The topic of this master thesis is building a quadrocopter using homemade and prefabricated elements, creating the flight controller and test its operation in a simulation and also in real life.
I used balsa wood to build the frame. The prefabricated elements were the motors, ESCs and propellers. The flight controller was also custom designed and built. The data processing is carried out by a 32-bit microcontroller by ST. I used a 3 axis digital accelerometer, gyroscope, magnetometer, air pressure sensor, ultrasonic distance sensor and current sensor in the project. WiFi is used for communication.
The aim of this thesis is to build a functioning quadrocopter with a controller unit whose operation can be tested in a HIL simulation. To carry out the simulation the mathematical model of the quadrocopter has to be set up. The parameters of the mathematical model are obtained from the 3D CAD model of the quadrocopter. Beside these topics the presentation of the principle of operation and a brief description of the parts are also included in the thesis.
Many of the aims were managed to achieve, fortunately just a couple of features were left out such as multipilot functionality and GPS assisted flight.