Introduction: Bluetooth Controlled Quadcopter Using MultiWii

Picture of Bluetooth Controlled Quadcopter Using MultiWii

For a drone to fly autonomously, all the necessary sensors, processing power, and communication chips must be built-in. While that may not seem like much, it actually eliminates a lot of currently existing commercial civilian drones available to the general public. Using a mobile application makes it easy to develop the software and to share code between a PC and the smartphone. Even native libraries like the OpenCV can be used on both Android smartphones and PCs. So there is no need to reinvent the wheel—the smartphone has all the necessary components: camera, GPS, accelerometer, and 3G.

NOTE: This Instructable has been entered for the Coded Creations, Automation,and Move it Contests,if you love this project and appreciate my efforts, I would be highly grateful if you could vote for this project there and help me win.

Step 1: Materials Used

1) Quadcopter Frame

2) Microcontroller (MultiWii Flight SE Controller)

3) Electronic Speed Control (4 pieces)

4) Brushless Motor (1600KV) (4 pieces)

5) Propellers (2 sets)

6) Power Distribution Board

7) Lithium-Polymer Battery

8) Receiver

9) Bluetooth Module

10) Android application

Step 2: Assemble and Connect

Picture of Assemble and Connect

1) The motors and ESC's can be connected to each other via direct soldering or using Bullet Connectors of 4mm dimension.

2) The ESC's are then connected to the power distribution board, or in this case directly to the frame which has an inbuilt power distribution board, by soldering.

3) Once this is done, solder the battery wire to the frame.

4) Once all the soldering work is done, connect the MultiWii with the ESC servo wires, Bluetooth module and Receiver.

NOTE: Before connecting the Bluetooth module, make sure you've changed it's Baud rate from the default 9600 to 115200. For this follow the below mentioned instructable:

Step 3: Load the Code

1) Download the MultiWii zip file, extract it and then run it on the programming IDE Arduino.

2) In the config file, uncomment the following:

#define QUADX

#define MINTHROTTLE 1180 (for RCTimer ESCs 30A)

#define I2C_SPEED 400000L (400kHz fast mode, it works only with some WMP clones and with most current boards)

Enable or disable I2C resistor pullups (depends of your controller build or board that you are using. With complete flight controllers you can disable the internal pullup resistors)

#define CRIUS_SE (select your flight controller board here and the sensors will be configured for you, no need to configure individual sensors.)

Step 4: Plug in the Battery and Test Your Quadcopter

Picture of Plug in the Battery and Test Your Quadcopter

If your code is all correct and your connections are all good you should see beautiful green and red lights come streaming forth from your partially complete creation. Now try to calibrate the ESC's.

If stuff starts smoking, then I'm going to say you did something wrong. Find out what you did wrong and fix it...real helpful, I know.

Using the Android application, you can check if all the connections are right and if the Bluetooth module is working perfectly with the Quadcopter. As shown in the pictures attached, I was able to collect PID settings, as well as the status of all 4 motors.

Step 5: Calibrate ESC

Picture of Calibrate ESC

Using the Android app, we can now communicate with our board using the Bluetooth Adapter and Receiver to not only adjust the ESC's settings, but also check out the sensitivity of the board. As seen in the figure values can be altered easily.

Step 6: First Flight and Future Improvements

Picture of First Flight and Future Improvements

Once the ESC's have been calibrated, and battery is properly charged, we test our quad for it's flight capabilities. I hope to modify this in the future by introducing First Person View. While I’ve established that the quad needs good embedded processing capacity to be intelligent and autonomous, what is still missing is the code that takes advantage of this potential. So, in the near future, I'd be giving “eyes” to the Quadcopter!


pudelche (author)2017-06-22

Hi, what kind of a Bluetooth receiver did you use for this? would this serve?

BoK3 (author)2016-01-26

BRO, BRAD, BROTTHAA.. anything :D

im a newbee in this project.. and i would like to make this project as our final year project.. the items/materials needed to buy.. is it all of it? :)

AyushSharma84444 (author)BoK32016-03-23

Dude when i compil config.h in arduino soft. It shows some error like no. Of motors not ?defined etc.

XVII69 (author)2016-03-07

Hi, I am Racking my brain here, Why do u need a Receiver if you have a Bluetooth module.. isn't the point of the BTM being the receiver?? can someone explian this to me??

shashikants3 (author)2016-02-02

Please ckt dig

SarveshT1 (author)2015-07-03

Hi buddy,

nice project

I am making my own flight ccontroller from arduino uno , sensor mpu6050.

I too want to use bluetooth hc05 as receiver and android app as transmitter.

How to use bluetooth to send the throttle and 3 other values to arduino?

arduino needs 4 inputs about throttle and alleviation etc. can hc05 do that?

reply asap

keep up the good work :)

mech42G (author)SarveshT12016-01-12

Hey anyone who had made it can you tell me.can I control the flight of quadcopter through Android phone,if yes then plz give me source code,as it is my first drone,can you also email me about wire up connection of arduino uno,esc,bt module etc on

talha pervez (author)2015-12-08

hey can i throttle this mototr with the help of an andriod app ?

talha pervez (author)2015-12-08

buddy. are u using a android app for controlling ur quad ?

DineshC5 (author)2015-07-11

awesome work dude..!! what is the version of multiwii board you used?

Kushalpikki (author)2015-06-20

Awesome thingy quadcopter bro

Kushalpikki (author)2015-06-20

Awesome thingy quadcopter bro

Kushalpikki (author)2015-06-20

Aaaaawwwwwhhhhh my god

Ravi 1999 (author)2015-05-01

Which aurdino did you use .which receiver module did you use. Which Bluetooth module did you use.and here did you get the quadcopter frame come from and where did you get the quadcopter distribution board from. Please send me all the necessary details and how did you connect all the wires from Bluetooth and why do yo have the receiver for

rbanga (author)Ravi 19992015-05-03

BT module is HC-05
Bought it from local vendor

Ravi 1999 (author)2015-04-18

And also send me a detailed list of parts required with their rates

rbanga (author)Ravi 19992015-05-02

Parts list I have already given above. Cost would depend on where you order it from.

Ravi 1999 (author)2015-04-26

Please send me a link to

rbanga (author)Ravi 19992015-05-02

Link of what?

Ravi 1999 (author)2015-04-26

Can you also send me detailed repsesentations of which wire to connect which part and which pin

rbanga (author)Ravi 19992015-05-02

BT Module Arduino Uno

Tx Rx

Rx Tx


+5V +5V

Ravi 1999 (author)2015-04-26

Which arduino did you use

rbanga (author)Ravi 19992015-05-02

Arduino Uno
You can even use Mega as well.

Ravi 1999 (author)2015-05-01

Please tell me

Ravi 1999 (author)2015-05-01

Which aurdino did you use

Ravi 1999 (author)2015-04-18

Please send me codes as I also want to make it

Ravi 1999 (author)2015-04-18

Which aurdino did you use

Ravi 1999 (author)2015-04-17

Did you use a Aurdino or just Bluetooth module

rbanga (author)Ravi 19992015-04-18

I used both. Bluetooth for communication purposes and Arduino to change the Baud Rate of the Bluetooth module and other settings.

NOTE: This Instructable has been entered for the Coded Creations, Automation,and Move it Contests,if you love this project and appreciate my efforts, I would be highly grateful if you could vote for this project there and help me win.

Ravi 1999 (author)2015-04-17

Hey can you give me details on which web site can we buy this frame

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