The attached file (4pcb_DOC.zip) contains all of the support files for making and flying 4pcb. Included in the zip file are:
4pcb_ARD (folder) - Arduino project (Arduino 0022, .pde).
4pcb_EAG (folder) - EAGLE board files and libraries (EAGLE 6.0.0 Light Edition).
4pcb_EXE (folder) - Ground station executable (requires .NET Framework 2.0 or later).
4pcb_GRB (folder) - Gerber files for PCB printing.
4pcb_VB (folder) - Ground station source (Visual Basic Express 2008 or later).
4pcb_BOM.xlsx - Bill of material in Excel format.
4pcb_DIR.jpg - Coordinate system of quadrotor and IMU.
4pcb_EXT.pdf - Details of external connections.
4pcb_IMU.jpg - Image showing vibration mounting and wiring of Pololu minIMU-9.
4pcb_SCH.pdf - PDF schematic of the board.Bill of Materials / Cost:
The Bill of Materials (4pcb_BOM.xlsx) lists all the components required to put together one PCB quadrotor and ground station. The total cost to build the quadrotor is about $240
. The ground station consists of a USB game controller, an XBee radio, and and XBee-to-USB adapter. If you don't already have these, they add an aditional $80
This board requires a good amount of surface-mount soldering, including passives as small as 0603 and four TSOP36 ICs. They can all be hand-soldered (no BGA or leadless).Additional Tools and Hardware:
- Wire (22AWG and 28AWG stranded would work) and wire cutters/strippers.
- Solder braid for cleaning up bridges.
- FTDI cable
for programming the Arduino Pro Mini.
- Hex key set.
- Double-sided foam mounting tape.Software:-EAGLE
If you want to modify the printed circuit board, you'll need EAGLE v6.0.0 or later. You can download it here
. The free "Light Edition" is sufficient, even though the outline of the board is larger than 100x80mm limit (see Step 2). You will also need EAGLE to reference the board layout when placing components. (e.g. Type "show R32" in the board window command line to figure out where to put resistor R32.) There are no designators on the board itself.-Arduino
The flight controller is written in the Arduino IDE. You can download the latest version from here
. Make sure you set the board type to "Arudino Pro Mini (5V/16MHz) w/ ATmega328".-Visual Basic Express (Optional)
The ground station is programmed in Visual Basic Express. If you want to modify the ground station software, you can download the free edition, Visual Basic Express 2010 from here
The ground station requires the .NET Framework runtime files. (Unfortunately, this makes it Windows-only.) These files come with Visual Basic 2010, so if you plan on modifying the ground station software, there's no need to download them separately. If you just want to run the ground station executable, you can download the .NET Framework runtime files from here
Although I haven't done so myself, it is possible to port the ground station software over to Processing
, which would make it compatible with other operating systems. To read from the USB game controller, there is a third-party library called ProCONTROLL
. I did some work with this for a XBee-based robot controller, the details of which are here
. This could be a good starting point for making a non-Windows ground station.