Quadcopter

by Thomas Rieder

This is the source code for a quadcopter I built during summer break 2012.

Used Hardware:

• Arduino Uno R3
• XBee Series 2
• ADXL345 - Accelerometer
• ITG3200 - Gyroscope
• [Black Crow 4 Fibreglass Frame]("http://quadframe.com/products/quad004" Black Crow 4 Fibreglass Quadcopter Frame)
• Robbe Roxxy 2824-34 Outrunners
• Robbe Roxxy BL-Control 710
• APC 10 x 4.7 Propellers (2 Pusher and 2 Pullers)
• LiPo Battery Pack 2200 mAh

Done:

• Chassis
• Wiring/Soldering
• I2C Bus to Accel/Gyro
• IMU using Discrete Cosine Matrices with 6 DOF
  • Direction Cosine Matrix IMU: Theory
  • [Original Papers](http://gentlenav.googlecode.com/files/MahonyPapers.zip Mahony's Papers on DCM)
• PID-Control
• PID-Tuning
• Wireless Stuff (XBee)
• GUI with Python and TkInter (Tcl/Tk)

TODO:

• Crashing the whole thing xD

How to contact me

• via email: thomasrieder at aon dot at
• via twitter: My Profile