In my BSc. thesis, I have worked on a quadrocopter project. Due to the advancement of
electronics and informatics, these 4-wing helicopters are becoming more and more popular.
It is not only used in the industry, but it is also in the reach of the average people. The aim of
this project in this semester is to create a quadrocopter, which can hover autonomously without
drifting. Furthermore, another aim is to create the base of the position control system, which can
be used to navigate the quadrocopter by itself to another position, which is currently hardcode
into its source code. The project is made by several students including me. My part was to make
the control electronic, the implementation of the software-architecture, and the tuning of the
controller module. First of all I explain the principle of the quadrocopter from the side of
physics. After that, I introduce the elements of the electronic chosen by me, the steps of
planning the schematic and the printed circuit board. Right after the production of the PCB and
the frame of the quadrocopter, the next stage is the implementation of the software-architecture.
I introduce the working of the software through a block diagram. After finishing the software, I
describe the control theory that we need in this project, and explain the process of tuning the
controller. The finished quadrocopter can be seen in a picture, and the behavior of the controller
in time diagram. Finally I make a conclusion of our successes in the project, and I give some
possibilities of future development.