TR 1.1: Introduction to UAV’s NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

I. Introduction

Unmanned Aerial Vehicles (UAVs), commonly referred to as drones, have

revolutionized aviation in numerous ways. These aircraft, operated without an
onboard human pilot, serve a variety of purposes across different sectors, including
military, commercial, scientific, and recreational applications. In the military realm,
UAVs play crucial roles in surveillance, reconnaissance, intelligence gathering, and
even combat missions, offering a safer alternative to manned aircraft in hostile
environments.

In the commercial sphere, UAVs have opened up new opportunities for

industries such as agriculture, filmmaking, construction, and package delivery.
Agricultural drones, equipped with cameras and sensors, can monitor crop health,
detect pests, and optimize irrigation, leading to increased efficiency and reduced
environmental impact. Filmmakers utilize drones to capture breathtaking aerial
shots that were previously inaccessible, while construction companies employ them
for site surveying, progress monitoring, and safety inspections. Additionally,
companies like Amazon and UPS are exploring the use of drones for last-mile
delivery, potentially transforming the logistics industry.

In the scientific realm, UAVs are invaluable tools for environmental monitoring,
disaster response, and wildlife conservation. Researchers use drones to collect data
in remote or hazardous environments, track wildlife populations, monitor natural
disasters such as wildfires or hurricanes, and assess the impact of climate change.
UAVs equipped with specialized sensors can provide researchers with high-
resolution imagery, thermal imaging, and other valuable data for scientific analysis.

Despite their numerous benefits, UAVs also raise concerns regarding safety,
privacy, and regulatory challenges. Ensuring the safe integration of drones into the
airspace requires robust regulations, technological innovations such as detect-and-
avoid systems, and ongoing collaboration between government agencies, industry
stakeholders, and the public. As UAV technology continues to evolve, its impact on
aviation will undoubtedly expand, shaping the future of flight in ways that were
once unimaginable.

Types of Drones

An AUV can fly autonomously with software-controlled flight plans embedded

in its system that work in conjunction with sensors and a global positioning system
(GPS). Thus, there are variety of drone configurations that can be used based on their
intended role.
TR 1.1: Introduction to UAV’s NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

a. Fixed-wing

A fixed-wing drone has a single rigid wing that is made to look and
function like an airplane. This type of drone does not use vertical lift rotors to
provide lift. As a result, this particular type of drone only needs energy to move
forward, not to maintain its airborne position. Aerial mapping, surveying,
agriculture, inspection, construction, and security are the technical application
of this configuration. Although it can be expensive as training is required in
flying, its advantages are that it can cover longer distances, fly at a high
altitude, map with larger areas, and loiter for long times with a maximum of 16
hours or more.

b. Single-Rotor
It looks the same as the helicopter in structure and design with one rotor
for the big spinning wing and a tail rotor for controlling direction and stability.
Its technical usage is aerial LIDAR laser scan, drone surveying, and carrying
heavy loads. Its long, heavy spinning blades can be dangerous yet gives great
efficiency. It is the best option for hovering with a heavy payload and fast-
forward flight as they are built to be strong and durable. However, its types are
complex and expensive due to a lot of maintenance for mechanical complexity.

c. Multi-rotor

It uses more than one motor, which offers greater control over position
and framing that gives good aerial photography and surveillance. It can be
moved from all directions in its own axis because of its increased
maneuverability which enables it to fly close to structures and buildings.
TR 1.1: Introduction to UAV’s NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

Additionally, it has the ability to take multiple payloads per flight, which
increases its operational efficiency and reduces inspection time. However, it has
limited endurance and speed as it requires a lot of energy to fly gravity.

A multi-rotor drones can be incorporated with different configurations

depending on the designer’s perspective as well as the number of rotors that
the designer will incorporate to its drone.
TR 1.2: Push for Modernity NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

I. Push for Modernity

In the realm of aviation, Unmanned Aerial Vehicles (UAVs) stand at the

forefront of innovation, representing a paradigm shift in how we perceive and
utilize aircraft. This section of the technical report delves into the relentless
push for modernity within the UAV domain, exploring the transformative impact
of advanced technology on these unmanned systems. From military
applications to civilian endeavors, UAVs epitomize the convergence of cutting-
edge engineering, data analytics, and operational efficiency.

a. Technological Advancements:

Advancements in UAV technology have propelled these aerial platforms to

new heights of sophistication and versatility. Miniaturization of sensors,
improved battery life, and advancements in autonomous flight capabilities have
expanded the operational envelope of UAVs, enabling them to undertake
complex missions with unprecedented precision and reliability. Furthermore,
the integration of artificial intelligence and machine learning algorithms
empowers UAVs to adapt dynamically to changing environments, enhancing
their situational awareness and decision-making capabilities.

b. Mission Diversification:

The push for modernity in UAV technology has catalyzed a diversification of

missions across military and civilian domains. In the military sphere, UAVs serve
as force multipliers, providing persistent surveillance, reconnaissance, and
precision strike capabilities in contested environments. Meanwhile, in the
civilian sector, UAVs are revolutionizing industries such as agriculture,
infrastructure inspection, disaster response, and aerial cinematography,
offering cost-effective solutions to complex challenges.

c. Regulatory Framework:

As UAV technology continues to evolve, regulatory frameworks must adapt

to ensure the safe and responsible integration of unmanned systems into the
airspace. Governments worldwide are grappling with issues such as airspace
management, privacy concerns, and cybersecurity risks associated with UAV
operations. The push for modernity extends beyond technological innovation
TR 1.2: Push for Modernity NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

to encompass regulatory reform, fostering a conducive environment for the

safe and sustainable integration of UAVs into the national airspace system.

Conclusion:

The push for modernity in UAV technology represents a pivotal juncture in

the evolution of aviation. As we embrace the transformative potential of
advanced technology, UAVs are poised to revolutionize the way we approach
aerial operations, unlocking new opportunities for innovation, economic
growth, and societal benefit. By fostering collaboration between industry,
academia, and regulatory bodies, we can harness the power of UAVs to
navigate the challenges of the 21st century and usher in a new era of aerial
mobility.
TR 1.3: Project Proposal NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

I. Drone Structure

This section shows the overall frame and structure of the drone. F450
quadcopter is chosen type for easy maneuverability and balance.

Flame Wheel 450 is a quadcopter frame with 450mm frame-built materials

which weighs about 94 grams. The mainframe is glass fiber, and the arms are
built with polyamide nylon. Polyamide nylons are used because of their outstanding
wear resistance, durability, good coefficient friction, and exhibits good chemical
resistance. On the other hand, glass fiber frame materials can help to reduce the
weight of the aerial vehicle as well as can prolong the span of flight times.
Vibrations and noise are also reduced when using a glass fiber mainframe.

A Quadcopter drone is an unmanned vehicle with four rotors. Quadcopter

drones can be manually controlled or autonomous. We proposed to make
quadcopter drones because of their high degree of maneuverability and easily
portable due to their compact size and low weight. Aside from that it is easy to
build and low cost and has a simple flight control system that can fly vertically as
well as horizontally.

II. Flight Mechanism

In the envisioned UAV design, a complete quadcopter setup will be

implemented, comprising two clockwise rotating motors and two counter-clockwise
rotating motors positioned at the vertices of a square framework. Movement in space
will be attained through adjustments in the final force and torque along each axis.
Motor configuration will be optimized to operate in pairs, ensuring precise control over
torque and force distribution within the system. Translational motion of the
quadcopter will necessitate tilting the platform towards the desired axis, with the
reference angle determined by the roll, pitch, and yaw convention governing
movement in three-dimensional space.

Based on the motor placement, six degrees of freedom (DOF) motion can be
achieved by changing the speed of just one of the motor pairs. This is why the
quadrocopter can move in her 6 degrees of freedom and can only be controlled with
4 inputs: roll, pitch yaw and throttle.
TR 1.3: Project Proposal NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

Six Degrees of freedom:

4 inputs:

1. Roll controls the horizontal or lateral movement of the UAV. A positive roll moves
the drone to the right, a negative roll moves the drone to the left.
2. Pitch is the fore and aft tilt of the UAV. A positive tilt pitches the drone to move
forward, and a negative pitch pitches the drone to move backward.
3. Yaw is the left and right rotation of the UAV. A positive yaw will make the drone
turn right, and a negative yaw will make the drone turn left.
4. Throttle controls the vertical or vertical movement of the drone. A positive throttle
will fly the drone higher and a negative throttle will fly the drone lower.

III. Drone Communication Links

In order to achieve control over the drone, the designer will utilize ArduPilot as the
Flight controller, Flysky FSi6 as the transmitter, and FSi6 as the receiver to establish
efficient communication links for the drone.

The ArduPilot flight controller functions as an electronic circuit board equipped with
transmitter pins, communication protocols, sensors, and processors. These sensors
provide crucial data to the flight controller, including altitude, orientation, and speed
(measured in RPM).

Among the sensors commonly integrated with the flight controller are a barometer
for altitude, a compass for direction, an accelerometer for orientation detection, a level
horizon sensor for maintaining stable flight, a gyroscopic sensor for balance, and an
airspeed sensor. To operate the drone, a transmitter is employed to relay commands
TR 1.3: Project Proposal NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

via radio signals. This communication between the transmitter and receiver facilitates
control over the drone's movements. The receiver, directly connected to the drone's
flight controller, transmits commands and data received from the transmitter. Upon
receiving this information, the flight controller instructs the drone accordingly.

Moreover, it is essential to ensure proper tuning and management of transmitters

and receivers before each drone operation. Installation and setup of the drone involve
using a mission planner to calibrate sensors and radio, configure parameters and flight
modes, and test motor functionality. To confirm that the drone is armed and ready for
flight, the right stick of the flight controller should be positioned at the bottom right,
with attention paid to the stabilization of the red light in Ardupilot.
TR 1.4: Methodology NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

I. Scientific Role and Mission

While the 20th century marked the advent of manned flight both within the
Earth's atmosphere and into space, the 21st century is witnessing a comparable
revolution in unmanned and autonomous flight. In recent years, unmanned aerial
vehicles (UAVs), more commonly known as drones, have emerged as invaluable
tools in industrial and scientific fields. Fueled by advancements in microcontrollers,
sensor technology, and control systems, UAVs are swiftly becoming integral
components of modern society. Although initially predominant in military
applications, their versatility and cost-effectiveness have driven their widespread
adoption in commercial sectors. Continued technological progress and economies
of scale suggest that this trend is poised to persist, with UAVs becoming
increasingly affordable and capable.

According to the United States Federal Aviation Administration (FAA), an

unmanned aircraft refers to a device designed for flight without an onboard pilot.
Specifically, a UAV is described as a powered airborne vehicle devoid of a human
operator, capable of autonomous, semi-autonomous, or remote piloted operation,
and capable of generating aerodynamic lift, potentially carrying a payload. Notably,
systems such as missiles and aerostatic unmanned devices like radiosondes fall
outside this classification due to their lack of aerodynamic lift production.

The terminology surrounding new technologies often evolves dynamically, and

UAVs are no exception. Similar to how early automobiles were initially termed
"horseless carriages," UAVs have undergone a semantic evolution. While some
communities shy away from the term "drone" due to its military connotations, a
plethora of alternative names and acronyms have emerged, reflecting various
perspectives from governments, organizations, and researchers. These include
designations like "unmanned aircraft system" (UAS), "remotely piloted aircraft"
(RPA), "remotely piloted vehicle" (RPV), and "remotely operated aircraft" (ROA).
While distinctions among these terms can be subtle, "remotely piloted" typically
implies human control from the ground, while "unmanned aerial systems" may
feature autonomous capabilities. Despite these technical nuances, "drone" has
gained widespread usage among the general public, leading many industries to
adopt it for marketing purposes. For clarity within this chapter, the terms UAV and
drone are used interchangeably to refer to physical vehicles, while UAS denotes
the combination of UAVs, ground-based controllers, and their synchronous
communication systems, often equipped with supplementary equipment like
cameras, sensors, and payloads to extend their functionalities.
TR 1.4: Methodology NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

II. Design of the UAV

• The table below shows cost of the UAV project – it comprises of the materials cost and other
expenses.
Materials Quantity Amount Total
Radiolink F450 frame 1 P1,315.00 P1,315.00
Soldering Iron 15 P115.00 P1,750.00
LiPo Battery 1 P900.00 P900.00
IMAX B6AC charger 1 P900.00 P900.00
LED 2 P140.00 P280.00
Jumper Wire 3 P50.00 P150.00
Telemetry 1 P3,500.00 P3,500.00
Flysky Radio Transmitter and Receiver 1 P2,000.00 P2,000.00
MATERIAL EXPENSE TOTAL P10,795

A. Accesibility
All the components mentioned have been readily available for purchase
online, with local shipping options provided by e-commerce platforms such as
Lazada and Amazon being the primary sources. These online marketplaces offer
far greater accessibility compared to physical stores, allowing for convenient
browsing and selection from a wide range of individual retailers without the
need to travel between cities. Finding specialized components for the drone,
such as its frame, battery, and charger, proved challenging in physical stores,
hence the decision to opt for online shopping.

The purchasing process on Lazada and Amazon involves browsing

through their online marketplace websites, where a variety of products ranging
from perishable goods to consumer electronics, including those required for
building a drone, are available. Upon selection, items are ordered from retailers
within these marketplaces, with regional partners handling the product
shipment, including the listed drone components.

Consideration of the economic aspect is paramount, as the visibility of

consumers on these online platforms indirectly motivates sellers to offer
competitive prices while maintaining product quality to garner positive reviews.
This paper's drone procurement strategy leverages this dynamic by sourcing
quality goods from reputable retailers with proven reliability, as evidenced by
legitimate reviews containing photographic evidence and descriptive
comments.
TR 1.4: Methodology NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

B. Materials
• Radiolink F450 frame
The word ‘frame’ is often attributed to a mix of things ranging from a certain
perspective all the way to a physical entity’s structure and build. For the purpose of
this paper’s drone, we shall be using the term frame to define a rigid structure holding
the following components to be listed. The selected rigid structure for the drone is the
commercially-known F450 frame by Radiolink, a corporation specializing in research
and development, production and manufacturing, and designer of drone parts with
experience in the field of more than two decades. The frame itself is made up of glass
fiber and polyamide nylon, with an integrated printed circuit board for direct soldering
of the to-be-enumerated components.

• Solderin Iron

Soldering is basically the merging and joining of copper paste onto printed
circuit boards to connect points. The process is entirely reversible with the help of a
stick that gets really hot on demand called the soldering iron, which would be
purchased and utilized for this drone’s soldering requirements. It’s a common saying
how a picture is worth more than a thousand words, and the image portrayed on the
left side is of no exception. The anatomy of the soldering iron to be purchased is on
full display and explained, including its brand, size, material, and appearance among
other things of note.

• LiPo Battery
The drone will be using electricity to power most of its components including
flight, sourcing it from a Lithium-ion Polymer, or LiPo, battery. A LiPo battery is a
rechargeable electric source using electrochemical cells connected to external devices,
in the case of the drone: lights, a transmitter and receiver, and to its rotor mechanisms
among other things.
• Radio Transmitter and Receiver (Flysky)
The Flysky is like any other controller, it has adjustment sticks and trims, panel
displays reflecting pertinent information, an antenna to locate the both drone and
where a sizable chunk of the contribution money went, and other functions illustrated
on the image of this section.
• IMAX B6AC charger

The IMAX B6AC is not only suitable for the drone’s purpose, but has so many
features that by the end of this explanation it is assured that the reader would be
convinced that this section had been an ad. Not only is it a charger, it’s equipped with
a microprocessor sensitive to sudden peaks in consumption to protect the drone; it’s
TR 1.4: Methodology NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

also compatible to not only LiPo batteries, but even Li-ion, LiFe, Ni-Cd and NiMH-type
ones too. But wait, there’s more – the IMAX B6AC also has a time limit function with
an operating voltage range of 11 to 18 volts DC, order now and a free AC to DC
adapter will be thrown in. With as much features as MacGyver for a measly price of
sixteen quid, don’t be surprised if it suddenly started cooking, cleaning, filing your
taxes, and walking the reader’s dog.

• LED
Light-emitting diodes (LED)s are electronic components that conduct electricity
in only one direction, in this case, the diodes are designed to emit light as per its
naming convention. LEDs have gained commercial value due to its efficiency compared
to similar forms of light-emitting devices, such as incandescent and fluorescent lamps.
LEDs have been used in various industries requiring light, ranging uses from indoor to
outdoor use. For the purpose of this paper’s drone, the LED had been selected for its
efficiency which would be used for signaling and indicating the drone’s conditions.
• Telemetry
The telemetry is a device that gathers data relative to the drone and its
surroundings and transmits the gathered information to the drone operator for
whatever purpose. The telemetry is also exceptionally useful in providing live feedback
for situations wherein the drone may no longer physically visible, such as the drone
going behind surfaces, rendering visual confirmation unfeasible, difficult, and/or
potentially dangerous.
• Jumper Wire (Female to Female)
Wires in general are made to connect electrical components, similar to
soldering. While soldering uses metallic paste for connection, wires use metallic
threads, often enclosed in insulating material such as rubber, which could be used for
adaptive connections in contrast to the fixed-and-steady approach soldering offers.
Jumper wires, with female-to-female header pins in particular for the drone of this
paper’s use, will be used to connect with the drone’s components soldering could not,
such as its telemetry, radio transmitter, and receiver to be explained in this same list.
• Software
As per its name, the mission planner plans missions digitally, in this case using
software, with missions defined as designated tasks to be fulfilled, in this case by the
drone. For the purpose of the drone, a mission planning software provided by the
Ardupilot.org (2023) shall be used for planning instructions to be received and
executed by the drone. Missions may include the setting and adjusting of waypoints
to desired locations as shown on the image, instructing the drone to fly through
designated legs of flight and return (or not) to its operators. The software is also
capable of first-person operation of the drone, allowing its operators to view missions
from the drone’s perspective, adjusting its instructions more appropriately.
TR 1.4: Methodology NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

Additionally, it is also capable of an autopilot setting should operators opt for

automatic control or for test flight purposes, with mission log files available pre-and-
post flight for analytical purposes.

III. Building of the UAV

A. Drone Structure:

a. Frame Selection- Choose the Radiolink F450 frame for its durability and
lightweight properties.
b. Component Integration- Assemble the frame with components including
motors, flight controller, battery, and transmitter/receiver.
c. Soldering- Utilize a soldering iron to connect electronic components to the
frame and each other.
d. Battery Installation- Install the LiPo battery to power the drone's systems.
e. Transmitter Setup- Configure the Flysky radio transmitter and receiver for
communication with the drone.
f. Charging System- Utilize the IMAX B6AC charger for battery charging and
maintenance.
g. Auxiliary Equipment- Install LED lights for signaling and telemetry for data
gathering and transmission.
h. Wiring- Connect components using female-to-female jumper wires for flexible
connections.
i. Mission Planning Software- Utilize mission planning software from Ardupilot.org
for flight planning and control.

B. Flight Mechanism:

a. Motor Configuration- Implement a quadcopter setup with two clockwise and

two counter-clockwise rotating motors.
b. Axis Control- Adjust final force and torque on each axis for movement in space.
c. Flight Control- Utilize roll, pitch, yaw, and throttle inputs to control the drone's
movement in six degrees of freedom.

C. Drone Communication Links:

a. Flight Controller- Use ArduPilot as the electronic circuit board for receiving data
from sensors and controlling flight.
b. Transmitter and Receiver- Employ Flysky FSi6 as the transmitter and receiver
for establishing communication links with the drone.
TR 1.4: Methodology NAME: MENDOZA, CRISTAFEAH O.

INSTRUCTOR: Engr. Jerald Bueno BSAEE-4A GRADE:

DATE: 14 FEB 2024 ISSUE No.: 1

c. Sensor Integration- Integrate sensors such as barometer, compass,

accelerometer, gyroscopic, and airspeed sensors for data collection and flight
control.

D. Software Integration:

a. Mission Planning- Plan missions digitally using software provided by

Ardupilot.org, defining tasks and flight paths for the drone.
b. Autopilot Functionality- Enable autopilot mode for automated flight control, with
the ability to adjust instructions and view missions from the drone's perspective.
c. Data Analysis- Analyze mission log files for performance evaluation and
optimization.

E. Testing and Calibration:

a. Pre-flight Checks- Conduct thorough pre-flight checks to ensure all components

are properly integrated and functioning.
b. Calibration- Calibrate sensors, radio, and flight parameters using mission
planner software.
c. Test Flights- Perform test flights to validate the drone's performance, stability,
and responsiveness.

F. Safety Precautions:

a. Safety Guidelines: Adhere to safety guidelines and regulations for drone

operation, including airspace restrictions and flight safety protocols.
b. Risk Assessment: Identify potential risks and hazards associated with drone
operation and implement mitigation measures.
c. Emergency Procedures: Establish emergency procedures for handling
unexpected situations during flight, including loss of control or system failures.