Instructables
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This summer's Edgerton Center Engineering Design class produced four awesome projects in four weeks. One of the projects was a functional RC quadrotor built with commonly-available RC equipment and an Arduino microcontroller board. Here is the instructions on how to make the quadrotor. The video of the four projects can be found here.


Parts List:

- 1/32” aluminum sheet
- 2 of 8 x 3.8 slow flyer propeller
- 2 of 8 x 3.8 slow flyer pusher propeller
- 4 of Turnigy C2028 Micro brushless outrunner 1400kV motor
- 4 of Turnigy Plush 18 amp speed controller
- Turnigy nano-tech 1800mah 4S 35-70C Lipo Pack
- 1/2” 4-40 plastic machine screws
- 4-40 plastic nuts
- 1/2” 4-40 aluminum machine screws
- 5/8” 4-40 aluminum machine screws
- 3/8” 4-40 aluminum machine screws
- 2” threaded 4-40 plastic spacers
- Accelerometer + Gyros chip: Sparkfun 6DOF razor IMU
- Microcontroller: arduino mini
- Hobbyking 2.4 GHz transmitter and receiver + Controller
- 1.5” hex threaded 4-40 aluminum spacers
- 2 of Carbon Fiber square tube .25” x .25” (.180 ID) x 48”
- Strings
- Zip-ties
- Super glue
- Velcro
- Protoboard
- Female header pins
- 3.3 volt regulator
- Jumper Wires


Where to get parts:

Propellers- http://www.apcprop.com/pindex.asp?Page=2  

http://hobbyking.com/hobbyking/store/uh_index.asp

Carbon Fiber square tube - http://www.dragonplate.com/

http://www.mcmaster.com/

http://www.sparkfun.com/commerce/categories.php
 
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Step 1:

Picture of
6.125mainframe.png
8safetyextend.png
Cut 2 of 14”, 4 of 6.125”, 4 of 8” carbon fiber square tubes

Drill 7/64” holes 3/8” away from each ends of the cut carbon fiber tubes.

Drill 7/64” holes 1 and 5/8” from both ends of 14” long carbon fiber tubes. Drill 7/64” holes 1 and 5/8” from only one end of 6.125” and 8” long carbon fiber tubes.


When drilling through the carbon fiber tubes, drill very slowly with caution. Carbon fiber tubes can split if you don't pay attention. Also use a drill press instead of a hand drill.
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kidpad7 months ago

thanks this is a very good post! I just have a question: you said

"To find the current amounts of tilt on the X and Y axis from
accelerometer and gyro data, we used an algorithm that would average
previous accelerometer data and combine it with gyro data to reach an
angle measurement that was fairly resilient to linear acceleration."

Would it be possible to know where we can find this code?

PrincessGab7 months ago

Hi, thanks so much for your post! I have a quick question. Do I need the transmitter and receiver? Is there anyway I can make it work without it? I'm a physics student getting ready for a final project- I have everything but those parts. So a quick reply would be ideal, thank you SO much!

spdon988 months ago

i dont have motor, can it made by two different pair of motor

Phoenix174 years ago
I'm buying an Arduino Uno. I'm not sure if you know, but would you connect the same pins on the uno? Or do they have numbers and voltage correlations?
The Arduino Uno has a lightly different layout then the Pro Mini being used here. One plus is that you can skip that 3.3v regulator because there is one on the board already. You'll notice that there is a pin labelled "3.3v" to which you can connect the corresponding 3.3v port on your sensor board.

So the pins for the sensor board the line up as such;
3.3v = 3.3v
GND = GND
Gx4 Y = Analogue5
Gx4 X = Analogue4
Gx4 Z = Analogue3
A Z = Analogue2
A Y = Analogue1
A X = Analogue0

The rest of the pins should correspond plainly to the ones on your UNO
Digital pins 6,7,8,9 to the control pin on your ESCs. Human controls are on pins 2,3,4,5 to your receiver. Personally I am using an Xbee module instead so I will not be using that last set.
Bam Boy Armethis9 months ago

Hi, I came across your project and I am doing almost the same. However, I am using and arduino UNO and an MPU6050. The Pin alignment that you mentioned above; I am a little confuse about it.

I can not find the Gx4 Y, Gx4 X, Gx4 Z or the A Z - X pins on my MPU6050 board. THe only way I connect it to it is by connecting SCL - Analog 5 and SDA - Analog 4. So can you please explain how can I implement it?

What is a good way to get started with learning the Arduino?
Getting your hands dirty. Personally, I got myself the starter kit from Adafruit; and they also have an excellent set of tutorials .

I had some programing experience at the time already, so for me it was an exercise in learning how to bring code into the physical realm. The Adafruit tutorial were good for me to shore up on the electronics side of things.

Did you have a project in mind already? I find that having a specific goal when learning something new greatly increases your chances of success and I'm more than happy to take a stab at it if you have any specific questions.
Thank you. That's very useful. The project I want to build is a semi-autonomous ground rover with a remotely fired paintball gun.
xianyanlin11 months ago

too little comments in your code such that it is difficult for me to understand your code. can you please explain me what does variables "GYRO_CON ACCEL_CON TIME_CON SEN_CON zhuman xaverage yaverage blah" mean? and how did you get the formulas like "xaverage= SEN_CON *( xaverage + TIME_CON * pitch) + ( 1 - SEN_CON ) * xin;" or "speeds[0] = zhuman - p*(xaverage - pitchin) - p*(yawin) - d*pitch;" ? Many thanks if you can explain me in detail!

daddywoofdawg12 months ago
I'm missing something;two questions
1. is this in inches?
2. is it 2" each side of the center line?
3. mark at points (.875,2.125), (1.375,.875), (2.125,.875), (2.125,0), (1.5, 1.5) from the origin or the point where the center lines intersect.
what is the two measurements?from center line i.e .875 from cl and 2.125 from cl?measured from which axis?
can i replace sparkfun mpu -6050 by inven sense mpu-6050? it costs less than sparkfun....
Hi, you can use whatever you like with MPU 6050. Sparkfun uses the MPU6050 IC manufactured from Inven Sense. From Inven Sense you can buy just the IC. From Sparkfun you can buy the chip soldered on a board and ready-to-use. The choice is yours :)
nrgful1 year ago
Hello, I was wondering how motor speed from the speeds[] array corresponds to the motors of the construction. Which equation is for the front, back, left and right motor.
Thank You in advance
i want all the details of this quadrotor plzzzzz help me futurescientist10@gmail.com
mahdi dasl1 year ago
hi,i wanna build one,how can i estimate it's weight?
any one help?
jzambrano31 year ago
hello nice work. i have the data of the gyro x, gyro y and gyro z, and the inclination of pitch and roll too but i only want to make it stable in the air without using a remote control. ongly vertical takeoff and landing wo what do i have to change in the code?
sir,
the matter that u posted inspired me to make own quad rotor ,
i am bech final year student of SKU , i am doing project on quad rotor and i want to make quad rotor integrated with camera to send a signal to laptop...
can u pls help me with some guide lines...
thank you sir..
w0w0s0w1 year ago
Hello,

could i also use instead of the IMU 6DOF Razor the IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345?
HELLO
MAY YOU SEND ME QUADROTOR PDF TO MY YAHOO ID?
THANKS.
mooon2 years ago
hello friends
someone please tell me about motors rpm and weight used in quadrotor
ashakya12 years ago
how much money need to make this project?
ProoN ashakya12 years ago
I did a rough look-around at prices (considering building one myself) and not included below are the screws, zip ties, etc. The stuff listed below is the main components. I personally have tons of screws, zip ties, spacers, etc laying around so I didn't factor that stuff in.

C2028 Motors - $11.34 x 4 = $45.34
8 x 3.8 slow flyer propeller - $1.95 x 2 = $3.90
8 x 3.8 slow flyer push propeller - $2.90 x 2 = $5.80
Turnigy Plush 18amp Speed Controller - $11.90 x 4 = $47.60
Nano-tech 1800mah 4S 35-70C Lipo Pack (Battery) = $17.84
Sparkfun 6DOF razor IMU (retired, see ITG3200/ADXL345 = $64.95
Arduino Mini = $33.95
HobbyKing 2.4Ghz 4ch Tx & Rx V2 - $22.99
Carbon Fiber square tube .25” x .25” (.180 ID) x 48” - $9.75 x 2 = $19.50

Ultimately comes out to $261.87. So, that + shipping prices + misc. items not listed would probably be in the neighborhood of $300 USD.
In your averaging code where complimentary filter is implemented, you directly put up the accelero readings in it i.e xin and yin.

Don't you think accelero reading is in 'g'. You have to extract angle of tilt from it. Then only resulting xaverage and yavearge comes out to be in deg. That is providing resulting tilt from its reference position.
May be you have tuned it accordingly.

But like to know your comments on this.

Anyways, good work.

can you please tell me the relation between RPM of moters,thrust produced by moters,blade area,and for how much weight we require how many RPM of moter.
farmboy1772 years ago
Try www.blueskyrc.com for awesome prices on props.
CamWarder2 years ago
i dont understand what the "protoboard" is. is it just the arduino, or is it something else. i dont see a part number or name so i really would appreciate any feedback. also, would it be possible to put the aeroquad firmware on this instead of the firmware supplied in this tutorial.
monty3242 years ago
i like this because i have a realy nice syma heli but i am afraid to use it because everytime i use it i break the blades but on this it has a thing all the way round all the blades so if it hits somthing then the blades dont snap
Greetings,
the 1400kv motors is out of stock , so i was wondering if i can use a different motor for example Turnigy 1400 Brushless Indoor Motor 4500kv , especially i need to put a heavy payload , and what ESC can be used if i used another motor ??
thank you.
PICHIRS2 years ago
Hello sir.i'm Prasant.i'm making a quadrotors.at first i'm try to make it through wireline.so i have buy 28000RPM motor and prop 9*5.connect wires to battery as parrel but there is problem that it doesn't fly & itz geeting downward on one side.can u suggest me whats the problem is there that i will thankfull to u..........
kishore19972 years ago
Hi,
This was the only guide to building a quadrotor with good code explanation , could you plz explain the whole code to me and how the direction input from the transmitter is decoded and what actions are taken to follow the direction of the joystick.

Thanks Could i pls get a quick response.
dchall83 years ago
Having done this project and gotten some feedback, what would you do differently next time?  The market for these quads seems to be in aerial surveillance. 

If you wanted to cut costs, where would you start cutting?

If you wanted it to carry a camera, how would you modify it?

If you wanted it to fly a programmed route and return, what would you change? 

If you wanted to fly two (or three), back-to-back, 10-minute flights, how would you change it? 
hi all ... please ..
can i make a quadrotor without using an arduino..?? please answer me
Sure...you just need to recreate the code.
Probably never build it but kept the plans for future reference.
Dwest28283 years ago
I have a question about the IMU 6DOF Razor - Ultra-Thin IMU Accel. and gyro chip. The only one they currently sell is the digital version. Would the digital version work?
bagoram3 years ago
good work guys. really nice..
a sandwhich3 years ago
Is it necessary to use an esc programming card? Where you able to use the esc's right out of the box without having to modify/reprogram them?
can we use 89v51rd2 microcontroller
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