REMOTE CONTROLLED QUADCOPTER - • A quadrotor helicopter that is lifted and propelled by four rotors and controlled by remote by making variation in the speed of is four motors. • 4 BLDC motors used as rotor which are controlled by the 4 ESCs connected with the FCB. • 6 channel Transmitter and Reciever is used to communicate with the on board FCB with proper calibration. • PI settings need to be done in its Aileron, Elevator, Rudder with different configurations of the remote sticks and the other level settings. • Whole system of Quad is powered by 12V LiPo battery.

1. Eagle Eye
The Quadcopter
The project goal was to design a semi-autonomous
Quadcopter capable of self-sustained flight via wireless
communications while utilizing a microcontroller. The
Quadcopter was designed to be small enough so that
costs would be minimized.
The scheduler program arranges the following tasks:
controller input, sensor data received from the
Accelerometer, Gyroscope, and Magnetometer. The
wireless transceivers use SPI to send control signals to the
microcontroller on the quadcopter from the handheld
controller unit.
Avinash Chandra

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Avinash Chandra
avinashchandra@yahoo.com
Contd.
EagleEye
1
QuadRotor
The Quadcopter
Contents
1. Introduction
2. Principle
3. Design
4. Parts
5. Working
6. Calibration
7. PI Settings
8. Testing
9. Flight
10.Conclusion
11.References
12.Glossary
13.Related Pictures and Ideas
The Working
Principle
A quadcopter, also
called a quadrotor
helicopter or quadrotor
is
a multirotor helicopter
that is 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).

3. Sunday, August 21, 2016
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EagleEye
Design
The Frame (Body); Material : Carbon Fibre
A quadcopter uses four motors connected to four fixed-pitch props.
They are literally propellers attached directly to motors, a sum total of a
single moving part for each of the four props. This makes them extremely
simple (and therefore low cost), and thanks to advances in high power-
density electric motors and power semiconductors, also very easy to
control.The four motors are directly attached (Mechanically strong) to
the respective frame’s edges.

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Avinash Chandra
avinashchandra@yahoo.com
Contd.
EagleEye
3
Parts
1) BLDC Motor(s)
KV (rpm/v): 1000
Max Power: 190W
Max Thrust: 920 grams
Weight: 53 grams
Shaft Diameter: 3.175mm
Shaft Length: 45mm
Max Speed at 12V: 12000 rpm
As the name implies, BLDC (Brushless DC) motors do not use brushes
for commutation.They are electronically commutated & the advantages are :Better speed vs
torque characteristics, High efficiency with Noiseless operation & very high speed range with
longer life.
2) Electronic Speed Controller (ESC)
The ESC as used in radio controlled craft performs.
Its Primary function is to take the receiver’s and/or flight controller’s signals and apply the
right current to the motors.
Each BLDC motor need an ESC .ESC Regulates power to the motor according to the input
throttle level. It also provides +5V power for the flight electronics.ESC is built on 32 bit
Microcontroller (ARM/AVR) & has an array of MosFets to drive BLDC motor.The Firmware
of ESC is factory programmed.

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EagleEye
3) Flight Control Board (FCB)
Size: 50.5mm x 50.5mm x 12mm
Weight: 21 gram (Inc Piezo buzzer)
IC: Atmega644 PA
Gyro/Acc: 6050MPU InvenSense Inc.
Auto-level: Yes
Input Voltage: 4.8-6.0V
AVR interface: standard 6 pin.
Signal from Receiver: 1520us (5 channels)
Signal to ESC: 1520us
Its purpose is to stabilize the aircraft during flight. To do this it takes the signal from the
6050MPU gyro/acc (roll, pitch and yaw) then passes the signal to the Atmega644PA IC. The
Atmega644PA IC unit then processes these signals according the users selected firmware
and passes control signals to the installed Electronic Speed Controllers (ESCs). These signals
instruct the ESCs to make fine adjustments to the motors rotational speed which in turn
stabilizes the multi-rotor craft.
4) Radio 2.4GHZ TX/RX – Transmitter & Controller

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Avinash Chandra
avinashchandra@yahoo.com
Contd.
EagleEye
5
An RC Transmitter (2.4 GHz RC radio transmitter) is used to direct the quadcopter’s direction
and position. A 2.4 GHz RC radio receiver on the quadcopter receives commands from the
RC transmitter on the ground. (One way link).
The transmitter is the hand-held controller used to remotely control the craft. The
transmitters have two sticks, two trim buttons or a slider per stick, a number of switches, a
display, and a power button.
5) Lithium-Polymer Battery and Charger
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.
Charger is used to charge the Li-Po batteris, charging time is usually from 08-12 hrs.
6) Propellers
1045 – 10″ diameter and 4.5″ pitch – this is the most popular one, good for mid-sized quads.
Propeller pairs spin in each direction, but also have opposite tilting, all of them provides lifting
thrust without spinning in the same direction. This makes it possible for the QuadCopter to
stabilize the yaw rotation, which is the rotation around itself.

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EagleEye
Working
Controls of Quadcopter
 Roll – Done by pushing the right stick to the left or right. Literally rolls the quadcopter,
which maneuvers the quadcopter left or right.
 Pitch – Done by pushing the right stick forwards or backwards. Tilts the quadcopter,
which maneuvers the quadcopter forwards or backwards.
 Yaw – Done by pushing the left stick to the left or to the right. Rotates the quadcopter
left or right. Points the front of the copter different directions and helps with changing
directions while flying.
 Throttle – To increase, push the left stick forwards. To decrease, pull the left stick
backwards. This adjusts the altitude, or height, of the quadcopter.
 The Rudder – You might hear this term thrown around, but it’s the same as the left
stick. However, it relates directly to controlling yaw (as opposed to the throttle).
 Aileron – Same as the right stick. However, it relates directly to controlling roll (left
and right movement).
 The Elevator – Same as the right stick. However, it relates directly to controlling
pitch (forwards and backwards movement).

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Avinash Chandra
avinashchandra@yahoo.com
Contd.
EagleEye
7
Remote Controls
Settings Applied to FCB ESC Throttle Calibration

9. Sunday, August 21, 2016
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EagleEye
PI Setttings and Thrust Analysis
Testing

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Avinash Chandra
avinashchandra@yahoo.com
Contd.
EagleEye
9
Conclusion
From the project based research I have done, it seems feasible to
design and build a quadcopter capable of mission support.
However, the final capability and scope will depend on the
progress and goals established throughout the entirety of next
attempt. I will decide in which direction the project should go to
make the most practical impact that can be accomplished in a
single year of work.
While the initial goal of creating an autonomous quadcopter
capable of sensing obstacles was not reached in this attempt, I still
learned a substantial amount about robot design, fabrication,
control, PI settings, Thrust calculation and Science behind
Aerodynamics.
I used the spring test rig to determine the motor and propeller
thrust for various PWM signals. I used this information for
quadcopter frame down selection and control.
I learned important soldering and electric system fabrication skills
including making a power harness and digital to analog motor
control in these 8 weeks I succeeded in stabilizing the quadcopter
in two degrees of freedom.
The end of the project is bittersweet. I am proud of the
accomplishments, but wish that there were more time and
financial support to improve the quadcopter. For the next attempt
I would further fine tune the stability and add code to handle yaw
and translation in the XYZ-axes. I would also implement the
ultrasonic sensors for obstacle detection and avoidance as in the
initial goal.

11. Sunday, August 21, 2016
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EagleEye
Reference
 Wikipedia
 UAVCoach.com
 Hobbyking.com
 Control Theory
 Aerodynamics (Mechanics of Flight)
 Radio Communication
Glossary
 BLDC: Brush Less DC (Direct Current) ; Motor
 ESC: Electronic Speed Controller
 FCB: Flight Control Board (KK2.1.5 used)
 GHz: Giga Hertz
 IC: Integerated Circuits
 KV: K V is the motor velocity constant
 SPI: Serial Peripheral Interface
 LiPo: Lithium Polymer
 PI: Proporttional Integeral
 PID: Proportional Integeral Derivative
 Props: Propellers
 RC: Remote Controlled

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Avinash Chandra
avinashchandra@yahoo.com
Contd.
EagleEye
11
Related Pictures and Ideas
FCB after Assembling on Quadcopter Quadcopter in Safe Mode
Final Design of Quadcopter with Props

13. Sunday, August 21, 2016
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EagleEye
ESC Calibration through software
During Competetion National Robo-Lympiad