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quadrotor
by jjdream on September 2, 2010 Table of Contents quadrotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Intro: Quadrotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Step 1: Step 2: Step 3: Step 4: Step 5: Step 6: Step 7: Step 8: Step 9: Step 10: Step 11: Step 12: Step 13: Step 14: Step 15: Step 16: Step 17: Step 18: Step 19: Step 20: Step 21: Step 22: .................................................................................................................. .................................................................................................................. .................................................................................................................. .................................................................................................................. .................................................................................................................. .................................................................................................................. .................................................................................................................. .................................................................................................................. .................................................................................................................. ................................................................................................................. ................................................................................................................. ................................................................................................................. ................................................................................................................. ................................................................................................................. ................................................................................................................. ................................................................................................................. ................................................................................................................. 1 2 3 3 4 4 4 5 5 6 6 6 7 7 8 8 9 9 9

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Step 23: Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Step 24: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

http://www.instructables.com/id/Quadrotor/

Intro: Quadrotor
This summer's Edgerton Center Engineering Design class produced four awesome projects in four weeks. One of the projects was a functional RC quadrotor built with commonly-available RC equipment and an Arduino microcontroller board. Here is the instructions on how to make the quadrotor. The video of the four projects can be found here . Parts List: - 1/32 aluminum sheet - 2 of 8 x 3.8 slow flyer propeller - 2 of 8 x 3.8 slow flyer pusher propeller - 4 of Turnigy C2028 Micro brushless outrunner 1400kV motor - 4 of Turnigy Plush 18 amp speed controller - Turnigy nano-tech 1800mah 4S 35-70C Lipo Pack - 1/2 4-40 plastic machine screws - 4-40 plastic nuts - 1/2 4-40 aluminum machine screws - 5/8 4-40 aluminum machine screws - 3/8 4-40 aluminum machine screws - 2 threaded 4-40 plastic spacers - Accelerometer + Gyros chip: Sparkfun 6DOF razor IMU - Microcontroller: arduino mini - Hobbyking 2.4 GHz transmitter and receiver + Controller - 1.5 hex threaded 4-40 aluminum spacers - 2 of Carbon Fiber square tube .25 x .25 (.180 ID) x 48 - Strings - Zip-ties - Super glue - Velcro - Protoboard - Female header pins - 3.3 volt regulator - Jumper Wires Where to get parts: Propellers- http://www.apcprop.com/pindex.asp?Page=2 http://hobbyking.com/hobbyking/store/uh_index.asp Carbon Fiber square tube - http://www.dragonplate.com/ http://www.mcmaster.com/ http://www.sparkfun.com/commerce/categories.php

http://www.instructables.com/id/Quadrotor/

Step 1:
Cut 2 of 14, 4 of 6.125, 4 of 8 carbon fiber square tubes Drill 7/64 holes 3/8 away from each ends of the cut carbon fiber tubes. Drill 7/64 holes 1 and 5/8 from both ends of 14 long carbon fiber tubes. Drill 7/64 holes 1 and 5/8 from only one end of 6.125 and 8 long carbon fiber tubes. When drilling through the carbon fiber tubes, drill very slowly with caution. Carbon fiber tubes can split if you don't pay attention. Also use a drill press instead of a hand drill.

Step 2:
Cut 4 of 2x2 square from 1/32 aluminum sheet. File the sides and corners of the square Mark the center lines of the square so that it forms a cross. Drill a 1/8 hole on the center of the aluminum square. Place the center of the motor on the 1/8 hole and mark the motor leg holes on the aluminum square. Line one of the motor leg holes on one of the center lines. Drill 9/64 holes on the aluminum for the motor legs.

Image Notes 1. center of the motor 2. motor leg 3. motor leg 4. motor leg

Image Notes 1. line one of the motor legs with one of the center lines

http://www.instructables.com/id/Quadrotor/

Step 3:
Place 2 of the 6.125 carbon tubes on each end of a 2x2 square aluminum sheet. The carbon tube should be parallel to each other. The two carbon fiber tubes should be parallel to the center line drawn on the 2x2 aluminum sheet where one of the motor leg holes are. On the 2x2 aluminum sheet, mark where the holes on the carbon tubes are by placing a center punch through the holes on the tube. Repeat this step for the other two 6.125" carbon tubes and 2x2 square aluminum sheet.

Image Notes 1. one of the motor leg holes should be on this center line 2. 6.125" carbon fiber tube 3. 6.125" carbon fiber tube

Step 4:
Repeat the previous step for the 14 carbon tubes. The 2x2 aluminum sheets should be on both ends of the 14 carbon tubes.

Step 5:
Place one end of the 8 tubes with two holes along the center line drawn on the 2x2 aluminum sheet with the motor leg hole. One of the holes on the 8 carbon tube should line up with the motor leg hole. Place the 8 carbon tube so that the longer side points the opposite direction from the other carbon tubes. Mark the remaining hole on the 8 carbon tube on the aluminum sheet with a center punch. Drill 7/64 holes on the 2x2 aluminum sheets where the center punch left marks.

http://www.instructables.com/id/Quadrotor/

Image Notes 1. 8" carbon fiber tube 2. one of the holes for the motor leg 3. either 6.125" or 14" carbon tubes

Step 6:
Attach the carbon tubes using 4-40 plastic machine screws and nuts. Do not place any screws through the hole on the 8 carbon tube that is lined up with the motor leg hole.

Step 7:
Super glue .188 locating ring into the propellers When the super glue is dry, use a 1/4 drill bit to slightly enlarge the locating ring hole until the motor shaft slips on. Drill holes on the side of the propellers corresponding to the holes on the motor shaft and attach the propellers to the motor using the screws that were on the motor shaft.

Image Notes 1. locating ring

Image Notes 1. motor shaft with screws 2. motor shaft with screws

http://www.instructables.com/id/Quadrotor/

Step 8:
Attach the motors on the 2x2 aluminum sheets by placing a nut between the motor leg and the aluminum sheet so that the motor is not flush against the aluminum sheet. Same pitched propellers should be across to each other, so attach the slow flyer propellers on the 2x2 aluminum sheets with 6.125 carbon tubes. Use 5/8 aluminum machine screws for the holes that are lined up with the 8 carbon tubes.

Step 9:
Cut two sheets of 5x5 aluminum sheets. Mark 2 on the center of each sides of the 5x5 aluminum sheets. Connect the ends of 2 sides so that the drawn lines form an octagon. Cut out the corners of the 5x5 aluminum sheets along the drawn line to make octagons. File the corners and the edges of the octagon.

Image Notes 1. center lines

Step 10:
Draw center lines of the 2 sides on one of the octagons. Define x and y axis. With a center punch, mark at points (.875,2.125), (1.375,.875), (2.125,.875), (2.125,0), (1.5, 1.5) from the origin or the point where the center lines intersect. Reflect the marked points over the center lines so that each quadrant has the same points. Drill 7/64 holes on the marked spots on the octagon.

Image Notes 1. (.875,2.125) 2. (1.5,1.5) 3. (1.375, .875) 4. (2.125,.875) 5. (2.125,0) 6. origin

http://www.instructables.com/id/Quadrotor/

7. y axis 8. x axis

Step 11:
Place the octagon on the center of the 14 carbon tube assembly. The holes on the points (.875,2.125) and (.875, -2.125) have to lie on one of the 14 carbon tubes. The holes on the points (-.875, 2.125) and (-.875, -2.125) have to lie on the other 14 carbon tubes. Make sure the aluminum octagon is on top of the carbon tubes. Mark the holes on the carbon tubes through the holes on the aluminum octagon using a center punch. DO NOT use a spring loaded center punch on the carbon tube. GENTLY tap the center punch with a rubber mallet.

Image Notes 1. (.875,2.125) 2. (-.875,2.125) 3. (.875,-2.125) 4. (-.875,-2.125)

Step 12:
Place the 6.125 carbon tube assemblies on the other two sides to create a cross like shape with the carbon tubes. The holes on the points (2.125, .875) and (1.375, .875) on one of the carbon tubes of one of the 6.125 assemblies. The holes on the points (1.375, -.875) and (2.125, -.875) should lie on the other carbon tube. Make sure the motors are facing the same direction. The holes on the points (-2.125, .875) and (-1.375, .875) on one of the carbon tubes of the other 6.125 assemblies. The holes on the points (-1.375, -.875) and (-2.125, -.875) should lie on the other carbon tube. Mark the holes using a center punch.

Image Notes 1. (2.125,.875) 6.125" assembly one 2. (1.375,.875) 6.125" assembly one 3. (1.375,-.875) 6.125" assembly one 4. (2.125,-.875) 6.125" assembly one 5. (-1.375,.875) 6.125" assembly two 6. (-1.375,-.875) 6.125" assembly two

http://www.instructables.com/id/Quadrotor/

7. (-2.125,.875) 6.125" assembly two 8. (-2.125,-.875) 6.125" assembly two

Step 13:
Drill 7/64 holes on the marked spots on the carbon tubes. The carbon tubes break easily when drilling, so drill very slowly. Attach the carbon tube assemblies to the corresponding spots on the aluminum octagon.

Image Notes 1. green pieces are the 14" carbon tubes.

Step 14:
On the second aluminum octagon, draw center lines from the 2 sides. Define x and y axis. On the protoboard, there are four holes in each corner. Aline the long side of the protoboard along the y axis and mark the four corner holes on the octagon. Drill using 7/64 drill bit for the four holes. Duct tape top of the octagon where the protoboard is being attached to prevent short circuiting.

Image Notes 1. y-axis

http://www.instructables.com/id/Quadrotor/

Step 15:
With a center punch, mark points at (1.5,1.5), (2.125, 0) and (1.7, .86). Reflect the point over the center lines so that each quadrant have the same points. Drill 7/64 holes on the marked spots.

Image Notes 1. (1.5,1.5) 2. (1.7,.86) 3. (2.125,0) 4. protoboard attaching hole

Step 16:
Attach the protoboard on to the second octagon using plastic machine screws with nuts between the board and the octagon so that the bottom of the protoboard does not touch the octagon.

Step 17:
Cut 2x4 rectangle from the 1/32 aluminum sheet. File down the corners and sides. Draw center lines on the rectangle and define the center line from the 4 side as the y axis so that when the y axises from the octagons and the rectangle are lined up, the long sides of the protoboard and the aluminum rectangle would be perpendicular to each other. With a center punch, mark points at (1.7, .86) and the reflected points over the center lines in each quadrant. Drill 7/64 holes on the marked spots

Image Notes 1. (1.7,.86) 2. y axis

Image Notes 1. protoboard

http://www.instructables.com/id/Quadrotor/

Step 18:
Place a strip of Velcro on the aluminum rectangle and the on one of the 123mm x 29mm sides of the battery. Attach the battery and the aluminum rectangle. Place the 1.5 aluminum hex spacers on (1.7,.86) and the corresponding points between the aluminum rectangle with the battery and the octagon with the protoboard. The battery should be under the protoboard. Bolt the rectangle, octagon and hex spacers using 4-40 plastic machine screws.

Image Notes 1. Velcro should be placed here and the corresponding velcro should be placed on the battery 2. protoboard should be on this side

Step 19:
Solder the speed controllers to the motors so that the propellers spin the right direction. Refer to the wiring diagram for electrical connections. Notes on diagram wiring : -We used additional header pins to all connected to VCC to create additional 5V pins. We did the same for ground. -1 speed controllers 5V power from the 3-wire-connector must go to VCC on the Arduino. This connection supplies the power for the entire board. -All 4 speed controllers ground wires must connect to the Arduinos ground pin(s).

Step 20:
Cut the 2 plastic spacers in half. Place the 1 spacers between the two octagons on the holes at points (1.5,1.5) and (2.125,0) and the corresponding points in the other quadrants. The center line axis on both octagons should line up. Also the protoboard should lie between the 14 carbon tubes Bolt the two octagons with the 1 plastic spacers with 4-40 plastic screws.

http://www.instructables.com/id/Quadrotor/

Image Notes 1. 1" plastic spacer 2. 1" plastic spacer 3. protoboard should lie here. The longer side of the protoboard should be parallel to the 14" carbon fiber tubes (green).

Step 21:
Use 1/2 aluminum machine screws to attach 2 plastic spacers at the end of the 8 carbon tubes. Tie a string around the frame by placing the string between the plastic spacers and the carbon tubes.

Image Notes 1. 2" plastic spacers 2. 2" plastic spacers 3. 2" plastic spacers 4. 2" plastic spacer

Step 22:
Screw on 3/8 aluminum machine screws on top of the 2 plastic spacers. Tie a string around the frame similar to step 41, except the second string has to go between the plastic spacers and the 3/8 aluminum machine screws so that the string is tied on top.

http://www.instructables.com/id/Quadrotor/

Image Notes 1. string frame for safety

Step 23: Code

Our code was written in a modified form of C++ that is described on the Arduino website . Our code represents a feedback control system known as PID (proportional integral derivative). Currently, it only employs use of the proportional and derivative components. With our current code, the quadrotor self-stabilizes quite well in the air, but is a little unstable on takeoff. However, this instability can be mitigated by taking off quickly. To find the current amounts of tilt on the X and Y axis from accelerometer and gyro data, we used an algorithm that would average previous accelerometer data and combine it with gyro data to reach an angle measurement that was fairly resilient to linear acceleration. We only do 2 Pulsin commands per loop (instead of 4) to cut the loop time in half, which makes the quadrotor control system much more responsive. //neutral accelerometer/gyro positions #define X_ZERO 332 #define Y_ZERO 324 #define Z_ZERO 396 #define PITCH_ZERO 249 #define ROLL_ZERO 249 #define YAW_ZERO 248 #define GYRO_CON 1.47 #define ACCEL_CON 0.93 #define TIME_CON 0.02 #define SEN_CON 0.95 //motor speed vars int speeds[4]; //gyro inputs - current tilt vars float pitch, roll, yaw; int pitchzero, rollzero; //accelerometer inputs - current acceleration vars float xin, yin, zin; //human inputs - control info vars float pitchin, rollin, yawin, zhuman; //random other vars float xaverage=0, yaverage=0; int y=0; int blah; //proportionality constants float p=2.5; // P proportionality constant float d=0.5; // D proportionality constant void setup() { zhuman=0; rollin=0; Serial.begin(9600); for(int x=6; x<10; x++) { pinMode(x, OUTPUT); } //send upper bound for human inputs to the motor speed controllers for(int x=6; x<10; x++) { pulsout(x,2000);

http://www.instructables.com/id/Quadrotor/

} delay(5000); //get zeros for pitch and roll human inputs for(int x=0; x<10; x++) { y=y+analogRead(3); } pitchzero=y/10; y=0; for(int x=0; x<10; x++) { y=y+analogRead(4); } rollzero=y/10; } void loop () { //accelerometer and gyro inputs ranged -232 to 232? xin=(analogRead(0)-X_ZERO)*ACCEL_CON; yin=(analogRead(1)-Y_ZERO)*ACCEL_CON; zin=(analogRead(2)-Z_ZERO)*ACCEL_CON; pitch=(pitchzero-analogRead(3))*GYRO_CON; roll=(rollzero-analogRead(4))*GYRO_CON; yaw=(analogRead(5)-YAW_ZERO)*GYRO_CON; //get human inputs through radio here range of -30 to 30 except for zhuman which has an ideal range of 1000-2000, only 2 pulses per loop if(blah==0) { yawin=0.06*((signed int) pulseIn(2,HIGH)-1500); pitchin=0.06*((signed int) pulseIn(3,HIGH)-1500); blah=1; } else { zhuman=(signed int) pulseIn(4,HIGH); rollin=0.06*((signed int) pulseIn(5,HIGH)-1400); //1400 instead of 1500 is to correct for the underpowered motor #4 by trimming it in code blah=0; } //averaging, etc. xaverage= SEN_CON *( xaverage + TIME_CON * pitch) + ( 1 - SEN_CON ) * xin; yaverage= SEN_CON *( yaverage + TIME_CON * roll) + ( 1 - SEN_CON ) * yin; //calculate the motor speeds if(zhuman<1150) { for(int x=0; x<4; x++) { speeds[x]=zhuman; } } else { if(zhuman > 1450) { zhuman = 1450; } speeds[0] = zhuman - p*(xaverage - pitchin) - p*(yawin) - d*pitch; speeds[1] = zhuman - p*(pitchin - xaverage) - p*(yawin) + d*pitch; speeds[2] = zhuman - p*(yaverage - rollin) + p*(yawin) - d*roll; speeds[3] = zhuman - p*(rollin - yaverage) + p*(yawin) + d*roll; } //set the upper and lower bounds for motor speeds (1000=no speed, 1600=upper speed limit, 2000=maximum possible speed) for(int x=0; x<4; x++) { //speed limit between 1000 and 1600 if(speeds[x]<1000) { speeds[x]=1000; } if(speeds[x]>1600) { speeds[x]=1600; } } //pulsouts to motor speed controllers for(int x=0; x<4; x++) { pulsout(x+6,speeds[x]); } } void pulsout (int pin, int duration) { digitalWrite(pin, HIGH); delayMicroseconds(duration); digitalWrite(pin, LOW); }

http://www.instructables.com/id/Quadrotor/

Step 24: Tuning

Due to variance in the individual motors / frame, you may need to alter the p and d values in the code above. The variable p controls how much the quadrotor will alter motor speeds to correct for an offset from the desired tilt. The variable d controls how much the quadrotor will resist sudden rotation. An incorrect ratio of p to d could cause the quadrotor to be unstable either by being less responsive than desired or by causing oscillations of increasing magnitude. Scaling up both p and d by the same value would increase the magnitude of the current effects. Our tuning method involved a lot of trial and error. We would support 2 opposite corners of the quadrotor leaving the other 2 free to rotate. Then we would check for stability by first observing if the quadrotor was keeping itself level, then secondly by injecting disturbances to observe if it would return to a level position. If the p and d values permitted the quadrotor to pass both of these tests, we would repeat the procedure and on the other axis. When the quadrotor was stable on both axis, we then were ready to fly!

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Comments
24 comments Add Comment

thod999 says:

Feb 7, 2011. 2:37 AM REPLY Great project i'm inspired and want to have a go! I've done a quick costing of the project using the links referenced, it's coming out at $320 plus postage (say another 20%) so $380 I'm looking to make this project but don't know where to find the plastic spacers nuts and screws you've specified. I'm in australia and don't have home depot :) any ideas where i can find this stuff on the internet?

Phoenix17 says:

Dec 15, 2010. 11:09 AM REPLY I'm buying an Arduino Uno. I'm not sure if you know, but would you connect the same pins on the uno? Or do they have numbers and voltage correlations?

Phoenix17 says:
Couple things- suggestions and then my question

Dec 13, 2010. 9:42 AM REPLY

First: Watched your video of it! I noticed that as soon as it takes off it starts to spin. Are all your rotors turning the same direction? If so, maybe try some combination of opposite directions. like two on a side opposite, or opposing rotors spin opposite (and adjust the props accordingly of course) Second: I also noticed that it accelerated up and down really quickly. You could code your control to "soften" the acceleration by telling it to hold minimum motor voltage at no user input to be just slightly below what it takes to "hold " position. Know what I mean? So at negative user input it will give it whatever corresponding voltage is, but zero joystick input means it gives hover or slightly below hover voltage. My question- do you have a total cost? I want to build this, and I'm getting a board already. But when I looked at that accelerometer/gyro board I nearly crapped myself. It's like $90! Do you think I could build an analog IC with accelerometers and gyros? I was hoping to build this under like $150 :p

ultralightcomposites says:

Oct 31, 2010. 10:21 PM REPLY you could use a composite material to your RC quadrotor to easy and very light to carry. You can view some carbon fiber materials for your project here, follow this link: http://www.ultralightcomposites.com thanks!

maddyeffect says:
can you please upload the circuit schematic diagram of guadrotor

Oct 26, 2010. 3:21 AM REPLY

susipriyan says:
i have designed half only one motor is running as per your concept what should i have to do for controlling all four

Oct 8, 2010. 11:22 PM REPLY

feet1515 says:

Oct 15, 2010. 2:26 PM REPLY Presumably you should connect the speed controller control wires to the correct pins on the Ardino board via the wiring diagram in the instructable.

http://www.instructables.com/id/Quadrotor/

rohit7gupta says:
which software is this??

Oct 8, 2010. 1:16 AM REPLY

feet1515 says:
The software can be downloaded off the arduino website. http://arduino.cc/en/Main/Software

Oct 15, 2010. 2:21 PM REPLY

hci1111 says:
I've found a very simple solution for building quadrocoptes with a control board ready to use: www.TT-Copter.de

Oct 15, 2010. 1:04 PM REPLY

agis68 says:

Sep 12, 2010. 8:20 AM REPLY It looks grate and in video looks fine (maybe the opperator has some riding problems) What u use for the landing? Wheels or anything like pumpers? Because in video I cant see. What if you tease the propeller diameter?

feet1515 says:
As can be seen in the photo above, the quadrotor lands on the bottom aluminum plate (the one below the battery).

Sep 14, 2010. 1:49 PM REPLY

kea says:
Too complex. The RC Side-winder rocket uses 1 of everything & can hover. A delta wing of similar design can also hover. No gyros or fancy expensive stuff needed. I intend to build 1 in a month or so when finished a couple of other projects. Try Googling RC VTOL aircraft. Check this out. www.google.co.uk/search?hl=en&source=hp&q=rc+sidewinder+rocket&btnG=Google+Search Cheers Kiwi.

Sep 12, 2010. 12:20 PM REPLY

SwaggeringPagan says:

Sep 14, 2010. 9:47 AM REPLY Apples to oranges. While your 'missile' is a fun toy, there's no way it could yield the stability of a quad for doing things like aerial photography, payload delivery, etc. Toy airplanes are fun, but his has technical value. Sep 12, 2010. 9:47 PM REPLY

YolksterXD says:
I've found other detailed build instructions as well as general info & forums at these websites: Stuff about DIY Drones: http://diydrones.com/ Stuff about QuadRotors: http://aeroquad.com/content.php Detailed build instructions: http://aeroquad.com/content.php?115

Culturespy says:
A video would really go a long way for this one. I bet it looks great in action.

Sep 6, 2010. 7:21 PM REPLY

jjdream says:
the link to the video is on the intro page

Sep 7, 2010. 3:18 PM REPLY

rvet says:
Hmm it doesn't look like your video's working :(

Sep 10, 2010. 8:25 AM REPLY

FoiL says:

Sep 12, 2010. 6:19 AM REPLY http://techtv.mit.edu/collections/scolton/videos/8047-edgerton-center-engineering-design-class-2010-project-highlights Here's the direct link.

pjkim says:

Sep 8, 2010. 4:42 PM REPLY Great job but I am having a hard time understanding the interface between the radio receiver and the Arduino. The individual channel outputs from the receiver are pulse width modulated-- usually about 1us for low, 1.5 us for neutral, 2 us for high. Yet you read in the channels using analogRead() so I take it that the Arduino is reading in the analog value of a pulse width modulated signal. I would have thought that would be a very inaccurate way of reading in the channels but you appear to have made it work. Is this by design, chance, or ? Could this be contributing to the instability at takeoff since changing signal values might take more time to register through the pulse width to analog transition?

http://www.instructables.com/id/Quadrotor/

feet1515 says:
The analogReads are only used to read in the values from the accelerometers and gyros which are voltages. The inputs from the radio receiver are read by the pulseIn commands a few lines of code below.

Sep 9, 2010. 10:55 AM REPLY

DrNerdington says:

Sep 8, 2010. 4:20 PM REPLY To save some cash on the tubing, look for a sporting-goods store that sells archery equipment. Their dumpster will be full of graphite and aluminum arrow shaft stock (and even a few whole arrows!) along with other goodies that may not apply to building a quadcopter, but could be useful.

camo888 says:
awsome project. about did it cost? and why do you use two different propeller types?

Sep 8, 2010. 2:02 PM REPLY

bob332 says:

Sep 8, 2010. 3:56 PM REPLY you use normal and counter-rotating props since 2 motors are running normal and 2 are running in the opposite direction - this cancels torque and also by speeding up/slowing down the different pairs of motors, you then get yaw/rudder control w/out any hardware - all done through the controller and speed controls

http://www.instructables.com/id/Quadrotor/