adjus
ust be able
for perfectly
es equal amo
to maintain t
e there are
r fixed settin
control the 3
dea behind th
desired direc
Pitch, Roll,
craft. A litt
will go forw
ill make it r
ry challengin
ly balanced,
stments man
e to perform
balance the
ount of lift.
the net torqu
different p
ngs. It requi
angles whic
his is to cha
tion.
and yaw. T
tle descriptio
ward or backw
rotate aroun
ng task. The
, and to do t
nually in real
m these ac
Quadcopter
The four of
ue equals to 0
arameters w
ires continu
ch are menti
ange the spe
These
on on
ward,
nd the
e craft
this it
l time
ctions
.
f two
0 and
which
ously
ioned
eed of

For exam
same am
horizonta
to move
vertical c
to avoid
3.7 Pos
Position
3-axis ac
position o
mple, to roll
mount. This m
al and vertic
in the direc
component i
it from fallin
ition contr
measuremen
ccelerometer
of the Quadc
and pitch, o
makes the c
cal compone
ction paralle
s smaller tha
ng, the thrus
rol:
nt control is
r. These tw
copter in air
Pa
one motor’s
raft to tilt. W
ents. This ca
el to x-axis.
an the horiz
t of every m
F
provided by
wo sensorsc
.
ge 27 of 35
thrust is inc
When it tilts
auses two thi
Second, as
ontal one. T
motor is then
Figure 4
y aIMU. A c
ombine to
creased and t
s, the force
ings to happ
the force v
This cause th
being increa
ircuit board
work toget
the other is
vector is br
pen. First the
vector has n
he craft begin
ased to comp
which has a
ther to prov
decreased b
roken down
e craft will b
now been bro
n to fall. In
pensate it.
a 3-axis Gyro
vide an acc
by the
in to
begin
oken,
order
o and
curate

of 35
Each PID controller takes the control input from the respective sensor and adjusts its setting
accordingly. For example a pitch controller takes an input and adjusts a set point value. For
stable hovering, the set point of each controller must be zero. This is the state where the
Quadcopter is completely level with the ground. In order to move the craft, the set point would
be adjusted up or down to ta make the craft tilt in the desired direction. For example the roll
controller receives an input from gyro sensor and indicating that the Quadcopter has roll down to
certain degree or tilted forward. After receiving this input, the controller will calculate all the
offset between front and rear motor in order to correct this tilt. Suppose the Quadcopter will tilt
to 10 degrees forward and the set point is 0 degree, for instance, the Roll PID generate an output
indicating that the front motor is significantly receiving more power than then the rear one. So as
a result the front motor will getting more power and the Quadcopter will tilt back and make itself
to the level. If the PID loop is properly tuned, the output of PID will cause the craft return to its
level position without causing any overshoot or tilting it to any other direction. And in order to
find the correct tuning of PID, it requires very careful testing of assembled Quadcopter.
The output that is sent to each motor is the combined effect of these three PID controllers. For
example in the above example, the front motor’s speed is determined by adding the output of
Roll controller and the Yaw controller to a base speed set by the user. For performing these
action without any delay all of these calculations must be performed approximately every 12
milliseconds. If the rate will significantly slower than this, there will a delay and Quadcopter
cannot correct itself fast enough to stay in the air.

of 35
Problems & Conclusions:
After implementing and mounting all the components on the Quadcopter, the craft was ready to
takeoff. Before the first flight every member of the group wasn’t able to guess its behavior.
There are many unresolved problems till the moment. The main one is that quad wasn’t liftoff in
a level flight i-e it was not able to takeoff vertically. The group had done some testing and
determined that unbalanced flight occurs when the throttle was not at its maximum position. The
flight seems to be more level when throttle isat maximum but at that position the Quadcopter
leaps so quickly in air that it was very difficult to control. Currently the group is working in this
problem to fix it and get the stable flight. At that moment we think that the problem might be the
communication between motors, and the ESC or the board is not sending right information to the
motors. Now the project is in its final stages and has completed several flight tests by tethered it
with the hooks on ground so that no damage will done on its falling. Although a lot of work will
remain but the group is optimistic and tried to complete the work at given deadline.
There are some flight attempts and problems after these attempts are listed below.
1. 1st
Flight:
In this flight it was observed that the four of one ESC is not providing enough RPM to its
respective motor so that the Quadcopter was unable to fly.
2. 2nd
Flight:
The connections of ECS to the motor had now been changed to confirm the detected
problem. Again dissymmetry of lift has occurred.
3. 3rd
Flight:
The disordered ESC has now been replaced by the new one. The Quadcopter has now lift
a couple of inches from the ground but rotate itself in counter clockwise direction i-e
yawing in counter clockwise direction.
4. 4th
Flight:
Adjusted the yaw by decreasing the trim through several knocks and gave another flight.
The Quadcopter tries to lift but rolling towards its right.

of 35
5. 5th
Flight:
Adjusted the roll by decreasing the roll trim to several knocks towards left but again the
effective result were not been achieved.
6. 6th
Flight:
Again adjusted the roll trim towards left and gave flight but this time the result were in
some acceptable manner. But that time the Quadcopter pulling its nose more up than the
whole body. It shows has that pitch has to be adjusted.
7. 7th
Flight:
Decreasing the pitch trim to several knocks and gave flight. But would not able to fly it
couple of feet from the ground, because the Quadcopter was not taking off vertically and
respond was sluggish.
8. 8th
Flight:
To counter this problem Major Zia adjusted the trim of available channels and gave
another flight, but again the same result.
9. 9th
Flight:
The screws of the body were loose and frame produces some sort of vibration which
prevent the Quadcopter to take off vertically.
10.10th
Flight:
This attempt indicate that the components which were mounted on Quadcopter body were
not properly distributed that’s why the Quadcopter either tends to roll, rotate or pitching
itself to any direction instead of vertical takeoff.
Conclusions:
This project proves that small UAVs are useful across a broad range of applications. After
completing this project the group is able to completely understand the flight control system,
aerodynamic control and the parameters which force the craft to lift off the ground. The theme of

of 35
this project is to design the sustainable and flexible platform for Quadcopter. This platform is
able to sustained flight at a height of couple of feet. This platform can further outfitted by
implementing different sensors such as IR sensors, telemetry kit, and wireless communication to
expand the flexibility and usefulness of the Quadcopter. This project increases the interest in
Robotics and autonomous design knowledge, which will serve useful throughout the professional
carrier.

APPEN
S
NDIX:
Schematicss and Wiri
Pa
ing Diagra
ge 32 of 35
am

Pa
W
ge 33 of 35
iring Diaggram

of 35
Components Description:
The aim of this project is to develop, design and implementation of a RC Quadcopter using of the shelf
components. Thus the components for this Quadcopter have to be chosen such that they can easily be
available in the market under limited finical budget. The following parts are chosen on the basis of
proposed design of the Quadcopter. Some of these parts were had hard to obtain in the vicinity thus had to
ordered from overseas vendor which led to inevitable shipping delays in project schedule; all parts
received and tested first properly their functionality and operation. These are of very high quality and are
able to withstand rigorous testing process.
Parts Manufacturer Vendor Cost
Flight controller board Arduino Aliexpress.com 23000/-Rs
Brushless Direct
Current Motors
EMAX Hobby King 7000/-Rs
Electronic Speed
Controllers
Fly Fun Hobby King 10800/-Rs
Battery With Charger Lipo Hobby King 9500/-Rs
Propellers N/A Hobby King 500/-Rs
Aluminum Frame Qasim Aviation Base N/A -
Total N/A N/A 50800/-Rs

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