Semi-Quadcopter

Description

  • Built and wired self-balancing semi-quadcopter with 2 degrees of freedom

  • Coded Parallax Propeller microcontroller control algorithm in C to stabilize roll and pitch, using inertial measurement unit (IMU) and ultrasonic sensor

  • Researched and implemented PID control/tuning, I2C communication, and Kalman filter

  • Link to testing video: https://youtu.be/gu-WoXYLHz4


Technologies

  • SolidWorks CAD Software
  • 3D Printing
  • Arduino microcontroller
  • C++ programming
  • Circuitry design and wiring
  • Ultrasonic Sensor
  • Inertial Measurement Unit (IMU)


Testing Video

Finished semi-quadcopter being tested to ensure it maintains balance and stabilizes itself despite being hit or carrying weights on either motor.

semi-quadcopter

Experiment Setup

semi-quadcopter

Functional Diagram

Diagram representing major components and systems in the semi-quadcopter and showing how they all interact

semi-quadcopter

Circuitry

Complete circuit for controlling the semi-quadcopter