The thesis gives a detailed documentation of the design and construction of a quadrotor
helicopter model. A comprehensive research was needed to construct the system concept and
to select the appropriate parts for the model. Information gathered is involved in the
The model has a self-made custom designed framework made from epoxy resin with carbon
fiber hardening providing small weight combined with adequate rigidity. The framework can
be disassembled into five parts in order to support easy carriage.
The power is provided by a lithium-polymer battery of 8000 mAh capacity at 11.1 Volt voltage.
This allows about ten minutes of flight length. The rotors are driven by brudhless DC motors
which need three-phase drive. An inverter circuit was built for the motor drive.
For an autonomous flight it is crucial for the model to know its exact position. This condition
calls for a variety of sensors. Some of them are responsible for inertial sensing, others for
discovering the surrounding environment (collision avoidance).
The quadrotor is equipped with a 433 MHz digital radio transceiver to provide a
communication channel for the control commands and also for sending all telemetry data to
the PC in realtime. I also made a transceiver module for the PC-side which connects through
The stability and waypoint control would be implemented on an AVR32 processor, but the PCB
for it has not been finished yet. In case it is designed the model is a ready to fly experimental
appliance with many possibilities for further development.