Vellore Institute OF Technology, BHOPAL

CSA2002 Introduction to Drones

(School of Computer Science &

Engineering)
Ankit Shrivastava
Vellore Institute Of Technology (VIT),
Bhopal, India
2
 Course Objectives:

1. To understand the basics of Unmanned Arial

Vehicles
(Drones) and its various applications.
2. To impart the knowledge of how to fly a drone
by considering the rules and regulations to the
specific country.
3. To understand the safety measures to be taken
during flight.

3
 Unit- 1
Introduction to
Drones
4
 Introduction to Drones:
⚫ A drone, also called an unmanned aerial vehicle (UAV), is a
broad term that refers to an aircraft that operates
autonomously or by remote control, with no pilot on board.
⚫ UAVs also called Unmamed Aircraft System (UAS).
⚫ Drone Stands for “Dynamic Remotely Operated
Navigation Equipment ”.
⚫ UAVs were originally used in the military to carry out
tasks. Some other military applications include drone
surveillance and drone attacks.
• UAVs have become more and more popular. Some
recreational activities include Photography, Traffic,
Search and Rescue, Wildlife monitoring, Healthcare,
Military, agriculture, etc. UAVs have also been used to
5 smuggle drugs and other types of contraband.
 Many companies are now pushing for drone delivery
services. Example- Food Delivery Services.

• They become increasingly popular in recent years due to

their wide range of applications and uses. Drones come in
various sizes and shapes from small handheld to large ones.
They are equipped with a variety of equipment that allows
them to function well.

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 • The basic components of a drone are :
Frame
Battery
Flight controllers
Sensors
Motors and Propellers

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8
 ⚫ The basic components of a drone include drone motors, propellers,
flight controllers, batteries, and remote control systems. The motor
and propeller are necessary to provide thrust to lift the drone from the
ground, while the flight controller is like the brain of a drone, it is
responsible for processing data and controlling the movement of
drones.
⚫ The battery powers the electronic components of the drone and remote
control systems allow the operator to control the movement of the
drone. The drone operates through a combination of electrical
components and software algorithms.
⚫ Drones are used in a wide range of applications and industries including
agriculture, military, photography and videography, delivery services,
and search recuse operations. In agriculture, drones are used for crop
monitoring, while in the military drones are used for surveillance.

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 Key Characteristics:

Remote or Autonomous Control

Powered
Unmanned
Aerodynamic Force for Lift
Can Carry a Payload

10
 Types of Drones:
There are of three types depending on their
wings or flying mechanism-

1. Single Rotor Helicopters

2. Multi- Rotor Drones
3. Fixed Wing Drones

Single Rotor Helicopters:

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 Multi- Rotor Drones:

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 Fixed Wing Drones:

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 Drone can be categorized into the following
six types based on their mission:
1. Combat
2. Logistics
3. Civil
4. Reconnaissance
5. Target and Decoy
6. Research and development

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 Combat Drones:

• Combat drones are used for attacking in high-risk

missions. They are also known as Unmamed Combat
Aerial Vehicles (UCAV).
• They carry missiles for the missions. Combat drones
are much like planes.

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 Logistics:

Logistics drones are used for delivering goods or cargo.

There are a number of famous companies, such as
Amazon and Domino’s, which deliver goods and pizzas
via drone. It is easier to ship cargo with drones when
there is a lot of traffic on the streets, or thee route is not
easy to drive.
The following diagram shows a logistic drone:

16
 Civil:
Civil drones are for general usage, such as
monitoring the agriculture fields, data
collection, and aerial photography.

The following picture is of an aerial

photography drone:

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 Reconnaissance:

These kinds of drones are also known as mission-control

drones. A drone is assigned to do a task and it does it
automatically and usually returns to the base by itself, so
they are used to get information from the enemy on the
battlefield. These kinds of drones are supposed to be
small and easy to hide.

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 Target and Decoy:

These type of drones are look like combat drones, but the
difference is, the combat drone provides the attack
capabilities for the high-risk mission and the target and
decoy drones provide the ground and aerial gunnery with
a target that simulates the missile or enemy aircrafts.

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 Research and Development:

These types of drones are used for collecting data from

the air. For example- Some drones are used for collecting
weather data or for providing Internet.

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 Advantages & Disadvantages of Drones:

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 Technology, Features and Components:

Drone contain a large number of Technological components, including:

⚫ Electronic speed controllers (ESC) , an electronic circuit that controls
a motor’s speed and direction.
⚫ Flight Controller
⚫ GPS Module
⚫ Battery
⚫ Antenna
⚫ Receiver
⚫ Cameras
⚫ Sensors, including ultrasonic sensors and collision avoidance sensors.
⚫ Accelerometer, which measures speed.
⚫ Altimeter, which measures altitude.
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 ⚫ Ultrasonic sensing in particular assists with drone landing, hovering and
ground tracking. Drone-landing assist is a drone's ability to detect the distance
from the bottom of the drone to the landing area, decide if the spot is safe to
land, and then slowly descend to the landing area.

⚫ Collision Avoidance Sensor monitors the building or object to prevent it for

colliding with the drone.
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 Drone Regulations in India:
❖ Foreigners are not allowed to fly drones in in India. For commercial purposes,
they need to lease the drone to an Indian entity.
❖ All drones except those in the Nano category must be registered and obtain
Unique Identification Number (UIN).
❖ A separate permission is required for commercial drone operations (except for
those in the Nano category flown below 50 feet and those in the Micro category
flown below 200 feet).
❖ Drone pilots must maintain a direct visual line of sight at all times while flying.
❖ Drones cannot be flown more than 400 feet vertically.
❖ Drone cannot be flown in areas specified as “No Fly Zones”, which include
near airports, International borders, Vijay Chowk in Delhi, State Secretariat
Complex in State Capitals, strategic locations, and military installations.
❖ Permission to fly in controlled airspace can be obtained by filling a flight plan
and obtaining a unique Air Defence Clearance (ADC)/ Flight Information
Centre (FIC) number.
❖ You can’t fly in or capture footage of other people’s property.
❖ Don’t drink and drone.
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 Drone Regulations in India:

Drone categories in India:

Registration is required for all but not for
Nano category.
1. Nano: Less than or equal to 250 grams.
2. Micro: From 250 grams to 2 kg.
3. Small: From 2 kg to 25 kg.
4. Medium: From 25 kg to 150 kg.
5. Large: Greater than 150 kg.
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 Drone Regulations in India:
Required Drone Equipment in India –
India has specific requirements regarding its types of
features a drone must have to flown in India (excluding
those in the Nano category). These Mandatory
requirements include:
✔ GPS
✔ Return-to-home (RTH)
✔ Anti-collision light
✔ ID plate
✔ A flight controller with flight data logging capability
✔ RF ID and SIM/No. Permission No Take-off (NPNT)
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 Drone Regulations in India:
Procedures for becoming a drone Pilot in India:

According to rules and regulations introduced by DGCA

(Directorate General of Civil Aviation), an ideal drone pilot
must satisfy the following requirements:
✔ Must be at least 18 years old.
✔ Should have passed 10th standard.
✔ Should be trained at a DGCA recognised and approved
flying training organisation (FTO).
Example- (IID) Indian Institute of Drones.

27
 Also, Drone pilots need to understand the basics of flying.
They must be able to assess the weather, wind speed, and
other mechanics. There is one Institute in India i.e., (IID)
Indian Institute of Drones. Which conduct course for Drone
Pilot Training, which offers a total of four courses (1, 3, 5 and
7- day courses) in 6 cities across India and 2 more abroad.
The time duration for multirotor drone pilot course is seven
days and the fixed wing drone pilot course is ten days.

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 Working Principle and Design:
At the heart of understanding how drones work lies the fundamental principles of
flight. Drones, like aircraft, rely on the same principles of aerodynamics to achieve
and maintain flight. Here are the key principles:

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 Lift:
Lift is the force that allows a drone to ascend into the air. Drones generate lift through their
wings or rotor blades, creating an upward force that counteracts gravity. The design and
shape of the drone’s wings or rotor blades are crucial for achieving the necessary lift.
Thrust:
Thrust is the forward force that propels the drone through the air. In most drones, this is
achieved by the rotation of propellers or rotors. By varying the speed and direction of these
propellers, drones can move forward, backward, or hover in place.
Weight:
The force responsible for lifting the drone upward is known as “lift,” and it results from
pressure variations along the vertical axis of the drone. Consequently, the lift force is
determined by the speed, size, and configuration of the propeller blades. Lift is indispensable
for counteracting gravity and raising the drone, requiring all four propellers to operate at high
speeds to generate this force.
Drag:
Drag, which opposes the drone’s motion by acting in the opposite direction, is the result of
variations in air pressure and the air’s viscosity. The choice of an aerodynamic drone shape is
aimed at minimizing this resistance force to enhance efficiency.
Control:
Control is essential for maneuvering a drone. Drones have control surfaces or movable rotor
blades that allow them to change direction and orientation. By adjusting the control surfaces,
the drone can roll, pitch, and yaw, enabling it to perform various flight maneuvers.
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 Precautions during the Drone use:
⚫ Drones can be a fun and useful tool, but they can also be dangerous if not used
properly. Here are some precautions to keep in mind when using a drone:
1. Know the laws and regulations:
▪ Before flying a drone, make sure you know the laws and regulations in
your area
▪ This includes any local, state, and federal regulations, as well as any
restrictions on where you can fly your drone.
2. Always keep your drone in sight:
▪ It’s important to keep your drone within your line of sight at all times
▪ This will help you avoid collisions with other objects or people.
3. Fly in open areas
▪ Try to fly your drone in open areas away from people, buildings, and other
obstacles
▪ This will help you avoid accidents and crashes.

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 4. Respect people’s privacy:
▪ Don’t fly your drone over private property without permission
▪ Also, avoid flying your drone close to people’s homes or in areas where
people have a reasonable expectation of privacy.
5. Avoid flying in bad weather:
▪ Drones are not designed to handle extreme weather conditions like strong
winds, heavy rain, or snow
▪ Avoid flying your drone in these conditions, as they can cause your drone
to crash or become damaged.
6. Keep your drone in good condition:
▪ Regularly check your drone for any signs of damage or wear and tear
▪ Replace any damaged parts before flying.
7. Practice safe battery use:
▪ Always use the manufacturer’s recommended batteries and charger
▪ Avoid charging your batteries unattended and never use damaged or
swollen batteries.
▪ Be prepared for emergencies: Keep a first aid kit and a fire extinguisher
nearby in case of emergencies. Also, be prepared to land your drone quickly if
necessary.
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 Drone Motor:
A drone electric motor converts electrical energy into
mechanical energy.
A motor consists of a stator, a rotor, an iron core, and a
main part of a magnet.
Motors are divided into brushed motors and brushless
motors.
The motor of the UAV is mainly a brushless motor. One
end is fixed on the motor base of the frame arm, and the
other end is connected to the propeller, which generates
downward thrust through rotation.

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 Basics Of a Motor:
The two major parts of motor- Stator or
Rotor.
Stator: Stationary part of the motor (Windings).
Rotor: Rotatory part of the motor (bell with magnets).
Also there a lot of minor things- Bearings, Coils, Magnets,
Shafts, etc.
A motor size is based on the stator size (diameter and height).
Ex- If a motor size is 2207- Stator width is 22mm and height
is 7mm

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 Selection of Motor:
When choosing a drone motor, you can consider following factors such as:
▪ Thrust-to-weight ratio: The motor should be able to produce enough thrust to

overcome the weight of the drone and gravity. A good rule of thumb is that the
thrust should be at least twice the weight of the drone.

• Motor size: The size of the motor should be appropriate for the frame size and
propeller size. ie., Frame Size = Motor Size
• KV rating: The KV rating is a parameter of the motor that's important for
generating thrust efficiently.
• Motor type: Brushless DC motors are the most common type of drone motor
because they are efficient, reliable, and durable.
• Propeller compatibility: The motor should be compatible with the propeller
you choose.
• Battery voltage: The battery voltage should be compatible with the motor.

• Efficiency: The motor should be efficient and have low energy consumption.

35 • Cooling: The motor should have adequate cooling.

 Motor Types for Drone to fly:
1. Brushed
2. Brushless
Internal working principles are same – based on Electromagnetism.

When the motor windings become energized (both have coils),

a temporary magnetic field is created that repels against the
permanent magnets present inside the motor.

This magnetic force is creating the repulsive force in the coil that is
used to spin/rotate the shaft.

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 What is Electromagnetism?
⚫ Electromagnetism is a process where a magnetic field is created by
introducing the current in the conductor. When a conductor is
electrically charged it generates magnetic lines. For example, if current
i.e., positive charges move in a wire, it produces the magnetic field
along the wire, and the direction of magnetic lines and force can be
determined using Right Hand Rule.

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 Efficiency wise, brushed motor is 75-80% efficient whereas a
brushless motor is 85-90% efficient.
The efficient of a motor is, the total power being turned into
“rotational force” and less power lost as “heat”.

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 Brushed Motor:
▪ Brushes used to deliver current to the motor windings through
mechanical commutation.
▪ The number of coils wound around the motor and the density of the
coils determine the properties of the motor.
▪ Pair of permanent magnets – stator and rotor (motor coil)

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 ▪ Conductor always locates on the turning part and get DC power.
▪ It uses metallic brushes (rotate along with the rotor) to transfer the
current to the coil.
▪ Require periodic maintenance of brushes.
▪ Brushes transfer current to the armature through physical contact
with the commutator.
▪ Repelling the poles in stator – the motor shaft where the armature coil
attached begins to rotate with a speed and torque.
▪ The speed and torque depends on the strength of the magnetic field
around the armature.

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 Advantages and Disadvantages of Brushed Motor:

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 Brushless Motor Size Chart:
Table: Nominal Frames and Quadcopter
Motor Numbers
Frame Size Propeller Size Motor Size KV

15 mm and 3” and smaller 1105-1306 3000 and higher

smaller

180mm 4” 1806 2600-3000

210mm 5” 2204-2208/2306 2600-3000

250mm 6” 2205-2208/2306 2000-2300

300mm 7” 2208/2212 1600

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 Performance Factors KV:
⚫ KV rating – Speed at which the motor rotates for every

volt.
⚫ The KV rating of a drone motor affects its performance in

terms of acceleration, stability, and endurance. The right

KV rating depends on the drone's purpose and the size of its
propellers.
⚫ Ex: If a motor is 2300kv with 3S quadcopter battery

motor. The motor will spin at 2600 x 12.60 = 32,760 rpm

without propellers.
⚫ The rpm decreases gradually by air resistance.
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 Battery:

1. Hydrogen Fuel Cells

2. Lithium Iron
3. Lithium Polymer

The most usage of batteries are Lithium Iron and

Polymer.

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 1. Hydrogen Fuel Cells :

They generate electricity by combining hydrogen and oxygen,

producing water vapor as the only byproduct. These fuel cells
are ideal for applications that demand long-endurance flights
and minimal environmental impact, making them highly
suitable for both commercial and military drones.

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 2. Lithium Iron :

Lithium-ion is the most popular rechargeable battery used

today. Lithium-ion batteries power the devices we use every
day, like our mobile phones and electric vehicles. Lithium-ion
batteries consist of single or multiple lithium-ion cells, along
with a protective circuit board.
⚫ Cost-Effective – Less, Longtime, transportable
⚫ High Power Density
⚫ Easy Maintenance
⚫ Continuous Voltage – steady voltage
⚫ Variety of Models

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 3. Lithium Polymer :

A lithium polymer battery is a rechargeable battery with a

polymer electrolyte instead of a liquid electrolyte. A lithium
polymer battery is rechargeable, lightweight and provides
higher specific energy than many other types of batteries.

⚫ Cost-Effective – Less, Longtime, transportable

⚫ High Power Density
⚫ Easy Maintenance
⚫ Continuous Voltage – steady voltage
⚫ Variety of Models

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 Battery Choosing:
1. Battery Size and Weight

2. Battery Discharge Rate

3. Battery Voltage

4. Battery Capacity

5. Battery Connectors

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 Battery- Current Output:
If the current is I, battery capacity is C, and discharge
rate is D, then Instantaneous Current drawn I = CD
If a battery have 3 cells and each has 5,000mAh and the
discharge rate is 10C
The current drawn I = 5.0 x 10 = 50A (1 Ah =
1000 mAh)
Always choose the high highest capacity batteries
depending on the size and weight of the batteries.

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 The following figure shows the LiPo battery
for the drone:

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 Connectors:
Connectors are most important things for the power
and other parts.

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 Connectors:

▪ Connectors are interfaces for routing power, data, and

signals to and from different subsystems within the
platform.

▪ Route between UAV power and control systems,

guidance systems, GNSS/INS and integrated or
external payloads such as laser scanners, LiDAR and
thermal or visual cameras.

▪ Choosing a connector for a particular UAV application,

depends on the design requirements.
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 Connectors- Requirement:

1. Size, Weight and Power (SWaP): Lightweight and Compact (small

form) - Payload, fuel, fly for longer.
- Small UAVs
2. Environment and Durability: Variety and harsh environment
conditions.
- High vibration and shock environments.
Rough landing and heavy vibration – High sock and vibration tolerance

Weather conditions – Airborne particles – sand, ash, dust, rain, temp

– sealing and protection ratings.
Operating range: -55 to +200 degrees Centigrade.
Electromagnetic Interference and Pulses (EMI and EMP): Shielding
necessary.

53
 3. Performance: Signal degradation is the issue in
high-speed applications.
- Connectors are capable of transferring large amount
of high-resolution video at ever-increasing speeds.
- - Highly insulating materials, allow airflow to protect
from melting.

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 Connector Types:
1. Medium or High altitude Connectors :
▪ Custom and COTS (commercial off-the-shelf)
connectors are in a variety of form factors, such as
Circular, Rectangular/ Strip.

▪ Technology standard form factors such as USB,

Ethernet and D-sub.

▪ OEMs (Original Equipment Manufacturers) –

MIL-SPEC or MIL-STD – which are meet the
specification factors such as Vibration, Durability,
55 Corrosion, and Temperature.
 2. Coupling and Locking Methods:

⚫ Plastic or metal shells.

⚫ Metalized composite shells providing
lightweight and durable and reduce overall
weight.
⚫ Aluminum-Higher-end to provide EMC
protection.

56
 3. Ruggedized Push-Pull:
▪ Shell material used for connector bodies.
▪ Provides both protection and Strength, but add weight.

4. Fischer:
▪ Rugged and mission-critical applications.
▪ Available: push-pull, screw lock, and quick
release.

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 5. TE Connectivity:
▪ Lightweight, rugged interconnect tech.
▪ For Unmanned vehicles like: UAV, UGV, UUV.
▪ High performance – To absorb high levels of
▪ vibration, shock and impact.
6. Nicomatic:
▪ Power and Video transmission.
▪ MIL 83513 performance –> 1.27mm pitch of rugged
Micro connectors.

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 Frames:
▪ Drone’s body skeleton is called frame. It helps to mount the motors,
battery, and their parts on it. The frame is used to built copter or
glider.

▪ Ex: Tricopter – size is small, 3-motors, 3-propellers, 3-ESC, etc.

▪ Material: Carbon, Wood, Metal, Plastic, Fiberglass.

▪ Choosing: Light and Strong – Carbon Fiber (high cost)

- Plastic / Acrylic (medium cost)

▪ We keep the frame balanced and the center of gravity when flying the
drone.
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 Frames- How to Built?
▪ The thrust of the motor after mounting on the frame is really important.

▪ Thrust tells – float in the air or fall down or become imbalanced.

▪ Thrust of a Motor:

▪ If ‘P’ is the payload capacity of the drone, then the motor thrust ‘T’ is:

Where, M – No. of Motors, W – Weight of the drone, H-Hover throttle in %.

(Throttle will raise your drone's altitude. To hover, throttle is utilized to
power the four propellers evenly).

Therefore, P = T x M x H - W
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 Frames- Types:

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 1. Monocopter
2. Bicopter
3. Tricopter T Y
4. Quadcopter + X H
5. Hexacopter X Stretch
6. Octocopter + X

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 Monocopter:
Monocopters are the type of drone which has only
one motor and using a single motor, we can move
our drone in upward and downward directions
only.

Increasing the number of motors also helps to

stabilize the drone.

The drone will lift off and fly, but yaw, rudder, and
roll motions are not possible for monocopter.

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 Bicopters:

▪ Bicopters typically have two fixed-pitch propellers,

one clockwise (CW) and the other
counterclockwise (CCW).
▪ Control is achieved by varying the speed of each
rotor independently and it is possible to generate a
desired total thrust.
▪ Place the center of thrust both laterally and
longitudinally, and create a desired total torque, or
turning force, by altering the speed of each rotor.

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 ▪ The propellers on a bi-copter rotate in the opposite
direction. These propeller pairs will create lifting thrust
without rotating in the same direction.
▪ Each rotor generates power and torque along its axis of
rotation, as well as a drag force in the opposite direction of
the vehicle's flight path.
▪ The net aerodynamic torque, and the angular acceleration
along the yaw axis, are exactly zero if all rotors spin at the
same angular velocity.

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 Tricopters:
▪ Tricopters have three fixed-pitch propellers. These can fly
in more directions than bicopters and can also carry a
substantial load.
▪ Tricopters have three motors in a Y or T configuration, with
the motors sitting in the distal part of the limbs.
▪ It has a lot more stability than a bicopter because of the
extra blade.
▪ Tricopters are of two types - Y shape tricopter and T shape
tricopter.

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 Quadcopter:
The quadcopter is indeed the most popular multi-copter. Everyone
loves quadcopter, whether it's a DIY maker or a professional drone
manufacturer
A quadcopter is a multi-rotor drone with 4 motors attached.
This Drone stabilizes its flight using an electronic sensor and control
system.
There are three types of quadcopters - Plus shape quadcopter, Cross
shape quadcopter, and H shape quadcopter.

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 Hexacopter:
The hexacopter has six propellers that are placed in a circle around the
hexacopter's main body. The machine's bottom has a pair of leg-like
appendages that allow it to land safely on the ground.
Because of its six propellers, the quadcopter is a more powerful flyer than the
quadcopter and can carry bigger loads.
The hexacopter has a substantial advantage that even if one of the propellers
fails, the craft can still fly because of the other five propellers.

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 ▪ A hexacopter can go quicker and reach higher altitudes
than a quadcopter
▪ They are also larger and more complex to assemble
and store than quadcopters.

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 Octocopters:
▪ This is the drone with eight propellers and is significantly more
powerful than either a quadcopter or a hexacopter.
▪ In comparison to previous drones, these can fly higher, move faster, and
carry heavier payloads.
▪ The octocopter is also extremely steady in the air, allowing it to capture
footage with high-quality graphics and minimal shaking.
▪ These are considered the cream of the crop when it comes to drones
because of their high performance value.
▪ They're utilized for highly specialized tasks that may require them to
travel through rain or heavy gusts.
▪ If two or three propellers are destroyed, the drone will continue to fly.

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 ▪ When it comes to attaching costly cameras or delicate cargo to drones,
the octocopter is the greatest option because it has the best chance of
keeping the payload secure and completing the job on schedule.
▪ The octocopter is frequently used in movies and television shows that
require high-altitude shots.
▪ If you want to use the octocopter, keep extra batteries in case the drone
runs out of power before the job is finished.

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 Assembling the Drone:
Step-1: Assembling the Frame

1. Unbox your frame kit and lay out all the pieces.

2. Follow the instructions provided with your

frame kit to assemble the frame. This usually
involves screwing together several parts.

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 The item are listed here :
• Four frame arms
• Four leg plates
• Two rods for the base mount
• One top plate
• One bottom plate for mounting the power lines with lot of screws

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 Firstly, see the following figure and connect the
parts as shown here:

Use the proper screwdriver to tighten the screws. Do not

74 keep any screw untightened or tilted.
 Step-2: Mounting the Motors
1. Attach the motors to the frame using the provided screws. Ensure the
motors are positioned correctly based on your frame’s design.
2. Secure the motors firmly but avoid overtightening the screws to
prevent damage.

The BLDC has three wires coming out of the motor. We need to solder the
bullet connector to them to be connected to the ESC. Now connect other
three motors to the frame arm.
75
 Step-3: Installing the ESCs
1. Solder the ESCs to the motors. Each ESC will have three wires that
need to be connected to the corresponding motor wires. Ensure good
solder joints to avoid electrical issues.
2. Attach the ESCs to the frame using zip ties or double-sided tape. This
will keep them secure during flight.

76
 The 3 x 4 = 12 wires will be connected to the
four BLDC motors. Let’s look at the wire
configuration. The single ESC has eight
wires. These wires go to the BLDC motor,
two wires go to the power unit, the
remaining three wires are for signal, ground
and power. If you configure the ESC with an
Arduino, the diagram will be as follows:

77
 For connecting to the arduino, we do not use
the power of the ESC cable, The main wire is
the signal cable. We use this to simulate the
core of the motor to turn. If you want to use
an arduino as the main control board of
your drone, then you need to connect all of
your ESCs as shown in the previous figure,
choosing the different signal pins.

78
 Step-4: Connecting the ArduPilot

The ArduPilot is the brain of the drone.

The ArduPilot has basically eight types of
pins, as marked in the following diagram.
Lets look at what the uses of them are:

79
 These pins are used to add the ESCs signal
or output cables. Remember the three wires
of the ESCs? They will be connected here.
You can add up to eight ESCs in the
ArduPilot. The rightmost pin of a row is used
for the signal cable, the middle pin is for the
power cable, and the leftmost pin is ground
pin.
See the following diagram for a better idea:

80
 Step-5: Connecting the PDB (Power Distribution
Board)
1. Solder the power wires from the ESCs to the PDB. Follow the
PDB’s diagram for correct wire placement.
2. Connect the PDB to the battery connector. Make sure the connection
is solid to avoid power loss.

Step-6: Installing the Flight Controller

1. Mount the flight controller in the center of the frame using screws or
foam pads to reduce vibration. Follow the manufacturer’s instructions
for orientation.
2. Connect the ESC signal wires to the flight controller. Refer to the
flight controller’s manual for proper wiring.

81
 Step-7: Attaching the Propellers
1. Screw the propellers onto the motors. Ensure you install them in the
correct orientation (check for ‘CW’ and ‘CCW’ labels) to ensure proper
lift and flight stability.

Step-8: Setting up the Remote Control

1. Bind your receiver to the remote control following the

manufacturer’s instructions. This step is crucial for ensuring your drone
responds to your commands.
2. Connect the receiver to the flight controller. Follow the wiring
diagram in your flight controller’s manual.

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 Step-9: Configuring the Flight Controller

1. Download and install the necessary software (such as Betaflight,

Mission Planner) to configure your flight controller.
2. Connect the flight controller to your computer and follow the
on-screen instructions to calibrate and configure it. This includes
setting up your drone’s flight modes and tuning its performance.

Step-10: Connecting the Radio

o Connecting the radio to the ArduPilot is one of the easiest things. You
can choose a short range or long range radio. I would suggest you use
3DR Radio.
o It is easy to set up ArduPilot software and is easy to use. The radio will
be directly connected tot the ArduPilot and will send signals to the
receiver connected to the PC.
o This is required when the drone without any external wire connected to
it. The radio will be connected via the Telem port.
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 Step 11: Connecting the RC receiver and transmitter

▪ The RC transmitter allows the drone pilot to control the drone

wirelessly.
▪ Connecting the Radio Controlled (RC) transmitter is must for a drone.
▪ The RC transmitter sends signal and the receiver receives the signal.
The RC transmitter is also known as TX and the RC receiver is known
as RX.
▪ The number of channels gives you the ability to control how many
individual actions you can control of the drone. Say a drone needs a
few actions from commands such as throttle, pitch and yaw. These three
actions require three individual channels for the transmitter.
▪ To fly a drone properly, you need to choose at least a four-channel
transmitter. Then you can easily control the throttle, roll, pitch and
Yaw.

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 The mode of the transmitter is also needed
to be taken care of. There are four kinds of
modes of a transmitter. They are known as
numerically mode 1, mode 2, mode 3, mode
4: as shown in fig.

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 Connecting the RC receiver to the ArduPilot
is one of the hardest parts. Remember the
Input pins of the Ardupilot? We will connect
our RC receiver.
The pin configuration is as follows:

• Pin1: Roll/ aileron

• Pin2: Pitch/ elevator
• Pin3: Throttle
• Pin4: Yaw/ rudder
• Pin5: Auxiliary channel 1 (for example,
mode switch)
86 • Pin6: Auxiliary channel 2
 On RC receiver, you will see the pin
number/ channel number. Just connect to
the ArduPilot as you desire.
Alternatively, you can follow the previous
pin configuration to avoid complexity. See
the following figure, if you need more
clarification:

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 Step-12: Connecting the Battery

Now last part is to connecting the battery. You can connect the battery by
soldering the connectors to the board and later just plug the battery while
flying the drone. You can use zipties to lock the battery under the body of
the copter as shown in figure.

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 Step-10: Binding Transmitter tot the receiver

Binding is very really important. Without proper binding, you

cannot configure the drone’s action properly.
You can bind your transmitter with at least following things:
▪ A binding cable
▪ An ESC
▪ A servo motor (or you can use a BLDC motor too, but it is
too risky; I don’t recommend it while binding the
transmitter to the receiver)
▪ A battery

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 Step-11: Testing

1. Perform a pre-flight check to ensure all

connections are secure and everything is properly
configured.
2. Test the drone indoors or in a controlled
environment to make sure everything is
functioning correctly before attempting outdoor
flight.

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 Throttle: Throttle is the control that moves a drone vertically, up and
down. It's used to take off and land the drone.
How to use throttle
• Increase throttle: Push the left stick forward to increase the drone's
altitude.
• Decrease throttle: Pull the left stick backward to decrease the drone's
altitude.

Pitch: Tilts the drone forward or backward.

Roll: Tilts the drone left or right.

Yaw: Rotates the drone left or right.

Rudder: The rudder is a primary flight control surface which controls
rotation about vertical axis of an aircraft.
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 Tools you’ll Need:

1. Soldering iron and solder

2. Screwdrivers
3. Wire cutters and strippers
4. Heat shrink tubing
5. Zip ties
6. Multimeter (optional but helpful)

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 Why Build your own Drone:

Before we dive into the nuts and bolts, let's quickly explore why you
might want to build your own drone:

▪ Customization: Building your own drone allows you to choose

components that best suit your needs.

▪ Cost: It can be more cost-effective than buying a pre-assembled

drone.

▪ Learning Experience: You'll gain valuable technical skills and

a deeper understanding of how drones work.

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 Aerodynamics to fly a Drone:
The word comes from two Greek words: aerios, concerning
the air, and dynamis, which means force.
Aerodynamics studies how air interacts with solid objects
as they move through it.
Studying the motion of air around an object allows us to
measure the forces of lift, which allows an aircraft to
overcome gravity, and drag, which is the resistance an
aircraft “feels” as it moves through the air. Everything
moving through the air (including airplanes, rockets, and
birds) is affected by aerodynamics.

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 Aerodynamics to fly a Drone:
The physics for flying a drone is really necessary to be known by all the drone
pilots because, if you cannot master the air, your drone will not fly properly.
Refer to the following figure to get rough idea on how air is affected by
propellers of the drone.

Basically, Drone (specially quadcopters) has two pairs of propellers (two in a

clockwise direction and other is anticlockwise direction). The speed of each motor
is individually controlled to control the movement of the drone.
Two things for flying a drone i.e., torque and the thrust.
A torque is nothing but a twisting force that tends to cause rotation. Alternatively,
we can say, in physics, the capability of rotating an object around a fixed axis is
known as torque. It is symbolized as 𝜏(Tau). Mathematically, torque is vector
product of force (F) distance (r) of the axis. So, we can write:

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 Where θ is the angle between the force and the distance from the center of the axis.
Thrust is simply pushing something suddenly or with propulsive force. In physics, Thrust is
defined as the forward force that impels it to go faster or keeps it going in the intended
direction.
Mathematically, thrust is the product of pressure (P) and area (A).
So, we can say, Thrust = P x A.

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97
98
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 Pitch and Roll
The pitch is the rotation of the drone in the
Y direction, while the rotation along the X
direction is known as roll or vie versa,
depending on the front of the drone. This
will happens if one pair of opposite
propellers provide, thrust more than the
other two propellers.
This is simple aerodynamics of a
quadcopter.

10
0
 Check things before flying:
There are few things you must check before flying a drone. Here is a
checklist for flying a drone safely:
▪ Check all the connections
▪ Check transmitter and receiver bindings
▪ Check the battery charge and voltage
▪ Check whether all the propellers are attached tightly
▪ Check all the motor mountings
▪ Check all the screws
▪ Check the balance of the drones to see if any side is heavier than the
other
▪ Always unplug the battery after flying; only attach the battery few a
seconds before flying
▪ Check any obstacles outside

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 ▪ Keep children away from the flying area
▪ Keep a distance from the drone while you first
throttle it
▪ Turn on auto pilot and return to the home/ launch
feature if they are available
▪ Do not fly a drone with unbalanced propellers or
broken propellers
▪ Always wear Safety wear glasses
▪ Maintain security protocols

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 Thank you

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