VISVESVARAYA TECHNOLOGICAL UNIVERSITY

JnanaSangama,Belagavi–590018

Main project report on

“FLYING TO RESCUE: THE FUTURE OF AIR AMBULANCE DRONE”
Submitted in partial fulfilment of the requirement for the award of degree
of

BACHELOR OF ENGINEERING
UNDER
VISVESVARAYA TECHNOLOGICAL UNIVERSITY

Submittedby:

LOHITH M R [1RR21RA011]
TRISIT PAUL [1RR21RA021]
NITHIN K [1RR22RA400]
DORE CHANDRA R [1RR21ME003]

Under the guidance of:

Dr. THANUJ KUMAR . M

Associate Professor
[Link] RA
DEPARTMENTOF ROBOTICS AND AUTOMATION

RAJARAJESWARI COLLEGE OF ENGINEERING

[ NBA & NAAC Accredited, affiliated to VTU, Belagavi, Approved by AICTE,NewDelhi ]
#14 ,RamohalliCross ,Mysore Road, Kumbalagodu, Bengaluru -74

2024-2025
 RAJARAJESWARI COLLEGE OF ENGINEERING
[NBA & NAAC Accredited, affiliated to VTU , Belagavi ,Approved by AICTE ,NewDelhi]
#14,Ramohalli Cross, Kumbalgodu, Mysore Road, Bangalore-560074

DEPARTMENT OF ROBOTICS AND AUTOMATION

ENGINEERING

CERTIFICATE

This is to certified that the project work entitled “FLYING TO RESCUE: THE
FUTURE OF AIR AMBULANCE DRONE” is a bonafide work carried out by
LOHITH M R [1RR21RA011]TRISIT PAUL [1RR21RA021] NITHIN K
[1RR22RA400] DORE CHANDRA R [1RR21ME003] in partial fulfilment for the
award of Bachelor of Engineering in Robotics and Automation of the Visvesvaraya
Technological University, Belagavi during the year 2024-2025. It is certified that all
corrections & suggestions indicated for internal assessment have been incorporated in
the report &deposited in the departmental library. The main project report has been
approved as it satisfies the academic requirements.

Signature of the Signature of the

Guide
Coordinator

(Dr. Thanuj Kumar M) (Dr. Satheesha

V)

Signature of the Signature of the

HOD Principal

(Dr. Satheesha V) (Dr. Balakrishna R)

Name of the Examiners: Signature with date:

1.
------------------------
2.
ii
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 DECLARATION

We, LOHITH M R [1RR21RA011] TRISIT PAUL [1RR21RA021] NITHIN K

[1RR22RA400] DORE CHANDRA R [1RR21ME003] students of 7th semester BE in Robotics

and Automation, Raja Rajeswari College of Engineering, Bengaluru here by declare that the project work
entitled“FLYING TO RESCUE: THE FETURE OF AIR AMBULANCE DRONE”submitted to
the Visvesvaraya Technological University during the academic year 2024-25, is a record of an original
work done by us , under the guidance of Dr. Thanuj Kumar M, Designation, Robotics and Automation,
Raja Rajeswari College of Engineering, [Link] project work is submitted in partial fulfillment of the
requirements for the award of the degree of Bachelor of Engineering in Robotics and Automation. The results
embodied in this have not been submitted to any other University or Institute for the award of any degree.

NAME OF THE STUDENTS:

DATE:
LOHITH M R [1RR21RA011]
PLACE: BENGALURU TRISIT PAUL [1RR21RA021]
NITHIN K [1RR22RA400]
DORE CHANDRA R [1RR21ME003]

iv
 ACKNOWLEDGEMENT

We here by take this opportunity to express our sincere gratitude to the following eminent
personalities whose aid and advice helped us to complete this project report work successfully without any
difficulty.

Firstly, we would like to thank Dr. A. C. Shanmugam, Founder of RajaRajeswari Group o

fInstitutions for providing us the opportunity to complete our Bachelor of Engineering in this institution with
support.

We would like to extend our profound gratitude to Dr. Balakrishna R., Principal, RajaRajeswari
College of Engineering, Bengaluru for facilitating us to present the project report.

We would like to thank our Head of the Department Dr. Satheesha V for guiding us for the project.

We would like to acknowledge our regards to our guide, Dr. Thanuj Kumar M, Associate
Proffessor, Robotics and Automation, RajaRajeswari College of Engineering, Bengaluru, whose valuable
inputs have made us richer in terms of knowledge and also for guiding us at place where everything was not
familiar and also his consistent motivation and encouragement.

We would like to acknowledge our regards to our project coordinator Dr. Satheesha V, Associate
Professors, Robotics and Automation department, for their encouragement and valuable guidance.

We take this opportunity to express our gratitude to all teaching and non-teaching staff of the
Department of Robotics and Automation and those individuals who helped and motivated us at different
times in our career. Last and not least, our heartfull thanks to our dearest family for their reliable support and
prayers forever.

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ABSTRACT

The project aims to assemble and program a hexacopter drone that can serve the
purpose of surveillance in terrains and the delivery of medical kits in remote locations
autonomously. Delivery of medical kits using drone technology resolves traffic issues faced
by the ambulance during medical emergencies on the other hand drone technology also helps
with surveillance in aerial monitoring, military, and agriculture.

This Hexacopter drone is assembled by motors, 1045 propellers, Pixhawk flight

controller, Electronic Speed Controller [ESC], S550 Frame, GPS module, 12 channel
receiver, and transmitter. A Lipo battery is used for power supply power supply. An open-
source mission planner software does the programming of the drone. Installation of a camera
module for real-time footage during the drone’s flight. delivery of the medical kit can be
traced through the mission planner software.

Technical data provided in this project is based on the parameters of motors and
propeller specifications. At the final stage, the footage captured by the camera module during
surveillance is stored in mobile phones, and delivery of the medicinal kit is done by
autonomous flight without a pilot onboard. Keywords: Autonomous flight; GPS Module;
Hexacopter Drone; Pixhawk Flight Controller; Surveillance.

The transmitted to the emergency spot earlier than ambulance and take into account
multiple real time health parameters of the patient such ambulance purpose of this project is
to develop a prototype of drone ambulance to assist the ambulances in saving human life’s.
According to a study conducted by a centre of science and environment, traffic in its ‘peak
hours’ on an average does not exceed 30-40 km/hr 92% of the times. In existing systems, a
drone carries only the defibrillator to the emergency spot.

Thus, it takes into account only a single parameter. This paper aims at developing a
system that would be able to fly to the as temperature heart rate and heartbeat. The values of
these essential parameters are then. This helps the doctor to evaluate the situation better to
provide first-aid kit.

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CHAPTER 1
INTRODUCTIO
N

Drones are unmanned aerial vehicles that can be operated by trained pilots with the
help of a transmitter. As drone technology is growing day by day many applications are used
for various types of purposes such as surveillance and product delivery. The healthcare
industry is facing problems with the supply of medicines during disasters due to various types
of factors such as heavy traffic so to overcome this problem drone technology has come into
use for the delivery of medicine, blood, test samples, and medical kits in remote areas.

These drones have tremendous potential to deliver vital medicines and other medical
supplies to affected regions overcoming all the barriers and faster delivery of lifesaving
medicines. By locating the area with the use of a GPS module and camera on Board supplies
medicine to the bedside of the patient directly from the pharmacy it will also play a vital role
during road accidents by eliminating human and road transport interaction this will also help
nurses and doctors to work more efficiently and save their time.

Medical and antibiotics ordered by people can be delivered at [Link] work

involves the assembly work of a hexacopter drone along with essential components as well as
the programming. Hexacopter drone has a total of 6 arms on which six motors can be
mounted. The frame of the drone is an S550 frame this frame can carry a payload of around
1kg so this will help the drone for delivery purposes. A gimble can be attached at the bottom
of the drone on which the camera can be mounted. The hexacopter drone can be programmed
using mission planner software and, a battery of 5200Mah to provide a long endurance flight.

Compared to the quadcopter drone this hexacopter drone achieves a perfect

performance of flight and stability. The major use of this drone is for surveillance purposes
and product delivery other than that hexacopter drones have a wide application for aerial
photography, search, and rescue that can be used for military purposes and disaster zones.

In today’s world, there is a lot of traffic in roads which leads to congestion in the
whole city. So in the time of emergency critical situation. An ambulance which travels via
road may not be able to reach the destination in time and the patient might lose his or her life.
Thus, it is necessary to introduce a distinct means that would take the objective of saving

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human life one step closer. A drone or a hex copter takes aerial route and it’s driven by

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human. Using a greater number of motors and propellers will produce thrust. The hex copter
which consists of six BLDC Motors and propellers attached to it make it the optimal design
and provide the necessary thrust. Power supply is 5200Mah battery is provided to the drone.

The drone comprises of a medicine box which is capable reaching emergency

situations faster than ambulance to help in emergency situation. The use drones in health is
the purpose of the proposed prototype. For this reason, the first step is to develop a
hexacopter. Both the thrust and the torque are produced by every hexacopter and it is
produced about it’s COR (centre of rotation). In addition to this a drag force is also produced
in opposite direction to its flight.

2.1 OBJECTIVE

The project aims to build a hexacopter drone for surveillance and delivery by
achieving the following objectives: Assembly of a hexacopter Drone to increase the stability
and payload capacity during flight time. programming of the drone to fly International
Research Journal on Advanced Engineering Hub (IRJAEH) e ISSN: 2584-2137 Vol. 02
Issue: 06 June 2024 Page No: 1794- 1803 [Link]
[Link] International Research Journal on Advanced
Engineering Hub (IRJAEH) 1795 autonomously with self-awareness and situational
awareness.

Mounting of a Camera to get real-time footage from the Hexacopter Drone for
Surveillance areas such as terrains. Installation of GPS Module to trace location for
autonomous medical kit delivery in remote locations to serve the purpose of medical
emergencies.

The goal of our project, the air ambulance comes to the rescue situation, equipped
with first aid and basic surgical kit. The air ambulance can reach the accident area within
minutes and deploy necessary emergency supply. A GPS module will be used to determine
the current position and SD card will be used to store the information needed. The use of
drones in healthcare is the purpose of the proposed prototype.

For this reason, the first step is to develop a hexacopter. Both the thrust and the torque
are produced by every hexacopter and it is produced about it’s COR (Centre of
Rotation).Inaddition to this; a drag force is also produced in the opposite direction to its

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flight. Every hexacopter tries to achieve lift, yaw, roll and pitch via the thrust produced by the
four motors attached to it. This way, the propellers fixed on the motors can be used for the
flight of the hexacopter in all directions by differentiating the four rotors’ thrust, the pitch and
roll of the hexacopter can be controlled. The moment arm of each rotor’s thrust about the CG,
in steady state of the UAV should be equal.

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CHAPTER 2
LITERATURE
SURVEY

AUTHOR TITLE OUTCOMES

The suggested methodology
J Bethanney Janney et al Air Ambulance Drone for
controls a drone specially
2022 Medical SurveillanceYear
equipped with purely non-
Published: 2022
invasive sensors to capture
physiological data from a
patient who has been entangled
in a catastrophe or accident

Albert Apotele Nyaaba & Intricacies of medical Drones significantly enhance

Matthew Ayamga drones in healthcare emergency response and
delivery: Implications for equitable healthcare access,
Africa particularly in remote regions.

Drone Assisted Robust Achieved improved obstacle

Shengqiang Jiang, Yong
Emergency Service detection integrated with SLAM
Jin and Kaijian Xia 2021
for real-time navigation.

Authors: Dr. P A. Tijare, Medical Drone in A medical drone equipped with

Shreyash Salwe, Emergency Healthcare a NodeMCU ESP8266
Prathmesh Shinde, microcontroller connected to
Prachi Sharma, Avantika SpO2, heart rate, and
Raut temperature sensors,
transmitting data to the Blynk
cloud, presents a promising
solution for emergency
healthcare.

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Autonomous Proposed a SLAM framework

Jeevan G Murthy,

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Harshith P S, Joel J Drone Delivery System: A combining LiDAR, camera, and

Antony, Rakesh k, Survey IMU data for robust navigation.
Sharath Kumar A J 2020

The potential of drones to

Braun J, Gertz S D, Furer The promising future of
revolutionize prehospital
A drones in prehospital
medical care by delivering
2019 medical care and its
critical supplies like blood,
application to battlefield
medications, and equipment
medicine Journal of Trauma
rapidly to remote or hazardous
and Acute Care Surgery
areas. It emphasizes their
application in battlefield
medicine to enhance survival
rates through timely
interventions.
Scott Judy and Carlton Drone Delivery Models for The development of an efficient,
Scott Healthcare reliable system for delivering
2017 medical supplies, such as
vaccines and emergency kits, to
remote or disaster-stricken
areas. It enhances healthcare
accessibility and reduces
response times in critical
situations.
Matinrad N., Reuter- A review on initiatives for The effectiveness of
Oppermann M the management of daily community-driven initiatives
2022 medical emergencies prior and first responder programs in
to the arrival of emergency managing daily medical
medical services. emergencies before emergency
medical services (EMS) arrive.
It underscores the importance of
early intervention in improving
patient outcomes and saving

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lives.
A. Goodchild Delivery by drone: An Unmanned aerial vehicles
evaluation of unmanned (UAVs) have the potential to
aerial vehicle technology in significantly reduce CO2
reducing CO2 emissions in emissions in the delivery service
the delivery service industry industry, particularly for short-
distance and light-weight
deliveries.
[Link] Strategic Placement of
The outcome aims to reduce
2015 Ambulance Drones for
response times and improve
Delivering Defibrillators to
survival rates by efficiently
Out of Hospital Cardiac
deploying life-saving resources.
Arrest Victims

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CHAPTER 3
METHODOLOG
Y

SYSTEM DESIGN

Our project is organized into four distinct subsystems, each contributing to the overall
functionality and efficiency of the Unmanned Aerial Vehicle (UAV) for emergency medical
and defense applications. This modular approach ensures that every component is optimized
for performance, reliability, and integration with the larger system. Figure 1 provides a visual
representation of these subsystems, highlighting their interconnectivity and individual roles in
the system's operation.

3.1.1 Propulsion System

The propulsion system is a critical component of the UAV, as it directly influences its
flight capabilities, efficiency, and payload capacity. Most UAVs used in this context are
powered by electric motors, which offer several advantages, including simplicity in
operation, reduced maintenance requirements, and a lower noise signature. The noise
reduction is particularly beneficial for applications in populated or sensitive areas, ensuring
minimal disturbance during operations.

Components of the Propulsion System:

 Propeller
The propeller generates thrust to lift and propel the UAV. Its design and material
selection are crucial for maximizing efficiency while minimizing energy
consumption. Proper balancing of the propeller ensures smooth and stable flight,
reducing wear on the motor.

Fig 3.1
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 ElectricMotor

The motor is responsible for converting electrical energy into mechanical energy to
rotate the propeller. High-efficiency brushless motors are typically used, offering
greater power-to-weight ratios and durability.

 Energy Source (Battery)

The UAV relies on a lightweight and high-capacity battery to power the motor and
other onboard systems. Lithium polymer (Li-Po) batteries are often the preferred
choice due to their high energy density and lightweight properties.

 Wiring,Plugs,andConnectors

The electrical wiring ensures seamless power delivery to the motor and other
components. Reliable connectors and plugs are essential for minimizing power losses
and ensuring secure connections during operation.

The propulsion system is the heaviest subsystem, often accounting for as much as
60% of the UAV's total weight. Consequently, optimization of this system is critical for
achieving longer flight times, higher payload capacities, and improved overall performance.

3.1.2Navigation and Control System

This subsystem ensures that the UAV follows the desired flight path and maintains
stability during operation. It incorporates advanced technologies like GPS, inertial
measurement units (IMUs), and software algorithms for real-time decision-making.
Integration with obstacle detection systems further enhances safety and reliability.

3.1.3 Payload System

The payload system is customized to the specific application of the UAV. For
emergency medical services, this includes compartments for defibrillators, first aid kits, or

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other medical supplies. In defence applications, the payload may include surveillance
equipment, communication systems, or other specialized tools.

3.1.4 Communication System

Effective communication between the UAV and its operator or control station is
essential for mission success. This system includes radio frequency (RF) modules, telemetry
systems, and antennas to ensure reliable data exchange over long distances.

3.2 OPTIMIZATION GOALS

Given that the propulsion system constitutes the majority of the UAV's weight, its
optimization is a primary focus of the project. Key considerations include:

 EnergyEfficiency:
Designing components to maximize thrust-to-power ratios and minimize energywastage.
 Weigh Reduction:
Utilizing lightweight materials for the propeller, motor housing, and battery
casingwithout compromising structural integrity.
 Thermal Management:
Ensuring proper heat dissipation from the motor and battery to maintain optimal
performance and extend component lifespan.

By systematically addressing these design considerations, the project aims to develop a

UAV capable of delivering exceptional performance in demanding medical and Défense
scenarios.

Fig 3.3 Quadcopter

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3.3 FRAME IN DRONE DESIGN

The frame of a drone is the foundational structure that supports all other components,
such as the propulsion system, navigation equipment, payloads, and communication systems.
In the context of this project, the frame plays a crucial role in ensuring the drone's durability,
stability, and performance during emergency medical and defense operations.

1. Purpose of the Frame

The frame provides a rigid and lightweight platform for mounting components while
maintaining the drone's structural integrity during flight. Its design must balance weight,
strength, and aerodynamics to ensure optimal performance in challenging conditions.

Key considerations for the frame include:

 Load-bearing capability: Supporting the weight of the propulsion system, battery,

sensors, and payload.
 Durability: Withstanding mechanical stresses during flight, landing, and adverse
weather conditions.
 Aerodynamics: Minimizing air resistance to improve energy efficiency and stability.

2. Materials Used in the Frame

The choice of materials for the frame is critical to achieving a balance between weight,
strength, and cost. For this project, the following materials are commonly considered:

 Carbon Fiber:

 Advantages: Lightweight, high strength-to-weight ratio, and excellent

rigidity.
 Applications: Widely used in high-performance drones due to its ability to
withstand mechanical stresses without significant deformation.
 Relevance to the Project: Ideal for both emergency medical and defense
drones, where durability and lightweight design are paramount.

 Aluminum Alloys:

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 Advantages: Lightweight, corrosion-resistant, and easy to machine or mold.

 Applications: Commonly used in mid-range drones where cost-
effectiveness is a priority.
 Relevance to the Project: Suitable for drones operating in less demanding
environments or for prototypes.

3. Plastic Composites (e.g., Nylon or ABS):

 Advantages: Lightweight, cost-effective, and resistant to weathering.

 Applications: Used in hobbyist drones or non-critical components of professional
drones.

Relevance to the Project: Suitable for auxiliary parts or as a secondary material in

combination with carbon fibre or aluminium.

4. Design Configurations

The frame design influences the drone's flight stability, manoeuvrability, and payload
capacity. Common configurations include:

 Quadcopter Frame:

 Features four arms extending from the centre, each equipped with a
motor and propeller.
 Provides stability, ease of control, and sufficient payload capacity.
 Relevance to the Project: Ideal for medical supply delivery drones due
to its ability to hover and maneuver in confined spaces.

 Hexacopter or Octocopter Frame:

 Features six or eight arms, offering redundancy in case of motor failure.

 Provides higher lift capacity and stability in windy conditions.
 Relevance to the Project: Suitable for Défense applications where carrying
heavier payloads (e.g., surveillance equipment) is necessary.

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 Fixed-Wing Hybrid Frame:

 Combines the vertical take-off capability of rotary drones with the long-
range efficiency of fixed-wing drones.
 Relevance to the Project: Suitable for long-distance medical supply delivery
or surveillance operations in remote areas.

5. Modular Design Approach

For this project, the frame adopts a modular design to enhance flexibility and scalability.
This approach allows for:

 Easy Assembly and Maintenance: Components can be replaced or upgraded

without disassembling the entire drone.
 Customizability: The frame can be adapted to different applications by swapping
out payloads or propulsion systems.
 Scalability: Frames can be resized or reinforced to accommodate heavier payloads
for specific missions.

Fig 3.4 Frame of drone

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3.4 BATTERY

The Bonka 14.8V 4200mAh 35C 4S Lithium Polymer (LiPo) Battery is a high-
performance power source designed specifically for drones, offering a variety of features that
make it suitable for demanding applications like drone racing, aerial photography, and
professional drone operations. Let’s break down the specifics of this battery to understand its
performance characteristics and what makes it an ideal choice for these types of drones.

1. Voltage (14.8V)

 The 14.8V rating of this battery is typical for 4S LiPo batteries. In a LiPo battery
pack, the voltage is determined by the number of cells in series. A single LiPo cell has
a nominal voltage of 3.7V. So, for a 4S battery:
 4 cells × 3.7V = 14.8V nominal voltage.
 When fully charged, the voltage can reach up to 16.8V (4.2V per cell), and
when discharged, it typically drops to 14.0V or a bit lower.

This voltage level is suitable for medium to high-power drones, providing enough
energy to run motors and other essential components efficiently. It balances power output
with manageable size and weight.

2. Capacity (4200mAh)

 The 4200mAh (milliampere-hour) capacity indicates the total charge the battery can
store. This is a measure of the battery's endurance and directly affects how long the
drone can fly on a single charge.
 With 4200mAh, this battery can power the drone for extended flight times, especially
for drones that need to carry additional payloads, such as cameras or sensors. The
exact flight time will depend on the weight of the drone, its power consumption, and
the type of flight (e.g., hover vs. high-speed maneuvers).
 To put it into perspective, the flight time of a drone using a 4200mAh battery might
range from 15 to 30 minutes depending on the drone's design, weather conditions,
and flight mode.

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3. Discharge Rate (35C)

 The 35C rating refers to the discharge rate, or how quickly the battery can safely
release its stored energy without overheating or damaging the cells.
 In this case, a 35C discharge rate means the battery can deliver up to 35 times its
capacity in amperes. To calculate the maximum continuous discharge current,
multiply the capacity by the C-rating:
 35C × 4200mAh = 147,000mAh = 147A.
 This indicates the battery can safely provide up to 147 amps of continuous
current without overheating.

4. Cell Configuration (4S)

 The 4S designation means that the battery has 4 cells connected in series. This
configuration is quite common in mid-range drones that require more power
thansmaller, 3S configurations can provide but don’t need the excessive power of 6S
or 12S batteries.
 A 4S LiPo battery provides an optimal balance of power and weight. It is also
commonly used in both racing drones and cinematic drones where moderate-to-high
performance is necessary.

5. Size and Weight

 While not explicitly stated in the product name, a 14.8V 4200mAh 35C 4S LiPo
battery would typically weigh between 300g to 500g depending on the exact
dimensions and construction of the battery.
 Weight is crucial for drone performance, as a heavy battery can negatively affect
flight time and stability. However, a battery with a high discharge rate like this
ensures that even heavier drones can perform efficiently.

6. Applications

 Drone Racing: This battery can power racing drones that demand high power and
quick acceleration. The high 35C discharge rate allows for high bursts of power
during races, while the 14.8V ensures consistent performance.

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 Aerial Photography/Filming: Drones used for capturing high-quality footage often

carry additional payloads like cameras and gimbals. The 4200mAh capacity provides
the necessary endurance for longer flight times, which is essential for aerial
photography and filming without frequent battery swaps.
 Professional Drone Operations: For commercial drone services (e.g., mapping,
surveying, inspection), a high-capacity battery like this can extend the time the drone
can stay in the air while carrying additional equipment, ensuring efficiency in
completing tasks.

7. Charging

LiPo batteries require specific chargers that are compatible with the voltage and cell
configuration. It’s essential to use a balanced charger for 4S batteries to ensure each cell
charges equally, helping to maintain the battery's health and longevity.

Charging is typically done at a rate of 1C (i.e., 4.2A for a 4200mAh battery). This
means that it will take around 1 to 2 hours to charge fully, depending on the charger.

Fig 3.5 Lipo Battery

3.5 APM 2.8 FLIGHT CONTROLLERS AND GPS FOR DRONES

The APM 2.8 flight controller (often referred to as ArduPilot Mega 2.8) is a versatile
and popular open-source autopilot system used in drones and other UAV (unmanned aerial
vehicle) applications. It is the latest iteration in the APM series of flight controllers, which
has been widely adopted by hobbyists and professionals alike for building drones, aircraft,
and ground vehicles.

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To understand the APM 2.8 flight controller and its integration with a GPS module for drone
navigation, we’ll break it down into the following categories:

1. Overview of APM 2.8 Flight Controller

The APM 2.8 is an autopilot system that acts as the brain of the drone, controlling its
flight characteristics, stabilization, and autonomous functions. This controller is capable of
supporting various types of UAVs, including multirotor, planes, helicopters, and even ground
vehicles.

Key Features:

 Microcontroller: The APM 2.8 uses a 32-bit microcontroller to process flight

commands, sensor data, and GPS signals in real time. The controller is highly
responsive, making it suitable for a wide range of flight scenarios.
 IMU (Inertial Measurement Unit): A built-in IMU with an accelerometer and
gyroscope provides real-time feedback on the drone's orientation (pitch, roll, yaw).
The magnetometer (compass) also helps in stabilizing the drone's heading.
 Barometer: The APM 2.8 comes with a barometer, which measures the air pressure
and altitude, allowing the drone to maintain stable altitude during flight.
 Onboard Processor: The onboard processor runs the ArduPilot firmware, which is
an open-source autopilot software that can be customized for different vehicles,
giving the APM 2.8 its flexibility.
 Software Compatibility: The APM 2.8 supports various open-source flight control
software such as ArduCopter, ArduPlane, and ArduRover, which are designed for
different types of UAVs. It allows users to customize the flight behavior, set flight
modes, and tweak PID settings (proportional, integral, derivative) for optimal
stability.
 Expansion Ports: The APM 2.8 features multiple ports for connecting sensors and
peripherals, including GPS, compass, gimbals, and telemetry modules. It provides
flexibility in adding other modules to enhance the drone’s capabilities.
 Flight Modes: The APM 2.8 offers several flight modes, including Stabilize,
Altitude Hold, Loiter, Auto, and RTL (Return to Launch), among others. These
modes allow for different levels of autonomy and user control. In autonomous modes,

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the flight controller can guide the drone along waypoints or predefined paths based on GPS
data.

Flight Stabilization:

The APM 2.8 has an integrated flight stabilization system that uses data from its
sensors (gyros, accelerometers, compass) to make continuous adjustments to the drone’s
motors. This keeps the drone stable in mid-air, automatically correcting its orientation and
position in response to environmental changes, such as wind gusts.

2. GPS Integration with APM 2.8

A crucial component for enabling autonomous flight in drones is GPS, and the APM 2.8 is
designed to work with a GPS module to enable features such as waypoint navigation,
geofencing, and precise position hold.

Fig 3.6

Key Roles of GPS in Drones:

 Positioning: GPS enables the flight controller to know the drone’s exact location in
3D space, which is essential for autonomous flight. The GPS module provides
latitude, longitude, and altitude data to the APM 2.8, allowing it to determine its
position relative to the home point or predefined waypoints.
 Waypoint Navigation: The GPS module allows users to program flight paths using
waypoints. The drone can follow a set of GPS coordinates autonomously, allowing
for complex missions like mapping, surveying, or inspection tasks.
 Return to Launch (RTL): If the GPS signal is active and the drone loses
communication with the remote controller or enters into a critical situation (e.g., low
battery), the APM 2.8 can automatically activate RTL mode, where the drone will
autonomously return to its launch point based on GPS coordinates.
 Geofencing: GPS enables geofencing, where you can define a virtual boundary or
restricted area that the drone cannot fly beyond. If the drone approaches or exceeds

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this boundary, the flight controller can take corrective action, such as returning to home
or stopping the flight.
 Position Hold: In GPS-assisted flight modes like Loiter or Position Hold, the APM
2.8 uses GPS data to keep the drone in a fixed position or within a small area even when
the pilot is not actively controlling it.

GPS Modules for APM 2.8:

The APM 2.8 flight controller is compatible with various GPS modules, with the Ublox
series being a popular choice. GPS modules typically include:

 GPS Receiver: Receives satellite signals and provides the drone's geographic
position.
 Compass (Magnetometer): Helps the drone maintain its orientation relative to
magnetic north, ensuring accurate heading information, especially during autonomous
missions.
 Barometer (for Altitude): Some GPS modules include a barometer that can help with
altitude control in combination with the onboard barometer.

GPS Module Types:

 Ublox NEO-M8N: One of the most common GPS receivers used with the APM 2.8
due to its high accuracy, fast signal acquisition, and ability to work with multiple
satellite constellations (GPS, GLONASS, Galileo, etc.).
 Ublox NEO-6M: A slightly older version that still offers decent performance for
general drone applications but lacks the multi-constellation support of the NEO-M8N.

The GPS module typically connects to the APM 2.8 through the GPS port on the controller board,
which allows the controller to receive positioning data.

3. Additional Sensors and Peripherals

While the GPS provides critical positioning information, the APM 2.8 can integrate
additional sensors and peripherals to enhance its flight capabilities:

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 External Compass: An external compass can improve heading accuracy, especially

in environments where electromagnetic interference can affect the onboard compass.
 Telemetry Modules: These modules enable two-way communication between the
drone and the ground station. They transmit real-time data such as battery status, GPS
location, flight mode, and other telemetry information, allowing the pilot to monitor
the drone remotely.
 Barometric Altimeter: In addition to the GPS for altitude, the APM 2.8 uses
barometric pressure to measure altitude, providing additional accuracy when flying at
higher altitudes or during position hold modes.
 Camera Gimbals: For drones equipped with cameras, the APM 2.8 supports gimbal
control, allowing the camera to be stabilized and pointed at specific targets
autonomously.
 Vision Systems: Some drones may incorporate visual positioning systems or optical
flow sensors to assist with stability when flying indoors or in GPS-denied
environments.

4. Configuration and Tuning

The APM 2.8 can be configured and tuned using the Mission Planner software, which is an
essential tool for setting up and managing the flight controller. The software allows users to:

 Configure GPS settings, calibrate sensors, and perform compass and accelerometer
calibrations.
 Define flight modes, set up waypoint missions, and upload the mission data.
 Monitor telemetry and real-time flight data.
 Adjust PID settings for optimal drone control in different conditions.

Fig 3.7 APM 2.8 Controller and GPS Module with Compass

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3.6 Brushless Motors and ESCs for Drones

Brushless motors and Electronic Speed Controllers (ESCs) are two critical
components in the propulsion system of a drone. Together, they ensure the efficient
conversion of electrical energy into the mechanical energy required for flight. Below is a
detailed explanation of each component, their functions, how they work together, and their
significance in drone performance.

1. Brushless Motors

Brushless motors are the primary power sources for drones, responsible for driving the
propellers. They are preferred over brushed motors in most drone applications due to their
higher efficiency, durability, and power output.

Fig 3.8

1.1. How Brushless Motors Work

A brushless motor operates using electromagnetic induction to generate motion. It eliminates

the need for physical brushes (found in brushed motors) by using electronic commutation.

Key Components:

 Rotor: The rotating part of the motor, usually equipped with permanent magnets.
 Stator: The stationary part containing coils of wire (windings) that produce a
magnetic field when energized.
 Shaft: Connects the rotor to the propeller.
 Bearings: Allow the rotor to spin smoothly and reduce friction.

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Working Mechanism:

1. Magnetic Interaction: The ESC energizes the stator coils in a sequence, creating
a rotating magnetic field.
2. Rotor Movement: The magnets on the rotor are attracted to or repelled by this
field, causing the rotor to spin.
3. Continuous Motion: The ESC continuously switches the current through the
stator windings in synchronization with the rotor's position, maintaining rotation.

1.2 Advantages of Brushless Motors

 High Efficiency: Reduced energy loss compared to brushed motors.

 Long Lifespan: No brushes to wear out, meaning less maintenance and longer
operational life.
 High Power-to-Weight Ratio: Provides significant thrust with minimal weight,
making them ideal for drones.
 Precise Control: Excellent response to speed changes, enabling quick adjustments
in flight.
 Less Heat Generation: Efficient design minimizes heat buildup during operation.

1.3. Motor Specifications

 When selecting a brushless motor for a drone, several specifications are important:
KV Rating: Indicates the motor’s rotational speed (RPM) per volt applied. For
example, a 1000KV motor will spin at 1000 RPM per volt. Higher KV motors are
faster but produce less torque, while lower KV motors provide more torque for
heavier drones or larger propellers.
 Max Current (A): The maximum current the motor can safely handle.
 Voltage (V): The operational voltage range of the motor, often matching the drone's
battery (e.g., 3S or 4S LiPo).
 Thrust Output: The maximum thrust the motor can generate, typically measured in
grams (g) or kilograms (kg).

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1.4 Propeller Matching

Brushless motors are paired with specific propellers to achieve optimal performance. Larger,
slower-spinning propellers are suited for low-KV motors (longer flight times, higher
payloads), while smaller, faster-spinning propellers are ideal for high-KV motors (racing
drones).

2. Electronic Speed Controller (ESC)

The ESC is an electronic device that regulates the power supplied to the brushless motor. It acts
as an intermediary between the flight controller, battery, and motor.

Fig 3.9

2.1 Functions of ESC

 Power Regulation: Controls the amount of electrical power delivered to the motor
based on input from the flight controller.
 Speed Control: Adjusts the motor’s RPM to achieve the desired propeller speed.
 Directional Control: Enables the motor to spin in the required direction
(clockwise or counterclockwise).
 Motor Protection: Monitors current and voltage to prevent overloading or
overheating of the motor.

2.2 How ESCs Work

ESCs use a pulse-width modulation (PWM) signal from the flight controller to determine how
much power to supply to the motor. The PWM signal's duty cycle (the ratio of "on" time to
total time) corresponds to the throttle level:

 A high duty cycle means more power, resulting in faster motor speeds.
 A low duty cycle reduces power and slows the motor.

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2.3. Types of ESCs

 Standard ESCs: Basic controllers suitable for general drone applications.

 BLHeli ESCs: High-performance ESCs commonly used in racing drones, offering
advanced features like active braking and customizable settings.
 32-bit ESCs: Provide precise control and higher processing power for advanced
flight capabilities.
 Opto ESCs: Do not include a built-in BEC (Battery Eliminator Circuit) and
require an external power supply for the flight controller.

2.4. ESC Specifications

 Current Rating (A): Indicates the maximum current the ESC can handle. It
should exceed the motor’s maximum current draw to prevent overheating or
failure.
 Voltage Range (V): Compatible with the drone's battery (e.g., 3S to 6S LiPo
batteries).
 Firmware: ESCs often use firmware like BLHeli, SimonK, or KISS to optimize
performance and responsiveness.
 Refresh Rate: Determines how quickly the ESC can process input from the flight
controller. Faster refresh rates result in smoother and more precise motor control

3. Interaction Between Brushless Motors and ESCs

The ESC and brushless motor work together to translate flight controller commands into
propeller movement. Here's how they interact:

1. Signal Input: The flight controller sends throttle signals (PWM) to the ESC.
2. Power Delivery: The ESC interprets these signals and adjusts the current and
voltage supplied to the motor.
3. Motor Control: The brushless motor spins at the appropriate speed, driving the
propeller to produce thrust.

This interaction ensures stable flight, quick responses to pilot inputs, and efficient energy
usage.

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4. Selection and Compatibility

When building or upgrading a drone, selecting the right brushless motor and ESC
combination is crucial. Key considerations include:

 Motor Current vs. ESC Rating: Ensure the ESC's current rating exceeds the motor’s
maximum current draw.
 Battery Compatibility: Both motor and ESC voltage ratings must match the drone's
battery specifications.
 Application: Choose high-KV motors and ESCs with fast refresh rates for racing
drones, and low-KV motors with efficient ESCs for aerial photography or long-
distance drones.

5. Advanced Features

Modern ESCs and brushless motors often include advanced features:

 Active Braking: Allows the motor to stop quickly when the throttle is reduced,
improving responsiveness.
 Telemetry Support: Some ESCs send real-time data (current, voltage, RPM) to
the flight controller for monitoring.
 DShot Protocol: A digital communication protocol that enhances the precision and
reliability of ESC-motor control.
 Bidirectional Support: Enables motors to reverse direction for specific
applications, like 3D flight.

6. Maintenance and Care

 Brushless Motors:
 Keep the motor clean to prevent debris from interfering with the bearings
or windings.
 Check for loose or worn-out bearings and replace them as needed.
 ESCs:
 Ensure proper cooling, as overheating can damage the circuitry.
 Use quality connectors and solder joints to avoid power loss.

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Fig 3.10 BLDC motor And ESC

4.7Mission Planner for Drones

Mission Planner is one of the most widely used software tools for planning,
monitoring, and controlling drones equipped with autopilot systems like ArduPilot. It is open-
source and offers a user-friendly interface for drone enthusiasts, hobbyists, and professionals
to configure their UAVs, plan autonomous missions, and analyze flight data.

1. Overview of Mission Planner

Mission Planner is a ground control station (GCS) application primarily designed for drones
running the ArduPilot autopilot firmware. It supports a wide range of vehicles, including
multirotors, fixed-wing aircraft, helicopters, rovers, and boats.

Key Features

 Autonomous Mission Planning: Enables users to define complex flight paths

using waypoints, including altitude, speed, and actions at each waypoint.
 Real-time Monitoring: Displays live telemetry data such as altitude, speed, battery
status, GPS position, and more.
 Configuration and Calibration: Provides tools to configure sensors, tune flight
parameters, and calibrate components like the compass, accelerometer, and ESCs.
 Post-Flight Analysis: Allows users to download and analyze flight logs for
performance assessment and troubleshooting.
 Firmware Updates: Supports firmware installation and upgrades for various types
of vehicles.

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 Fail-Safe Management: Configures fail-safes for scenarios like low battery, loss
of GPS, or loss of communication.
 Custom Scripts: Allows users to write and execute custom Python scripts for
advanced drone behavior.

2. Installation and Setup

Mission Planner is available for Windows and can be downloaded from the official ArduPilot
website. Once installed, follow these steps to set up:

Connecting Your Drone

1. Physical Connection: Use a USB cable to connect the drone's flight controller
(e.g., APM, Pixhawk) to your computer.
2. Telemetry Connection: For wireless communication, use a telemetry radio module
(e.g., 433 MHz or 915 MHz).
3. Select COM Port: In Mission Planner, select the appropriate COM port and baud
rate, typically 115200.
4. Connect: Click the "Connect" button to establish communication between the
drone and Mission Planner.

3. Mission Planning

The core functionality of Mission Planner is designing autonomous missions for drones. Users
can set waypoints and commands that the drone will follow during its flight.

Fig 3.11

Steps to Plan a Mission

1. Map Interface: Use the built-in map to visualize the flight area. Maps can be
downloaded for offline use.

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2. Add Waypoints: Click on the map to add waypoints. Each waypoint specifies a
location, altitude, and behavior.
3. Define Commands: Assign commands at waypoints, such as:

i. Takeoff: Specify the altitude for automatic takeoff.

ii. Loiter: Instruct the drone to hover at a waypoint for a specified duration.
iii. Return to Launch (RTL): Command the drone to return to its starting point.
iv. Land: Initiate an automatic landing sequence.
v. Camera Control: Trigger cameras or other payloads at specific points.

4. Set Parameters: Adjust mission parameters like flight speed, altitude limits, and
failsafe behavior.
5. Upload Mission: Click "Write WPs" (Waypoints) to upload the mission to the drone

4. Real-Time Monitoring

During the flight, Mission Planner provides live telemetry data to monitor the drone’s
performance and safety.

Key Telemetry Data

 Position: Displays the drone’s GPS coordinates on the map.

 Altitude: Shows the current altitude above ground level.
 Speed: Monitors the drone’s velocity.
 Battery Status: Tracks battery voltage, current consumption, and estimated flight
time remaining.
 Attitude: Visualizes the drone’s orientation (pitch, roll, yaw) in a 3D model.
 Signal Strength: Indicates the quality of communication between the drone and
the ground station.

Flight Dashboard

The dashboard in Mission Planner provides a comprehensive overview of the drone's status,
including sensors, flight mode, and mission progress.

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5. Configuration and Calibration

Mission Planner includes tools to configure and fine-tune various aspects of the drone's
hardware and software.

Sensor Calibration

 Compass: Essential for accurate navigation; involves rotating the drone to map
magnetic fields.
 Accelerometer: Ensures the drone can detect its orientation relative to gravity.
 ESC Calibration: Syncs the ESCs with the flight controller for smooth motor
control.
 Radio Calibration: Configures the remote controller’s input to the flight controller.

Flight Tuning

 Adjust PID (Proportional, Integral, Derivative) parameters to optimize stability and

responsiveness.
 Modify throttle and yaw settings for smoother or more aggressive
flight characteristics.

Failsafe Configuration

 Set parameters for low battery warnings, GPS loss, or RC signal loss.
 Configure the drone to execute specific actions, like Return to Launch (RTL), when
a failsafe is triggered.

6. Post-Flight Analysis

After a flight, users can download logs from the flight controller to analyze the drone’s
performance and identify issues.

Flight Logs

 Logs contain data such as altitude, speed, motor output, battery consumption, and
GPS tracks.
 Analyze logs for anomalies, such as power fluctuations or GPS errors.

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Data Visualization

 Graph critical parameters over time, like battery voltage, motor RPM, and sensor
readings.
 Replay the flight path on the map to review mission execution.

7. Advanced Features

Mission Planner includes several advanced tools for experienced users.

Geofencing

 Define virtual boundaries for the drone to prevent it from flying beyond a
designated area.
 Set actions for geofence violations, like RTL or loitering.

Custom Scripts

 Write Python scripts to automate tasks or customize drone behavior.

 Examples include dynamic waypoint generation, adaptive mission planning, and
custom payload control.

Terrain Following

 Enables the drone to adjust its altitude based on terrain elevation, useful for low-
altitude missions in uneven landscapes.

Simulations

 Simulate missions using a virtual drone to test flight plans without risking hardware.

8. Compatibility

Mission Planner supports various hardware and software setups:

 Flight Controllers: APM, Pixhawk, Cube, and other ArduPilot-compatible boards.

 Telemetry Modules: 3DR, Holybro, and similar radio modules.
 Cameras and Gimbals: Integrates with systems for aerial photography and mapping.

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 Companion Computers: Works with Raspberry Pi, NVIDIA Jetson, and other
onboard computers for advanced applications like object detection and AI.

9. Applications

Mission Planner is used in diverse fields:

 Aerial Mapping: Automating precise, overlapping flight paths for high-resolution

map generation.
 Inspection: Performing detailed inspections of infrastructure, pipelines, or power
lines.
 Search and Rescue: Deploying drones for autonomous search patterns over large
areas.
 Agriculture: Automating crop monitoring and spraying missions.
 Hobby and Research: Enabling enthusiasts and researchers to experiment with
autonomous flight.

Fig 3.12 Mission Planner Software

4.8 Radio Calibration and ESC Calibration for Drones

Calibrating the radio and Electronic Speed Controllers (ESCs) is an essential step in
setting up a drone. Proper calibration ensures that the drone responds accurately to the pilot’s
inputs and that the motors operate efficiently and synchronously. Below is a detailed
explanation of each calibration process, its purpose, and how to perform it.

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1. Radio Calibration

Radio calibration is the process of configuring the drone's flight controller to interpret signals
from the remote controller (transmitter) accurately. It ensures that throttle, pitch, roll, and
yaw commands are correctly mapped and function as intended.

Fig 3.13

1.1. Purpose of Radio Calibration

 Ensures that all transmitter sticks and switches operate over their full range.
 Prevents misinterpretation of signals, which could lead to erratic flight behavior.
 Aligns the transmitter and flight controller for precise control.

1.2. Steps to Perform Radio Calibration

Prerequisites:

 Ensure the transmitter is bound to the receiver and powered on.

 Connect the flight controller to a ground control station (e.g., Mission Planner or
QGround Control).

Procedure:

1. Open the Calibration Interface:

 In Mission Planner, navigate to Initial Setup > Mandatory Hardware >
Radio Calibration.
2. Observe Stick Movements:
 On the calibration screen, you'll see sliders representing each channel
(throttle, pitch, roll, yaw, and auxiliary channels).

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 Moving the sticks on the transmitter should move the corresponding sliders
on the screen.
3. Begin Calibration:

I. Click the "Calibrate" button to start.

II. Follow the on-screen instructions to move each stick and switch through its
full range of motion:

 Move throttle up and down.

 Move pitch forward and backward.
 Move roll left and right.
 Rotate yaw left and right.
 Flip any auxiliary switches if applicable.
4. Save Settings:

 Once all inputs are mapped and verified, click "Finish" or "Save" to store
the calibration.

5. Verify Channels:

 Ensure each stick and switch corresponds to the intended action (e.g.,
throttle controls altitude, roll controls left-right tilt).

1.3. Common Issues and Troubleshooting

 Incorrect Channel Mapping:

 If a stick or switch doesn't control the expected function, adjust the channel
mapping in the transmitter or ground control software.

 Reversed Channels:

 If a stick's movement results in the opposite behavior, reverse the channel

direction in the transmitter settings or flight controller software.

 Limited Range:

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 If the sliders don't move through their full range, check the transmitter’s
endpoints (often adjustable in the transmitter menu).

2. ESC Calibration

ESC calibration ensures that all motors respond uniformly to throttle inputs. This
process aligns the ESCs with the flight controller's output signals, preventing issues like
uneven motor speeds or inconsistent thrust.

Fig 3.14

2.1. Purpose of ESC Calibration

 Synchronizes the ESCs with the throttle range of the flight controller.
 Ensures all motors start and stop at the same time.
 Prevents imbalances that could lead to instability or inefficient flight.

2.2. Steps to Perform ESC

Calibration Prerequisites:

 Remove the propellers to ensure safety during calibration.

 Ensure the battery is fully charged and capable of supplying adequate power.

Procedure:

1. Prepare for Calibration:

 Power off the drone and disconnect the battery.

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 Connect the flight controller to your ground control station (optional but
recommended for monitoring).

2. Enter Calibration Mode:

 Disconnect the flight controller from the ground station.

 Move the throttle stick on the transmitter to its maximum position (full
throttle).
 Power on the transmitter.

3. Power On the Drone:

 Connect the battery to the drone while keeping the throttle at maximum.
 The ESCs will emit a series of beeps indicating they have entered
calibration mode.

4. Set Minimum Throttle:

 After hearing the calibration beeps, move the throttle stick to its minimum
position (no throttle).
 The ESCs will emit another series of beeps to confirm the calibration
process is complete.

5. Test the Motors:

 Disconnect and reconnect the battery.

 Slowly increase throttle and verify that all motors start
spinning simultaneously and respond uniformly to throttle changes.

2.3 Common Issues and Troubleshooting

 Motors Spin Unevenly:

 Repeat the calibration process to ensure synchronization.

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 ESCs Not Entering Calibration Mode:

 Check the connection between the flight controller and the ESCs.
 Ensure the transmitter is bound to the receiver and that the throttle channel
is functioning.

 Motor Delay or Failure to Start:

 Inspect the ESC-to-motor wiring and connectors for faults.

 Verify that the ESCs are compatible with the flight controller.

3. Tips for Successful Calibration

3.1. Safety First

 Always remove propellers before performing any calibration to prevent accidental

injury or damage.

3.2. Check Compatibility

 Ensure the ESCs and motors are compatible with the drone's flight controller and
battery voltage.

3.3. Use Quality Tools

 Use a reliable transmitter, receiver, and ground control station software to

minimize calibration errors.

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3.4. Calibrate Periodically

 Perform radio and ESC calibration periodically, especially after firmware updates
or hardware changes.

Fig 3.15 Throttle Calibaration

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CHAPTER 4

RESULT AND DISCUSSION

WORKING OF DRONES IN EMERGENCY MEDICAL SERVICES

AND DEFENSE SERVICES

The operation of drones in emergency medical services (EMS) and defense services is
a sophisticated process that relies on advanced technologies and systems to execute critical
tasks efficiently. Their working mechanisms can be broken down into key phases,
encompassing preparation, navigation, payload delivery, and data transmission. Here’s an in-
depth explanation of how drones function in these fields.

Working of Drones in Emergency Medical Services (EMS)

Drones used in EMS are designed to deliver life-saving resources and provide critical
support in emergencies. Their operation is a seamless integration of hardware, software, and
human oversight to ensure timely and effective delivery of aid.

1. Mission Planning and Deployment

When an emergency arises, a drone is dispatched from a nearby base or emergency station.
The drone's mission parameters—such as the delivery location and payload details—are
programmed into its flight control system. This programming is often done using ground
control software like Mission Planner or similar tools, which define the drone's flight path
using GPS waypoints.

2. Autonomous Navigation

Once launched, the drone navigates autonomously to its destination using GPS and inertial
navigation systems (INS). Sensors like LiDAR, ultrasonic range finders, and cameras assist
the drone in avoiding obstacles and adjusting its flight path in real-time. For areas with poor
GPS reception, advanced drones rely on visual navigation or pre-mapped terrain data to
maintain accuracy.

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3. Payload Delivery

Drones can carry various medical payloads such as blood packs, vaccines, defibrillators, or
first aid kits. Upon reaching the target location, the payload can be delivered in different
ways:

 Landing: The drone lands safely and releases the payload.

 Aerial Drop: Some drones use parachutes or tethered systems to drop the payload
without landing. This flexibility allows drones to operate in diverse environments,
including areas inaccessible to ground vehicles.

4. Communication and Real-Time Data Transmission

Throughout the mission, the drone communicates with the ground control station,
transmitting live data such as its location, video feeds, or sensor readings. In search-and-
rescue missions, this real-time data can be used to locate victims or assess damage in disaster-
stricken areas. The onboard camera streams high-resolution imagery to medical teams,
enabling them to provide instructions to on-site responders or prepare for the incoming
patient.

5. Return and Recharge

After completing its mission, the drone autonomously returns to its base for refueling or
recharging. Some drones are equipped with swappable batteries or rapid charging systems to
minimize downtime between missions.

Example: Defibrillator Delivery

In cases of sudden cardiac arrest, drones equipped with defibrillators (AEDs) can be
dispatched to the scene within minutes. The drone flies to the victim's location, drops the
AED, and relays instructions to bystanders on how to use it until emergency medical
personnel arrive.

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1. Pre-Mission Setup

Defense missions begin with detailed planning, where objectives, flight paths, and
contingencies are outlined. The drone's onboard systems are programmed with this data, and
any necessary payloads—such as surveillance cameras, radar, or weaponry—are mounted
and tested. Ground control stations or command centers monitor the entire process.

2. Launch and Navigation

Drones can be launched manually or autonomously from ground stations, naval vessels, or
aircraft. They use GPS and INS for navigation, while advanced drones incorporate AI-
powered algorithms for autonomous decision-making. Obstacle avoidance systems like radar
and LiDAR ensure safe operation, even in hostile or unknown terrains.

3. Surveillance and Reconnaissance

In surveillance missions, drones use high-resolution cameras, thermal imaging, and radar
systems to gather intelligence. These sensors can detect enemy movements, track vehicles, or
identify potential threats. The collected data is relayed to command centers in real-time,
allowing military personnel to make informed decisions quickly.

4. Target Engagement

For combat operations, armed drones are equipped with precision-guided munitions such as
missiles or bombs. Once a target is identified, the drone can engage autonomously or upon
receiving commands from operators. Targeting systems use AI and machine learning to
minimize collateral damage and maximize accuracy.

5. Logistics and Support

In addition to combat roles, drones are instrumental in delivering supplies like ammunition,
food, and medical kits to troops in remote locations. These drones operate similarly to EMS
drones but are designed for heavier payloads and longer ranges.

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6. Post-Mission Operations

After completing their mission, defense drones return to their base for refueling, rearming, or
maintenance. Advanced drones with modular designs allow for quick reconfiguration for
subsequent missions.

Example: Border Surveillance

In border patrol missions, drones equipped with thermal imaging cameras monitor activity in
remote areas. They can detect illegal crossings, smuggling operations, or intrusions and relay
this data to security forces for immediate action.

Key Technologies Behind Drone Operations

1. Navigation Systems: GPS and INS ensure precise location tracking, while
obstacle avoidance systems enhance safety.
2. Communication Modules: Secure data links enable real-time transmission of
video and telemetry data to ground stations.
3. AI and Machine Learning: Autonomous decision-making allows drones to adapt
to dynamic conditions and execute complex tasks without human intervention.
4. Payload Systems: Modular payload bays enable drones to carry various
equipment, from medical supplies to weaponry.

Energy Systems: Lithium-polymer batteries or hybrid engines provide the power needed for
long-endurance missions.

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Steps to Fly a Quadcopter Drone

1. Prepare for Flight

 Check the Environment: Ensure you are in a safe and open area, away from
people, animals, and obstacles like trees or power lines.
 Inspect the Drone: Verify that the drone and its propellers are in good
condition. Make sure the battery is fully charged.
 Turn on the Remote Control: Power on the remote control first, as many
drones require this step for proper synchronization.
 Turn on the Drone: Power on the drone using its designated switch or button.

2. Sync the Drone with the Remote Control

 Follow the drone's user manual to establish a connection between the drone and
the remote control. This often involves:
o Pairing the Devices: Move the left stick (throttle) up and then down to
sync the remote to the drone.
o Confirmation: Look for confirmation lights or sounds indicating
the connection is successful.

3. Take Off and Hover

 Throttle Up Slowly: Push the left stick (throttle) upward gently to lift the drone
off the ground.
 Achieve a Stable Hover: Once the drone is airborne, slightly adjust the left stick
to keep the drone hovering steadily in place.

4. Practice Basic Movement

 Move Forward: Push the right stick (pitch) forward to move the drone in a
forward direction.
 Move Backward: Pull the right stick backward to move the drone in reverse.
 Move Left: Push the right stick left to make the drone drift left.
 Move Right: Push the right stick right to make the drone drift right.

5. Maintain Directional Control

 Adjust the Yaw: Use the left stick to rotate the drone if it begins to face a
different direction:

 Push the left stick left to rotate counterclockwise.

 Push the left stick right to rotate clockwise.

 Ensure the drone’s front remains aligned with your intended direction to
maintain control.

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6. Land Safely

 Reduce Throttle Slowly: Gradually lower the left stick to bring the drone
down gently.
 Power Off: After landing, turn off the drone and then the remote control to
complete the session.

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CHAPTER 5

CONCLUSION

Expenditure:-
Sl. no Components Quantity Cost
1. Frame 1 3200/-
2. ESC 4 2480/-
3. ARDU PLOT APM 2.8 1 6700/-
4. JUMPER 1 500/-
5. GPS & GYRO 1 7000/-
6. LANDING GEARS 2 2300/-
7. SCREWS 10 200/-
8. 1800 KV DRONE MOTORS 4 4620/-
9. 4800 Mah BATTERY 1 8900/-
10. POWER BOARD SUPPLY 1 7120/-
11. FAST CHARGERS MAX 1 2500/-
TOTAL 25820/-

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In conclusion, the development of the quadcopter drone for medical supply delivery using the
APM 2.8 controller, GPS module, and the Flysky FS-i6 transmitter has successfully
demonstrated the potential of drones in revolutionizing the medical supply chain. The
integration of these components has provided a reliable and efficient platform for
autonomous flight, accurate navigation, and real-time control. Key findings and insights from
the project are as follows:

1. Precision and Reliability: The APM 2.8 flight controller, in conjunction with the
GPS module, enabled precise navigation and waypoint tracking, ensuring that the
drone could reliably transport medical supplies to designated locations. The system
was able to handle the planned routes and return to the home point accurately, even in
relatively complex environments.

2. Autonomous Operation: The use of the APM 2.8 controller allowed for autonomous
flight, which minimized human intervention during the operation. This is critical for
applications in medical emergencies where time is of the essence, reducing the
potential for human error and ensuring efficient delivery.

3. Communication and Control: The Flysky FS-i6 transmitter, along with the receiver,
provided stable communication between the operator and the drone, offering manual
override capabilities if necessary. This was crucial for maintaining control over the
drone in unexpected situations, such as navigation errors or GPS signal loss.

4. Scalability: The success of the quadcopter’s design indicates that this platform can be
expanded and modified for larger payloads or more advanced features. With minor
adjustments, the system can be adapted for more complex medical deliveries,
potentially improving the accessibility and speed of healthcare in remote or
underserved regions.

5. Cost-Effectiveness: The use of commercially available components such as the APM

2.8 controller and Flysky FS-i6 transmitter kept the overall project cost within a
reasonable range. This makes the technology accessible for smaller organizations or
regions that may not have the resources to invest in high-end drone systems.

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6. Challenges and Limitations: Some challenges included ensuring GPS signal

accuracy in dense urban environments and managing payload stability during flight.
Additionally, battery life and flight time limitations need to be addressed for longer-
distance deliveries or more demanding payloads.

Future Directions

While this project has laid a solid foundation, future improvements could focus on optimizing
flight stability, enhancing payload capacity, and incorporating more advanced sensor
systems, such as obstacle avoidance, to further enhance the drone's operational reliability and
safety. Moreover, further research into regulatory compliance, safety standards, and
integration with healthcare systems would be crucial for wider adoption.

In conclusion, the quadcopter drone system for medical supply delivery shows great promise
in addressing logistical challenges in the healthcare sector, with the potential to improve the
speed and efficiency of medical deliveries while reducing operational costs.

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REFERENCES

1. Cacace, J. (2018). Introduction to Drone Technology: A Review of Modern UAVs and

Their Applications. Springer.

o This book provides a comprehensive overview of drone technology, including

components like flight controllers and GPS modules, and highlights various
applications, including in the medical sector.

2. Sanz, G., Aráoz, E., & Montoya, J. (2017). Design and Development of a UAV-
Based Medical Supply Delivery System. International Journal of Aerospace
Engineering, 2017.

o This paper discusses the design considerations and development of an

autonomous drone system for delivering medical supplies, including the
integration of flight controllers, GPS, and communication systems.

3. APM Flight Controller Documentation. (2023). ArduPilot Wiki. Retrieved from

[Link]

o This official documentation provides technical details and setup guides for the
APM 2.8 controller, offering essential information for configuring and
troubleshooting flight controllers for UAV applications.

4. Flysky FS-i6 Transmitter Manual. (2023). Flysky Electronics. Retrieved from

[Link]

o This user manual provides detailed instructions on configuring the Flysky FS-
i6 transmitter, a key component in the project for controlling the drone, both
for manual and autonomous operation.

5. Hartenstein, T., & Lutz, M. (2019). The Role of UAVs in Emergency Medical Supply
Delivery Systems. Journal of Unmanned Vehicle Systems, 7(3), 125-133.

o This article explores the increasing role of UAVs in emergency response

scenarios, especially in delivering medical supplies to remote or inaccessible
areas. It discusses the technological components and their integration into
medical supply chains.

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6. Koot, G. R., & Hedenström, M. (2020). Autonomous Drones for Urban Air
Mobility: Potential and Challenges for Medical Deliveries. International Journal of
Aviation, Aeronautics, and Aerospace, 7(2), 1-10.

o This paper discusses the potential and challenges of using drones for urban
medical deliveries, addressing regulatory concerns, payload management, and
technological requirements such as GPS accuracy and flight control systems.

7. Chavez, A. L., & Becerra, L. (2021). GPS and Sensor Integration for Autonomous
Drone Navigation in Medical Supply Systems. Journal of Robotics and Automation,
12(4), 58-67.

o This research focuses on the integration of GPS systems and sensors for
autonomous navigation in medical delivery drones, with a focus on
minimizing human intervention and optimizing flight paths.

8. Mast, P., & Meyer, G. (2022). Advancements in Drone-Based Logistics for the
Healthcare Sector. Logistics and Supply Chain Management Journal, 15(1), 89-97.

o This paper highlights the growing use of drones in healthcare logistics,

exploring various case studies, technologies, and challenges in the use of
drones for delivering medical supplies.

9. López, J. R., & Pérez, F. (2019). Optimization of UAV Payloads for Medical Supply
Delivery in Rural and Isolated Areas. International Journal of Advanced Drone
Systems, 8(2), 1-9.

o This study discusses the optimization of payload capacity in drones, which is

particularly relevant for medical deliveries, and examines how payload
weight, size, and drone power systems can be balanced effectively.

10. FAA (2021). Remote Pilot – Small Unmanned Aircraft Systems (UAS) Handbook.
Federal Aviation Administration.

o The FAA provides detailed guidelines on operating small unmanned aircraft

systems (UAS), including regulatory requirements that are essential for
deploying drones for commercial applications like medical supply delivery.

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11. Wang, S., & Liu, X. (2020). Design of a Multi-Rotor UAV for Medical Transport:
Case Study and System Performance. Journal of Engineering and Technology, 5(2),
102-112.

o This paper outlines the design and performance analysis of a multi-rotor UAV
intended for medical supply transport, with insights into the integration of
flight controllers, GPS systems, and communication technologies.

12. Zhang, H., & Li, J. (2022). Challenges and Opportunities in Drone Delivery for
Healthcare Applications. International Journal of Health Logistics, 9(3), 115-124.

o This article examines the challenges and opportunities in using drones for
healthcare applications, particularly for delivering medical supplies, and
provides insights into the technological and logistical hurdles involved in such
projects.

These references provide a foundation of technical, academic, and practical knowledge necessary
to understand and further develop the project on quadcopter drones for medical supply
delivery using the APM 2.8 controller, GPS module, and Flysky FS-i6 transmitter.

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