DRONE BUILD PARTS

FRAME: PVC PIPE DIY

Transmitter And Reciever: (FlySky Fs-i6 with FS-IA6)
MOTORS: 2312 920KV
ESC: SIMONK 30A
SENSOR: MPU6050 (3 Axis GYRO + 3 Axis Accelerometer)
BATTERY: 3S 11.1v 2200Mah
BATT CHARGER: B6 iMax
BATT SENSOR: Black BX100 1-8S Lithium Battery Low Pressure Tester Voltage
PROPPELLER: 11 x 4.5 Inch Propellers

Total Cost of Project: 8,365

2450 - TX and RX
2400 - Motors, ESC & Propellers
87 - Prototype shield, 135 Gyro 90 Shipping
375 - Charger batt
Pvc 310 + 154 + 10 Shoeglue
Pipe Holder: 225
196 - Anti vibration plate
1200 - 3S Lipo Batt
Batt Sensor Voltage: 147+45 sf
Propeller: 541

Total =8,365

PROGRAMMING CODES:
1. Setup
2. ESC CALIBRATION
3. Flight Controller
INTRODUCTION:
What is drone?
Drone (unmanned aerial vehicle, UAV)

-What is a drone and how do drones work is answered here in this easy to understand article. Drone technology
is constantly evolving as new innovation and big investment are bringing more advanced drones to the market
every few months.
Below, we discuss UAV technology on the most popular drones on the market, which have all the latest drone
technology. Most drones will have very similar systems incorporated.

Unmanned aerial vehicle technology covers everything from the aerodynamics of the drone, materials in the
manufacture of the physical UAV, to the circuit boards, chipset and software, which are the brains of the
drone.

One of the most popular drones on the market is the DJI Phantom 3. This drone was very popular with
professional aerial cinematographers. While slightly old now, it uses plenty of advanced technology which is
present in the very latest drones.

Specification of DIY DRONE

Diameter: 500mm or 20 Inch
Height: 1ft or 12 inch
Weight: 1.3Kg

MOTOR THRUST
Thrust is the force which moves an aircraft through the air. Thrust is used to overcome the drag of
an airplane, and to overcome the weight of a rocket. Thrust is generated by the engines of the
aircraft through some kind of propulsion system.

Lifting Motor Calculation for the DIY Drone Project

2312 920KV BLDC Motor (BrushLess DC Motor) + 11 x 4.5 Inch Propeller Size
Single 2312 920Kv BLDC Motor Can lift of
604 grams per motor in full throttle.
1300g of Diy Drone * .7 = 2210g target of thrust.
604g * 4 = 2416g ideal thrust/lifting capacity of drone.
Ideally pasok yung motor at propeller size sa weight ng diy drone.
Gyroscope and Accelerometer

Gyroscope
A gyroscope is a device used for measuring or maintaining orientation and angular velocity.[1][2] It is a
spinning wheel or disc in which the axis of rotation (spin axis) is free to assume any orientation by itself.
When rotating, the orientation of this axis is unaffected by tilting or rotation of the mounting, according
to the conservation of angular momentum.

Gyroscopes based on other operating principles also exist, such as the microchip-packaged MEMS
gyroscopes found in electronic devices, solid-state ring lasers, fibre optic gyroscopes, and the extremely
sensitive quantum gyroscope.

Accelerometer
An Accelerometer is a device that measures proper acceleration.[1] Proper acceleration, being the
acceleration (or rate of change of velocity) of a body in its own instantaneous rest frame,[2] is not the
same as coordinate acceleration, being the acceleration in a fixed coordinate system. For example, an
accelerometer at rest on the surface of the Earth will measure an acceleration due to Earth's gravity,
straight upwards (by definition) of g ≈ 9.81 m/s2. By contrast, accelerometers in free fall (falling toward
the center of the Earth at a rate of about 9.81 m/s2) will measure zero.
What is ESC?
An Electronic Speed Control or ESC is an electronic circuit that controls and regulates the speed
of an electric motor. It may also provide reversing of the motor and dynamic braking. Miniature
electronic speed controls are used in electrically powered radio controlled models. Full-size electric
vehicles also have systems to control the speed of their drive motors.

SIMONK 30A Can use 2S 3S 4S Lipo Battery

What is Lipo Battery?

A Lithium Polymer Battery, or more correctly lithium-ion polymer battery (abbreviated as LiPo, LIP,
Li-poly, lithium-poly and others), is a rechargeable battery of lithium-ion technology using a polymer
electrolyte instead of a liquid electrolyte. High conductivity semisolid (gel) polymers form this
electrolyte. These batteries provide higher specific energy than other lithium battery types and are
used in applications where weight is a critical feature, like mobile devices and radio-controlled
aircraft.

2S = 2 Cell – 7.4v
3S = 3 Cell – 11.1v
4S = 4 Cell – 14.8v
5S = 5 Cell – 18.5v
6S = 6 Cell – 22.2v
TRANSMITTER AND RECIEVER
FlySky FS-i6 2.4G 6CH AFHDS RC Radio Transmitter
With FS-iA6 Receiver
Specsification:
RF Range: 2.40-2.48GHz
Bandwidth: 500KHz
Band: 142
RF Power: Less Than 20dBm
2.4ghz System: AFHDS 2A and AFHDS
Code Type: GFSK
Sensitivity: 1024
Arduino Drone Schematic:

D1 - 1N4001 / 1N4007
R1 – 330R 1/4w
R2 – 1K 1/4w
R3 – 1.5K 1/4w
1pcs - RED LED (Gyro Indicator)

AND LASTLY

P.I.D Tuning
A Proportional–Integral–Derivative controller (PID controller or three-term controller) is a control
loop feedback mechanism widely used in industrial control systems and a variety of other
applications requiring continuously modulated control. A PID controller continuously calculates an
error value {\displaystyle e(t)} e(t) as the difference between a desired setpoint (SP) and a measured
process variable (PV) and applies a correction based on proportional, integral, and derivative terms
(denoted P, I, and D respectively), hence the name.
Proportional
The obvious method is proportional control: the motor current is set in proportion to the existing error.
However, this method fails if, for instance, the arm has to lift different weights: a greater weight needs a
greater force applied for a same error on the down side, but a smaller force if the error is on the upside.
That's where the integral and derivative terms play their part.

Integral
An integral term increases action in relation not only to the error but also the time for which it has
persisted. So, if applied force is not enough to bring the error to zero, this force will be increased as time
passes. A pure "I" controller could bring the error to zero, however, it would be both slow reacting at
the start (because action would be small at the beginning, needing time to get significant) and brutal
(the action increases as long as the error is positive, even if the error has started to approach zero).

Derivative
A derivative term does not consider the error (meaning it cannot bring it to zero: a pure D controller
cannot bring the system to its setpoint), but the rate of change of error, trying to bring this rate to zero.
It aims at flattening the error trajectory into a horizontal line, damping the force applied, and so reduces
overshoot (error on the other side because too great applied force). Applying too much impetus when
the error is small and decreasing will lead to overshoot. After overshooting, if the controller were to
apply a large correction in the opposite direction and repeatedly overshoot the desired position, the
output would oscillate around the setpoint in either a constant, growing, or decaying sinusoid. If the
amplitude of the oscillations increases with time, the system is unstable. If they decrease, the system is
stable. If the oscillations remain at a constant magnitude, the system is marginally stable.

P.I.D is a calculation of weight, force and balance to stabilize the drone. Which calculate the center
of the gravity of the drone.