Visvesvaraya Technological University

Belagavi, Karnataka- 590018

TOPIC : QUADCOPTER DRONE

Submitted to:
Visvesvaraya Technological University, Belagavi
Submitted for partial fulfillment of the requirement for the award of the degree of
Bachelor of Engineering
In
Electronics & Communication Engineering

Submitted by:
USN NAME

3NG21EC019 MANOJA CHADRAGOUDA LAXMESHWAR

3NG21EC0 20 NARESH R

3NG21EC021 PATIMA BEGUM

3NG21EC023 POSHITH S

Under the Guidance Of :

Miss. RASHMI DHOOL (B.E)
Department of Electronics & Communication Engineering

Department of Electronics & Communication Engineering

Government Engineering College, Gangavathi ,Koppal,-583227
Affiliated To Visvesvaraya Technological University
Belagavi, Karnataka- 590018
 Abstract

With growing terror attacks globally, the safety and security of organizations have been
under threat more than ever before. Attacks have ranged from that of cybercrime and as well
as physical. In the recent years there has been a spike in the investment for security by
countries and well as organizations. Saudi Arabia has a defense budget of more than 31 Billon
USD per year. This is a huge amount and is mainly so large because it is bought from other
countries (mainly the USA). There is an initiative by HRH Mohammad bin Salman to
produce indigenous weapons and also reach a point wherein Saudi Arabia is able to sell
locally made weapons to other countries; bringing in revenue into the kingdom. Our project
is based on this vision. The project is called “Quad-copter”. It is a locally assembled open
source Quad-copter that enables video tracking. Communication between Controller and
Quad-copter is done by using wireless communication system mainly using the FS-I6. The
Quad-copter balancing condition is sensed by controller which has built in sensors. All
signals from sensors are processed by the KK microcontroller board. Output from the KK
microcontroller board used to control Quad-copter propellers. Quad- copter can accept load
disturbance up to 250g during it hover condition. Maximum operated time of Quad-copter is
around sixty minutes using 3600mAh Lithium-polymer battery and operate time can be
increase by using largest battery capacity. Along with these features the Quad-copter can
stream live video feed using a smart video transceiver.

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 Table of contents

Abstract ............................................................................... 2

1. Introduction ........................................................................ 4
1.1 Project Definition.................................................................. 4

1.2 Project Objectives .................................................................. 4

1.3 Product Architecture and Components .................................. 5

1.4 Applications ........................................................................... 7

2. Literature Review ............................................................... 8

2.1 Project background ................................................................ 8

2.2 Previous Work ....................................................................... 8

2.3 Comparative Study ................................................................ 9

3. System Design.................................................................. 10
3.1 Design Constraints ............................................................... 10

4. Design Methodology........................................................ 18
4.1 quadcopter motion .............................................................. 18

4.2 modeling of quadcopter ....................................................... 19

5. Conclusions and Future Recommendations .................... 21

5.1 Conclusions.......................................................................... 21

5.2 Future Recommendations .................................................... 21

6. References ........................................................................ 22

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 1. Introduction

The twenty-first century has seen a rapid spread of Unmanned Aerial Vehicles (UAVs)
that are telemetry monitored and controlled by pilots on the ground, who can either be
nearby or far away (depending on the application). Initially, developments were limited to
large military drones, however, advances in motors technology, drive electronics,
microcontrollers and access to GPS navigation, encouraged manufacturers to develop
smaller and cheaper drones.

UAVs may be classified as either being fixed or rotary winged aircrafts. Fixed-winged
(FW) aircrafts generally have simpler structures than rotary wing (RW) crafts, hence they
require less complicated maintenance and repair processes, allowing for a cheap, longer
operational time and high-speed flight durations.

1.1 Project definition

To design developed security monitoring instrument that can help in reaching far places
very fast. This instrument will have smart controllers to control speed and direction of the
Quad-copter while flying around. Security Quad-copter is very useful in saving time and
money. Easy for photography& videography.

1.2 Objectives
The project objective was to build a quadcopter drone that uses an Arduino as its main
flight controller. This build was largely inspired by electronic hobbyist Joop Brokking,
whose YouTube videos we often referred to [1]. We set both primary and secondary
objectives, with the secondary objectives existing simply to serve as an interesting bonus
outgrowth of our original project plan. Our primary objectives were as follows:

1. Build a remote-controlled quadcopter.

2. increase duration of flying.

3. improve charging by using solar panels.

4. Monitoring contaminated facilities by taking live video for security purposes.

5. capturing high quality photography and videography.

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 objectives appear concise, there are many intricate aspects to the building such an
“Auto-leveling” quadcopter. Firstly, the remote-control aspect of the quadcopter requires
seamless, lagfree and stable communication between the transmitter and quadcopter motors
for the quadcopter to fly smoothly. Secondly, due to the inherent unstable nature of
quadcopter flight, there is a necessity for some stabilization mechanism in-built to the
quadcopter flight controller. For this, we plan on using a proportionalintegral-derivative
(PID) feedback control that uses input for an onboard internal measurement unit (IMU) to
communicate with the motors in such a way the quadcopter flight is less unstable, if not
completely stable.

1 If these primary objectives were completed in time, we had modular secondary objectives
as add-on features for the quadcopter, which included:

1. Sonar-based collision avoidance system.

2. Voice control system.

These objectives are currently based upon ongoing developments in industry standard
quadcopters, and were to be bonus features we could add onto our main quadcopter build
to enhance the barebone drone.

1.3 Product Architecture and Components

The project will be built with the following specifications:

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Assumes power system that operates on 3.7 V/ 3600 mA battery.

• Maximum flying time: 20 minutes continuously.

• 120mtr horizontally and 60mtr vertically remote control.

• BLDC: 11100 RPM.

• Propellers are 4.0 inches.

• Solar panels 6v.

• Camera 720p.

• Wifi controller board.

• Lithium battery 1800mAh, 3600mAh.

• LED 4.

• Drone controlling remote.

• Drone frame.

• 6 channel transmitter and receiver .

A quadcopter drone really only needs four moving parts to fly. Think of each propeller,
shaft and motor as one “moving” part since they are all rigidly connected. The quadcopter
receives control commands from the transmitter and sends them to the flight controller. The
brain of the drone is the flight controller.

The execution of the project will take place is stages and at the sub system level. The
project in a nutshell is the assembly, programming and test flight of a quad copter. Video
feedback will also be included in the project. The fact that a quadcopter drone is the
simplest in terms of technicality and dynamics is actually due to the involvement of 4
propellers and a balanced frame structure, which enable the machine to fly with relatively
good equilibrium, even in difficult climatic conditions.

But simplicity also implies that the system might not be as efficient as the conventional
airplane and chopper models which are intricately designed for exhibiting extreme
efficiency in terms of speed and fuel consumption, and of course load bearing
capability...all of these could be essentially lacking in a typical quadcopter system.

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1.4 Applications
Autonomous drones technology has an extremely promising future in the evolving
transportation, retail and entertainment markets. The rapid development of deep learning
and the relative affordability of microcontrollers and other single board computing
technology has made the development of the consumer facing drone industry economically
feasible. Hardware companies like DJI have been steadily growing their own
consumer/hobbyist product line.

1. Aerial Photography and Videography: Quadcopters equipped with high-resolution

cameras are extensively used for capturing aerial footage in industries such as
filmmaking, real estate, tourism, and journalism. They provide unique perspectives
and are more cost-effective than traditional manned aircraft.
2. Surveying and Mapping: Quadcopters equipped with GPS and mapping software
are used for surveying and mapping terrain, buildings, and infrastructure. They can
quickly generate accurate 3D maps and models, which are useful in urban planning,
construction, agriculture, and environmental monitoring.
3. Search and Rescue: Quadcopters equipped with thermal cameras and other sensors
are valuable tools in search and rescue operations. They can cover large areas
quickly, locate missing persons or objects, and provide real-time data to rescue
teams.
4. Agriculture: Agricultural drones are used for crop monitoring, spraying pesticides
or fertilizers, and assessing crop health. They can identify areas of stress or disease
in crops early, allowing for targeted interventions and improving yield.
5. Infrastructure Inspection: Quadcopters can inspect infrastructure such as bridges,
power lines, pipelines, and buildings. They can reach inaccessible or hazardous
areas without the need for scaffolding or putting workers at risk.
6. Disaster Response: In disaster situations, quadcopters can be deployed to assess
damage, locate survivors, and deliver essential supplies to remote or inaccessible
areas. They provide critical situational awareness to emergency responders.
7. Delivery Services: Companies are exploring the use of quadcopters for delivering
small packages and goods over short distances. This application could potentially
reduce delivery times and costs in urban areas.
8. Entertainment and Sports: Quadcopters are used for drone racing, aerial shows, and
light displays at events. They provide spectators with a thrilling visual experience
and are becoming popular in entertainment industries.

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 9. Environmental Monitoring: Quadcopters equipped with sensors can monitor air
quality, wildlife, and environmental changes in remote or difficult-to-access areas.
They provide valuable data for conservation efforts and research.
10. Personal Recreation: Many individuals use quadcopters for recreational purposes
such as flying drones in parks, capturing personal videos and photos, and
participating in drone racing or freestyle flying competitions.

These applications demonstrate the versatility and potential of quadcopters across

various industries and sectors, driven by advances in technology and their ability to perform
tasks efficiently and safely in diverse environments.

Some other applications

The Quad-copter will have applications in the following areas:

1. Military.

2. Large complexes.

3. Shopping malls.

4. Universities.

5. Hospitals.

6. Government buildings.

7. Palaces.

8. Tourism

9. Programs

2. Literature review
2.1 Project background
A conventional helicopter with one main rotor and one tail rotor possess many of the
same properties as a Quad-copter. However, the Quad-copter has no moving parts except
for the rotating motors and propellers, while the conventional helicopter require a complex
hub to make it possible to rotate the motor axis to induce a translating movement. The
Quad- copter is also less prone to vibrations and it is more flexible when it comes to the
placement of the center of gravity. Due to smaller size of rotors, they can be more easily
covered, making it safer to fly indore

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2.2 Literature observation table
Serial Book Name year Author Name Observation
.No
1 The Essential 2022 Randy Braun Together we have taught drone
Guide To photography & it is to ramp up our
Drone skill level by several months or
Photography years, saving us from the trials,
errors, and painful mistakes we
have made
2 Ultimate 2021 Mario Poljak This ultimate guide is intended to
Guide For support all drone users regardless
Drones of whether you are a beginner or an
expert. the associated rules and
regulations around drone
operations can be difficult to
interpret
3 Advanced 2017 Dr Pascual Marques The book thencovers aerodynamic
UAV & s of fixed wing, rotary wing and
Aerodynamics, Dr Andrea Da hybrid unmanned aircraft, before
Flight Stability Ronch introducing aspects of aircraft
and Control flight stability and control.
4 Drone 2023 Sachi Nandan This book provides a holistic and
Technology Mohanty valuable insight into the
revolutionary world of unmanned
aerial vehicles (UAV)
5 WiFi networks 2016 Antonio Guillen It present a comprehensive
on drones perz characterization study of an
experimental system to deploy an
aerial WiFi network

6 Design and 2022 Nithin krishnan a global positioning system

Development (GPS).They are used in many
of Drone applications like Photography and
Videography etc.,

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2.3 Comparative Study

In table 1 are summarized the project features mentioned in the case study above

3. System design
3.1 Design Constraints:

3.1.1 Quad-copter (4 motors)

A Quad-copter, or multi-rotor, drone, or Quad-rotor, is a simple flying mechanical
vehicle that has four arms, and in each arm there is a motor attached to a propeller. Multi-
copters with three, six or eight arms are also possible, but work on the same principal as a
Quad-copter. Two of the rotors turn clockwise, while the other two turn counter clockwise.
Quad-copters are aerodynamically unstable, and require a flight computer to convert your
input commands into commands that change the RPMs of the propellers to produce the
desired motion. This is the short answer to the question of what is a Quad-copter.

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 Quad-copters differ from a helicopter or a fixed wing aircraft in the way they generate
lift and control forces. For an aircraft the lift is generated by the wings, but in a Quad-copter
the lift is generated by the propellers. A helicopter uses its main rotor to generate lift, but
also have the ability to vary the pitch of the rotor blades to generate control forces

The quad-copter concept is not new. Manned quad-copter designs appeared in the 1920s
and 1930s, but these early concepts had bad performance, a high level of instability, and
required a lot of pilot inputs. The advancement of electronic technology in flight control
computers, coreless or brushless motors, smaller microprocessors, batteries,
accelerometers, cameras, and even GPS systems made it possible to design and fly quad-
copters. The simplicity of the quad-copter has made it a very effective aerial photography
and video platform.

3.1.2 Drone motor (BLDC) :

Its tiny 816 coreless (brushed) motors are installed with folding propellers. The drone
motor is a specific type of brushless motor commonly used in drones and other
unmanned aerial vehicles (UAVs). Here are some key features and aspects of the drone
motor:

• Brushless Motor Type: The motor is a brushless DC motor (BLDC), which

offers several advantages over brushed motors, including higher efficiency,
longer lifespan, and better reliability.
• Size and Weight: motors typically come in a compact size suitable for small to
medium-sized drones. They are designed to be lightweight to maximize flight

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 performance and efficiency.
• Power and Performance: These motors are engineered to provide sufficient
power for drone propulsion while maintaining efficiency. The exact power
output and performance characteristics can vary depending on the specific
model and configuration.
• Build Quality: Quality varies among different manufacturers, but E88 motors generally
aim to provide a good balance between performance, durability, and cost-effectiveness.
They are designed to withstand the rigors of drone flight, including rapid acceleration,
deceleration, and changes in direction.

3.1.3 Propellers

Propeller or fans generate the thrust for the Quadcopter to lift. They are classified
depending on their diameter and pitch and are represented in the form of product of
diameter and pitch. The diameter of propeller indicates the virtual circle that the propeller
generates whereas the pitch indicates the amount of travel per single rotation of propeller.
To counter the motor torque, Quadcopter requires two clockwise (CW) and two
anticlockwise (CCW) rotating propellers. Many motors are available with propeller
specifications to have optimum power consumption. If propeller specifications are not
identified, then trial and error method must be used. 10 x 4.5 propellers black CW CCW of
4 pieces is used as per the requirements.

There are four main forces that act on a quad-copter:

1) Gravity – this should be obvious to everyone. This is the force that pulls
the quad- copter down due to its mass
2) Lift – this is the upward reaction force on the quad-copter due to the propellers

3) Thrust – this is the horizontal reaction force on the quad-copter due to the propellers

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4) Drag – this is the backward force on the quad-copter due to air. Imagine
being in a car, and putting your hand out the window. The air hitting your
hand is trying to push back.

3.1.4 Lithium ion Polymer (Li Po) Battery

These are the most popular types of rechargeable batteries for portable electronics, with
a high energy density, tiny memory effect [9] and low self-discharge. It is used at a
discharging rate of 3.7V . It is evident that when 3600mA load is placed across then it will
consume 20min to discharge completely.

Voltage and Cell Configuration:

• BLDC motors are commonly powered by LiPo batteries that provide voltages
suitable for their operation. Typical configurations include 3S (3 cells in series,
nominal voltage of 11.1V) or 4S (4 cells in series, nominal voltage of 14.8V)
batteries.
• The specific voltage depends on the motor's requirements and the drone's design.
Higher voltage batteries (e.g., 4S) are often used for drones requiring more power
and speed.

Capacity (mAh):

• Capacity is measured in milliampere-hours (mAh) and indicates how much energy

the battery can store. Higher capacities generally mean longer flight times,
assuming all other factors remain constant.
• Common capacities for drone batteries range from 1000mAh to 3000mAh or
more, depending on the size and weight constraints of the drone.
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 • Low Self-Discharge Rate: Li-ion batteries have a lower self-discharge rate than
other rechargeable batteries, such as NiCd (Nickel-Cadmium) batteries, meaning
they can hold their charge for longer periods when not in use.

3.1.5 Channel Transmitter- Receiver :

The 6 channel Transmitter (Tx) and Receiver (Rx) system allows the Quadcopter to be
remotely controlled through a wireless signal. Quadcopter controls would typically include
throttle, pitch, roll, yaw, and mode settings. A 6-channel receiver with 2.4 GHz system is
used which perfectly bonds with the 2.4 GHz transmitter for the better performance of
Quadcopter since it would not experience signal conflicts from other radio frequency
(RF)controllers.

• Transmitter (Remote Controller):

The transmitter, or remote controller, is the handheld device operated by the drone pilot.
Its main functions include:

1. Control Signals: The transmitter generates control signals based on the pilot's inputs
(joysticks, buttons) for commands such as throttle (for altitude control), pitch, roll,
and yaw (for movement control), and potentially other functions like camera
operation or mode switches.
2. Signal Encoding: The control signals are encoded using specific modulation
techniques (often digital modulation in modern drones) to ensure reliable
communication with the drone.
3. Transmission Power: The transmitter amplifies the encoded signals and sends them
through an antenna

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 4. Range: The effective range of the transmitter determines how far the drone can be
controlled reliably. This range is influenced by factors such as transmission power,
antenna design, and environmental conditions.

• Receiver (Drone):

The receiver is on board the drone and is responsible for:

1. Signal Reception: The receiver's antenna picks up the control signals transmitted by
the remote controller.
2. Signal Decoding: The received signals are decoded to extract the control commands
intended for the drone.
3. Command Execution: The decoded commands are then sent to the drone's flight
controller or directly to the motors and other actuators to execute the desired
maneuvers or actions.

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 • Channel:

This drone is specifically refers to a drone model or a type of transmitter-receiver system

used in drones, it likely denotes a particular frequency band or a proprietary technology
developed by a manufacturer. In many cases, drone manufacturers assign specific channel
frequencies or protocols (such as 2.4 GHz or 5.8 GHz bands) to ensure interference-free
communication between the transmitter and receiver.

3.1.5 Solar panel :

A 6V solar panel is a specific type of photovoltaic module designed to generate

electrical power from sunlight, converting it into usable electricity

• Sunlight Absorption: When sunlight strikes the solar panel, photons (light
particles) bombard the PV cells.
• Electron Excitation: The energy from sunlight excites electrons in the PV cells,
causing them to flow, creating a direct current (DC) of electricity.
• Electrical Output: The generated electricity is in the form of DC power. The output
voltage of a solar panel depends on various factors, including the number of cells
and how they are connected internally.

A 6V solar panel is a versatile and compact device that harnesses solar energy to
generate electricity. It finds applications in a wide range of settings, from powering small
electronic devices to providing off-grid electricity solutions. Understanding its
construction, working principles, and applications can help in effectively utilizing solar
energy for various needs.

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3.1.7 Camera
In recent years, drones have become increasingly prevalent in various industries,
revolutionizing the way we capture images and video from above. With advancements in
technology, drone cameras have emerged as powerful tools for aerial photography and
videography. In this article, we’ll explain what exactly constitutes a drone camera, how it
works, and some real-life applications across different industries.

A drone camera is a specialized camera mounted on a drone —also known as a known

as an Unmanned Aerial Vehicle (UAV)—, designed to capture high-quality images and
video from the sky. These cameras come in various shapes and sizes, ranging from compact
cameras for hobbyist drones to professional-grade cameras used in commercial applications

Drone cameras work similarly to traditional cameras but with the added capability of
aerial photography. They consist of several components, including the lens, image sensor,
and stabilization system

1. Camera Resolution: Usually equipped with a basic HD camera, typically offering

resolutions like 720p or 1080p. Some variants might have a 4K camera, but this is less
common in lower-cost models.
2. Flight Time: Flight times can vary but are generally around 10-15 minutes per battery
charge, depending on factors like wind conditions and usage patterns.
3. Control Range: The control range can vary but is typically between 10 meters to 150
meters, depending on the transmitter power and environmental conditions.
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 4. Design methodology
4..1 Quadcopter motion
To make quad-copter move forward or backwards, we adjust the pitch using the
right stick on the controller. What happens is th at the front propellers decrease RPMs,
while the back propellers increase RPMs. Now the lift force has a horizontal component
which results in moving the quad-copter forward. The opposite happens to make your quad-
copter go backwards. The front propeller RPM is increased, while the back propeller RPM
is decreased.
To move your quad-copter move sideways, a similar change in RPM takes place, but
this time it is on the left and right propellers. To make your drone move to left, you need to
point the lift force slightly to the left. This is done by decreasing the RPM on the left rotors,
and increasing the RPM on the right side. A similar change in the rotor RPMs takes place
to move your quad-copter to the left.

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4.2 Modeling of quadcopter
Modeling of Quadcopter is done by taking into considerations the safety requirements,
smooth functioning and optimum utilization of propellers, motors and electrical
equipments. The central hub, spars and the arms are designed individually and then
assembled. Various tools available in the modules and workbenches of CATIA are used
to create the propellers and other components of Quadcopter. Drone modeling refers to
the process of creating digital representations or simulations of drones using specialized
software. This can serve several purposes, ranging from designing new drone prototypes
to simulating their behavior in different environments. Here’s a breakdown of what drone
modeling entails:

4.3 The controller

A typical quad-copter comes with a 4 channel controller that sends
commands to the drone to affect its throttle, yaw, pitch and roll. The
communications frequency used by most controllers is 2.4 GHz. This is also
the typical frequency used for WiFi connections. Though it is unlikely that
interference takes place, it may be something worth checking if you are
experience communications lag or dropouts with your quad-copter.The
controller also has 4 trim buttons to allow you to make minor corrections to
your quad- copter flight behavior. If you notice that with no control input, the
drone drifts in a particular direction, applying trim for that control input in the
opposite direction will remove the drift.

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 O

our project is divided into 4 sub-systems as shown if figure 1. Most of these UAVs are
equipped with electric motors that contribute to the simplicity of operation and significantly
reduce their noise signature. The propulsion systems of these small UAVs (batteries, motor,
propeller, etc.) account for as much as 60% of the vehicle weight Therefore, optimization
of the propulsion systems is extremely crucial. The electric propulsion system of a typical
UAV includes the following components: propeller; electric motor; energy source, wiring,
plugs, and connectors.

Brushless DC motors also termed as BLDC motors are used in Quad-copters. These motors
consist of a permanent magnet which rotates around a fixed armature. They offer several
advantages over brushed DC motors which include more torque per weight, reduced noise,
increased reliability, longer life time and increased efficiency.
Motor calculations: The motors should be selected in such a way that it follows following
thrust to weight relationship .
Ratio=Thrust / weight =ma / mg =a / g
Thus, vertical take-off and vertical landing (VTOL) is possible only when, (a/g) > 1 or in
other words, the total thrust to total weight ratio should be greater than 1 so that the quad-
copter can accelerate in the upward direction.
An RC drone controller is a critical component that allows operators to pilot drones
remotely. It provides precise control over the drone's movement, flight modes, and other
functions through radio signals. The design and capabilities of the RC controller play a
crucial role in the overall performance and user experience when operating drones. When
choosing an RC controller, it's essential to consider its features, compatibility with your
drone model, and ease of use based on your experience level as a drone pilot.

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 5. Conclusions and future recomondation
5.1 Conclusion
. In this we have achieved the following:
➢ Finalized the design.

➢ We acquired all the components.

➢ Assembled the frame.

➢ Paired the receiver and the transmitter.

➢ Calibrated the sensors.

➢ Test the motors.

➢ Attempt the first flight.

➢ Overcome the problem of motors spinning.

➢ Perform multiple flight tests.

➢ Enable the quad-copter to fly.

➢ Good control of quad-copter while flying.

➢ Take live video streaming.

➢ Upgrade to frame.

5.2 Future Recommendations

1. Use carbon fiber frame instead of plastic since it has better resistance against
hard landing.

2. Order more than what you need since the components are not available locally.

3. Use KK 2.1 flight controllers since it is the easiest to use for beginners.

4. Improve more flying range and connectivity.

5. The future of drones promises significant advancements in technology and

applications across various industries.it’s essential for stakeholders from
manufacturers and regulators to end users to collaborate in shaping a future
where drones are safe, reliable, and beneficial to society. Continued research
and development in these areas will drive innovation and unlock new
possibilities for drone technology in the coming years.
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 6. References:

1. L. N. Hung and L. S. Bon, "A quadcopter-based auto cameraman system," 2016 IEEE
Virtual Conference on Applications of Commercial Sensors (VCACS),
Online)Piscataway, NJ, USA, 2016, pp. 1-8, doi: 10.1109/VCACS.2016.7888783

2. D. Gheorghiţa, I. Vintu, L. Mirea, and C. Braescu, "Quadcopter control system," 2015

19th International Conference on System Theory, Control and Computing (ICSTCC),
Cheile Gradistei, Romania, 2015, pp. 421-426, doi:10.1109/ICSTCC.2015.7321330.

3. M. Rumpler et al., “Evaluations on multi-scale camera networks for precise and geo-
accurate reconstructions from aerial and terrestrial images with user guidance,” Vis.
Image Underst., pp. 1–16, 2016

4. Piotr Kardasz and Jacek Doskocz, "Drones and Possibilities of Their Using", Journal
of Civil & Environmental Engineering, vol. 6, no. 3. CrossRef Google Scholar

5. Alberto Sigala, Brent Langhals: Applications of Unmanned Aerial Systems (UAS): A

Delphi Study Projecting Future UAS Missions and Relevant Challenges, Vol 4, Issue
1, PP 8, (Mar 2020) https://doi.org/10.3390/drones4010008

6. A. Mazakova, S. Jomartova, T. Mazakov, T. Shormanovand and B. Amirkhanov,

"Controllability of an unmanned aerial vehicle“ IEEE 7th International
EnergyConference (ENERGYCON), pp. 1-5, 2022.View Article

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