QuadCopter

I am making a QuadCopter. Everything is done from scratch, since the whole point is to learn it myself, but I will probably be borrowing (heavily) from http://aeroquad.com/.

Parts

• Arduino Mega
• Sparkfun IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345
• Sparkfun Logic Level Converter
• Sparkfun Triple Axis Magnetometer Breakout - HMC5883L
• Sparkfun Barometric Pressure Sensor - BMP085 Breakout
• 4 E-flite Park 400 motors
• 4 E-flite 20-amp ESCs
• Tons of patience

Software Model

https://docs.google.com/drawings/edit?id=16oIVzLJfiHQFph_YqQho9tQ16BCHU11p3ffUwpTAt9U&hl=en&authkey=CO-kjOkC

Further Reading

• http://code.google.com/p/gentlenav/wiki/Home
• http://web.mit.edu/scolton/www/filter.pdf
• http://tom.pycke.be/mav/71/kalman-filtering-of-imu-data
• http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1248889032/35
• http://www.freescale.com/files/sensors/doc/app_note/AN3397.pdf