Description:

The y4 copter is intended to be a UAV (Unmanned Aerial Vehicle) with autonomous subsystems.

• Automation is implemented in case of maintaining the desired roll, pitch and yaw.
• An improved algorithm that uses Quaternion is implemented to determine Euler angles avoiding Gimbal lock.
• It has a self-stabilization system achieved using Proportional Integral Derivative (PID) control system.

A custom remote is built to communicate with the y4 copter using XBee modules which offer long range and security.

The main tasks performed are:

• Frame and propeller construction
• Gyroscope and Accelerometer interfacing with microcontroller
• DC motor drive using high-current MOSFET IRF540.
• XBEE communication between remote and the copter