International Journal of Engineering and Manufacturing Science. ISSN 2249-3115 Vol. 7, No.

1 (2017)
© Research India Publications; http://www.ripublication.com

Design and Development of Arduino Uno based Quadcopter

Vibha Kishor1, Ms. Swati Singh2
1
UG Student, Department of Electronics and Communication, Meerut Institute of Technology, Meerut
2
Assistant Professor, Department of Electronics and Communication, Meerut Institute of Technology, Meerut

Abstract- In the modern world with increase in the technology attached on a controller board and a transmitter that controls
there is equal growth in automobiles which creates traffic the motion of a quadcopter. The hardware consists of simple
leading to sound pollution, traffic jam and air pollution. So it Arduino board with an Atmega 328, propellers, ESCs & flight
take more than required time to reach from one place to another, controller board (FCB), transmitter & receiver and gyroscope
thus we must look forward to some airways. Quadcopter is one for a balanced flight as shown in fig.1.
of flying unit used to lift the object from one place to another in
lesser time or can be used for surveillance purpose. At industry
level applications, quadcopter are made using KK board
module which comes with pre programmed KK board and
balanced gyroscope module which is not economical for
smaller applications. It’s not a cost effective method. To make
the quadcopter economical and efficient for small level
applications this work is proposed, which design and develop
a quadcopter using Arduino Uno board instead of pre
programmed KK flight Controller board. It has wide
application like quadcopter mounted with camera and GPS
tracker could be used for surveillance of wide areas such as
forest and coast guard applications etc.
Keywords—Accelerometer, Arduino Uno Atmega328 micro
controller, BLDC Motor, Flight controller Board, ESCs (Electronic
speed controller), Propellers, Transmitter and Receiver.

1. Introduction
Fig.1 Hardware description of Quadcopter
Quadcopter is an assistive device which has a high demand in
the industrial & surveillance sector. As the technology has Hardware is programmed in C language. The controller board
matured and become more mainstream, a number of practical and ESC’s work together. FCB gives the command to ESCs
and very interesting uses of Quadcopter technology have which is further connected to BLDC motors for the rotation.
emerged [1]. The present work includes the design and
development of the Quadcopter using ATMEGA328. This 3. Working principle
system will either use a GPS system or it will use a camera for
identification of path being traveled by it [2]. This system will Quadcopter system works on the principle of air lifting
be controlled by a remote system or a transmitter by sitting phenomena with high pressure. The propellers force the air in
inside our home, office, or any place within its transmitter downward with high pressure due to which an uplift force is
range. This concept will thus facilitate the surveillance created and as a result action reaction law is applied on the
activities [4]. The quadcopter is useful for in many situations. whole system. When this uplift force dominates the earth’s
From the scope of the quadcopter, it’s used for aerial gravitational force, the whole system start flying in the air. But
photography, security and rescue, industrial inspection and there is a problem with the rotation of propellers. If we rotate
much more. The result of this project will help people in the propellers in clock wise direction then due to this rotation,
natural calamities by reaching the dense areas where humans a torque will be applied over the whole system in one direction
cannot reach immediately. Practically, quadcopter is being .And similarly if we rotate the propellers in anti-clock wise
used for object detection through image processing in border direction then also a torque will be produced over the whole
security of the nation [6-7]. system and the whole system will start rotating anticlockwise.
2. Hardware description To overcome this problem we rotate two propellers in
clockwise direction and remaining two propellers in
The quadcopter use an arduino microcontroller Atmel328 as anticlockwise direction. This phenomena produces torque in
the core controller and is designed and developed to achieve opposite direction and they get balanced and the system
the real time operating system. This system uses one receiver remains stable while flying.

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 International Journal of Engineering and Manufacturing Science. ISSN 2249-3115 Vol. 7, No. 1 (2017)
© Research India Publications; http://www.ripublication.com

Two basic phenomena are used for movement of quadcopter, 4.1 Hardware Components Used
thrust and torque. Quadcopter uses its four propellers attached
to motors which creates thrust and help quadcopter to elevate 4.1.1 Arduino Uno
high. Motion of quadcopter are defined based on the input
values (x, y, z, θ, ɸ, ψ) given to it. Out of four motor attached Arduino Uno is an open source physical computing platform
with propellers, two motors rotate in clockwise (CW) direction used for building digital devices and interactive objects that
while other two in counter clockwise (CCW) direction. Motion can sense and control objects in physical world. It’s a micro
of quadcopter is thus controlled mainly by three movements. controller, based on AT mega 328P which consist of 14 digital
These movements are classified as input/output pins (out of which 6 pin are used as PWM output),
6 analog inputs, a USB connector,16 MHz quartz crystal,
3.1 Yaw Rotation (ψ) power jack, an ICSP header and a reset button. Arduino board
consist of everything needed to work with microcontroller.
Yaw is defined as movement of quadcopter either to left or Arduino IDE (Integrated Development Environment) is use to
right and it is controlled by throttle stick of transmitter. Yaw upload programs to the arduino boards and further these
decides the direction of quadcopter. programmed boards can be used to perform intended tasks.

3.2 Pitch Rotation (θ)

Pitch is defined as the whole movement of quadcopter either

in forward direction or in backward direction. It’s also
controlled by throttle of receiver. Moving the throttle in
forward direction moves quadcopter in forward direction
while moving throttle backward moves quadcopter in
backward direction [2].

Fig.3 Flow chart for Quadcopter Designing

Fig.2 Yaw, Pitch & Roll rotation

3.3 Roll Rotation (ɸ)

The movement about the longitudinal axis of quadcopter is

known as roll motion. Left or right motion of throttle stick is
followed by quadcopter, it moves in towards right when
throttle move to right and moves to left when throttle stick
moves in left direction. This parameter thus makes quadcopter
to fly in left or right direction. [2].
Fig.4 Arduino Development Board
4. Design and Methodology
The methodology adopted in designing arduino based
quadcopter is shown in fig.3.

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 International Journal of Engineering and Manufacturing Science. ISSN 2249-3115 Vol. 7, No. 1 (2017)
© Research India Publications; http://www.ripublication.com

4.1.2 BLDC (Brushless DC Motors) 4.1.4 Flight Controller Board

Also known as electronically commuted motors (i.e. ECMs Flight controller used in quadcopter is the main functioning
motors). BLDC motor are synchronous motor powered by DC body of our aircraft. It’s a circuit board that that are equipped
electricity. Rated in KV, where it rotates 1000rpm per 1 volt with sensors which senses any change in orientation. It can
supplied to it (if its rating is 1 KV). It offers several advantages receive different commands sent by user to control speed of
over brushed DC motors like more reliability, low noise, motors so that quadcopter could be stable in fly mode. Here
reduction in EM Interference (EMI), high torque per watt etc. we have used arduino uno as our flight controller board. ESCs
and Flight Controller board work together in following ways:
 ESCs receive command from micro controller circuit
board and further give command to the motors for
rotation.
 FCB generates various commands for ESC and
motors according to the need of user.
The whole system is controlled by this controller board.

4.1.5 Transmitter and Receiver

Radio transmitter uses radio signal to remotely control

quadcopter in wireless way, the commands given by
transmitter are received by a radio receiver connected to flight
controller. The no of channels in transmitter determine how
many actions of aircraft can be controlled by pilot. Minimum
of four channels are needed to control a quadcopter (which
Fig.5 BLDC Motor includes pitch. Roll, throttle, yaw).The stick control on radios
transmitter is known as gimbal. RC receiver used operates on
4.1.3 ESC’s (Electronic speed controller) 2.4GHz of radio frequency (unless you do not have any
specific need for a different frequency).
Four 30A ESCs (electronic speed controllers) are used in
proposed Quadcopter. It convert the PWM signal received
from flight controller or radio receiver and then drives the
brush less motor by providing required electrical power. Thus
ESC is an electric circuit that control the speed and direction
of electric motor by varying the magnetic forces created by the
windings and magnets within the motor.

Fig.7 Transmitter and Receiver

4.1.6 Li-Po Battery

Li-Po (Lithium Polymer battery) is a rechargeable battery of

Fig.6 ESC’s (Electronic speed controller) lithium ion technology. They provide higher specific energy
and are being used where weight is a critical factor. It also
provide high voltage and long run time as they hold huge
power in small package and have high discharge rates required
to meet the need of powering quadcopters.

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 International Journal of Engineering and Manufacturing Science. ISSN 2249-3115 Vol. 7, No. 1 (2017)
© Research India Publications; http://www.ripublication.com

Fig.8 Li Po (Lithium Polymer) Battery Fig.10 Propellers

4.1.7 Frame 4.1.9 Gyroscope

The F-450 quadcopter frame is used as it is best suited for the Quadcopter requires a flight stability sensors that stabilizes
propellers and payloads which has to be lifted along quadcopter during its flight mode. L3G4200DH gyroscope is
quadcopter. Quadcopter requires a light as well as rigid frame low power sensor with a sensing element and an IC interface
to host a LIPO battery, 4 BLDC motors, 4 ESCs & a (able to provide the measured angular rate to users through
controller.Arms are made up of 5/8 hollow square aluminum digital interface 12C/SPI)
bars and uses common nuts and bolts to hold the frame
together. .

Fig.9 Quadcopter four arm Frame Fig.11 Gyroscope

4.1.8 Propellers 5. Software Implementation

Used 10 x 4. CW and CCW 4 pieces of black propellers as per The micro controller ATMEGA328 is programmed using C
the requirements. Size of propellers varies with its applications language with arduino IDE software. It’s a development
like smaller propellers (under 8 inch) are used for racing. environment that simply uses an user interface for adding and
.While large sized propellers (over 8 inches) along with motors editing in the arduino coding language.These program are
are used for carrying some weighted object like camera. utilized in various calibration steps which includes

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 International Journal of Engineering and Manufacturing Science. ISSN 2249-3115 Vol. 7, No. 1 (2017)
© Research India Publications; http://www.ripublication.com

5.1 Set up Calibration

Set up calibration illustrates the interconnections of various

hardware components used in quadcopter. Firstly program is
uploaded on arduino board using IDE Software and then some
motor arming routine is followed as illustrated in flow diagram
shown in fig.12
.
5.2 ESC’s Calibration

ESC calibration varies with the brand of ESCs used in

quadcopter. The calibration of ESIC is done on priority basis
with the help of a radio system for each rotor and
corresponding ESC. It includes the following steps as follows:
 First upload the program on controller board, then turn
ON the transmitter and put the throttle stick to its
maximum. Fig.13 IDE serial monitor output while ESC’s
calibration
 Now connect the battery.The auto pilot’s red, blue and
yellow LED will light up in cyclic pattern that indicates
ESCs are ready for calibration mode.
 By keeping transmitter throttle stick high, disconnect and
then reconnect the battery.
 Regular no of beeps on transmitter indicates the battery
cell count and additional two beeps specify that
maximum throttle has been captured.
 Now set the transmitter throttle stick down to its
minimum position.
 ESCs should now emit a long tone that indicates
minimum throttle has been captured and calibration is
complete.
 Fig. 13 shows that the values of roll, pitch & yaw on IDE
software. For a balanced flight these parameters of
gyroscope must be set to -0,-0 & 0 respectively.

Fig.14 IDE serial monitor output for all sticks in center

position

5.3 Flight Calibration Mode

Flight calibration mode is a field testing mode. Place

quadcopter on flight mode and then test the quadcopter on
field. After tuning the gyro parameters on the test stand, we
began to test the quadcopter in free flight. These tests were
performed outdoors in a large open area, while maintaining
safe distance from the quadcopter.
We were confident after the single-axis tests that the
quadcopter would be fairly stable in the roll and pitch axes, but
it drifted significantly in the yaw direction. After stabilizing
control on the yaw axis with proportional control only, the
quad drifted much less in yaw and became much more
controllable. We increased the proportional control term in the
yaw PID until the quad was fairly responsive to yaw control
inputs. We found that the quad made small, fast oscillations in
Fig.12 Set Up/Initialization workflow
the roll and pitch axes in flight. To fix this, we reduces the
vibration on quadcopter by balancing the propellers, we

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 International Journal of Engineering and Manufacturing Science. ISSN 2249-3115 Vol. 7, No. 1 (2017)
© Research India Publications; http://www.ripublication.com

isolated the sensor board from the remaining vibration using  Implementing a GPS module on kit for tracking & spy
vibration absorbing mount. Now quadcopter flight mode was based applications.
much stable.  This design can employ Motor Driver of high rating or
Relay driver can be used for its commercial applications.
6. Motor Thrust Testing  Can be used for real estate photography by employing
camera on it. Other applications includes inspection,
To test the motor thrust and determine its relationship to ESC surveillance and monitoring a wide area by camera
command signal, one of the motors was mounted to a load cell. equipped quadcopter.
The load cell had a 5 kg maximum load, more than adequate  Pesticides sprinkling
for the less than 1kg maximum that we expected from the
motor. For each BLDC motor and the propellers of 10X4.5 we Based on the weight lifting calculations we can use our single
were able to generate a thrust of 0.902kg when supplied with economical Quadcopter to lift these different modules
2000μs pulse. So, by using the four BLDC motors we can satisfying the weight lifting criteria.
generate the maximum weight lifting capacity of
4X0.902=3.608kg for the Quadcopter provided the battery References
must be fully charged.
[1] Stafford, Jesse, "How a Quadcopter works Clay Allen".
University of Alaska, Fairbanks. Retrieved 2015-01-20.
[2] Sandeeep Khajure, Vaibhav Surwade, Vivek Badak,
“Quadcopter Design and Fabrication,” International
Advance Research Journal in Science, Engineering and
Technology (IARJSET), Vol. 3, Issue 2, February 2016.
[3] Quadcopter Dynamics, Simulation, and Control, January
26, 2010.
[4] David Roberts, "Construction and Testing of a
Quadcopter," California Polytechnic State University,
San Luis Obispo, CA, 93407, June, 2013.
[5] S. Bouabdallah, P. Murrieri, R. Siegwart, "Design and
Control of an Indoor Micro Quadrotor", Robotics and
Automation 2004. Proceedings. ICRA ‘04. 2004 IEEE
International Conference on, vol. 5, pp. 4393-4398,
2004.
[6] J. Engel, J. Sturm, D. Cremers, "Camera-based
Fig.15 Final arduino based quadcopter design navigation of a low-cost quadrocopter", IEEE/RSJ
International Conference on Intelligent Robots and
Systems (IROS), pp. 2815-2821, Oct. 2012, ISBN 2153-
7. Conclusion 0858.
[7]. J. Valvano, "Embedded Microcomputer Systems: Real
Our research work yielded a successful development of Time Interfacing", Brooks-Cole, 2000, ISBN
Arduino Uno based Quadcopter at a cheaper and affordable 0534366422.
amount. Quadcopter which can be easily made from shelf
components. It can be used as a low cost alternative to various
applications which includes pesticide sprinkling, end to end
delivery within the transmitter’s RF range, surveillance in
defense and other sensitive places like nation border, mapping
through remote sensing, etc. with very high level of precision.

7.1 Future Possible Upgradation

Our team goals were to design, test, and build a quadcopter kit.
There are various possible up-gradation in future based on its
application which includes:
 Adding a sonic sensor module to controller board for more
accurate altitude determination.

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