[ELECTRICAL 6th SEM.]

[Four rotor Drone] | Ashish Patel, Ashish Parmar, Jitu Baidiyavadra, Ravi Parmar

2017 [QUADCOPTER DRONE]

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

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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]

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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.

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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

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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.

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,

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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.

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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

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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.

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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.

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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.

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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.

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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

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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.

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Chapter-2.3

DC BRUSHLESS MOTOR

C

h

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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

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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

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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.

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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.

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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.

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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.

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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.

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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.

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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

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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

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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.

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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

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,

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

40

Chapter-2.7

RECIEVER

2

Apart from the KK controller board we’ve Hexa Quad

Flight controller boards in the market.

41

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.

42

Chapter-3

BLOCK DIAGRAM

C

43

Chapter-4

LAYOUT OF QUADCOPTER

C

44

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.