Dr. Eng.

Mustafa Turki Hussein

Aymen S. Tarish
Zainab Aziz
Flight control system for Unmanned Aerial Vehicle ‘Quadrotor’.

Receive sensors data from Quadrotor.

Learn how to send control actions through Bluetooth

connections by Matlab/Simulink.
Several Designs
 A

A . Camera Bluetooth 4.0 Charger +

B . Quadrotor (Parrot Mambo) Battery
C . Joystick
D . Cockpit Glasses
Why Quadrotor ?
Advantages :-

 Small size
 Easy to construct
 Many controllers available
 Several software capability

Disadvantages :-

 Low weight to payload ratio

 Easy to defect
 Hacking vulnerability
Applications of Quadrotor :-

 Research platform
 Journalism, Filming and aerial photography
 Construction Sites
 Geographic Mapping
 Military and law enforcement
How It Works ??
Control Structure

Reference
Controller Mathematical Model Output

Feedback Signal
 The Parrot Mambo Mini Drone

Motherboard for Parrot Mambo. The motherboard includes the latest Parrot SIP6
chipset with ARM A9 clocked at 800 MHz. The Parrot Mambo motherboard runs
on Linux.
 Pressure sensor is
indirectly measuring altitude
as the drone climbs in
altitude the air pressure
drops slightly and use this
slight change in pressure to
estimate the altitude of the
drone

Gyrosensor measures
angular rate from the IMU
Gyroscope
Ultrasound Sensor that's used to
measure vertical distances , it sends out a
high-frequency sound pulse and measures
how long it takes that pulse to bounce off the
floor and return back to the sensor from the
measured time distance between the floor
and the drone can be calculated at least up to
about 13 feet

Vertical Camera it's taking images at 60

frames per second and using an image
processing technique called optical flow to
determine how objects are moving between
one frame and the next from this apparent
motion the mini drone can estimate
horizontal motion and speed
Indoor Experiment

Data of experiment

X (1 m)
Y (1 m)
Z (1.1 m)
Altitude
Positions & Velocities
Velocity & Optical flow
Sensors , Orinetation & Motor
Trajectory
Outoor Experiment

Data of experiment:

X (2 m)
Y (2 m)
Z (1.1 m)
Altitude
Positions & Velocities
Velocity & Optical flow
Sensors , Orinetation & Motor
Trajectory