Final Project (RCMAD)

REMOTE CONTROLLED DRONE FOR MULTIPURPOSE AGRICULTURAL APPLICATION
Jimma University Remote controlled drone

Jimma institute of technology for multipurpose
Faculty of electrical and agricultural
computer engineering, application
Control stream
Final Year Thesis Submitted To school
of undergraduate studies of Faculty of Group member name ID
Electrical and Computer Engineering

1. Abenezer Girma Ru0084/07
for for partial fulfillment of the
2. Beshatu Fekadu Ru0344/07
requirements for the degree of Bachelor
3. Eyasu Worku Ru0652/07
of Science in Electrical and Computer
4. Gadisa Major Ru0743/07
Engineering
5. Solan Biratu Ru1726/07
Advisor: Abu Feyo (Msc.)
Submission date: June, 2019 GC

ABSTRACT
Agriculture is the main source of income in Ethiopia. Crop production rate bases on various
parameters like humidity, rain, temperature, etc. Which are factors of nature and out of farmer’s
control. The field of agriculture is also depends on some of factors like pests, disease, fertilizers,
sowing mechanism, etc. which can be controlled by giving proper treatment to crops and
mechanisms. Pesticides increase the productivity of crops but it also have a negative effect on
human health in addition to that conventional way of sowing mechanism is exposed to excessive
application as well to less uniformity. So the main aim of this paper is to design a remote
controlled agricultural drone for spraying pesticides aerially. Under project, we will be
discussing the design of quad copter dynamic, control and the development of quad copter drone.
We also discuss integration of sprayer module to quad copter system. The project involves
designing a prototype by using simple and cost effective equipment like BLDC motor, Arduino,
ESC wires, etc. The drone will also be useful in sowing seed grains like teff, wheat, maize etc
while being controlled by a single person operating from a safe area.
II
ACKNOWLEDGMENT
First of all, all our gratitude is for God, for giving us the knowledge and lighting our way through,
then our sincere appreciation for our advisor Ins. Abu Feyo. for his advice, support and guidance
through the entire project. He shared with us the main principles of a successful preparation for a
final project, who had the main role of providing us with the components of the project, and
reviewing the context of this project with us.
In addition to all we would also like to thank Jimma University, Jimma institute of Technology
(JiT) which provided us with basic requirements of the project.
III
DECLARATION
We strictly declare that this project is our original work. We also declare that no part of this
project has been submitted partially or fully for the award of any other degree or diploma
program. For this purpose every any material reproduced in this project has been properly
acknowledged.
Name ID Sign
1. Abenezer Girma -----ID: Ru0084/07 -------------

2. Beshatu Fekadu -----ID: Ru0344/07 --------------
3. Eyasu Worku ---------ID: Ru0652/07 --------------
4. Gadisa Major ---------ID: Ru0743/07 --------------
5. Solan Biratu ----------ID: Ru1726/07 --------------
APPROVAL
The Project titled as “Remote Controlled Drone for Multipurpose agricultural application” has
been submitted to the following respected members of the Board of Examiners of the Faculty of
Electrical and Computer Engineering for partial fulfillment of the requirements for the degree of
Bachelor of Science in Electrical and Computer Engineering by these students below and has been
accepted as free of plagiarism.
Jimma University
Jimma Institute of Technology (JiT)
Faculty of Electrical and Computer Engineering (FECE)
Advisor: MSc. Abu Feyo
Signature:____________
IV
ACRONYMS
BLDC Brushless DC Motor
DC Direct Current
ESCs Electronic Speed Controllers
FC Flight Controller
FCB Flight Controller Board
GPS Geographic Positioning System
GSM Global System Mobile Communication
I2 C Inter-Integrated Circuit
IDE Integrated Development Environment
IMU Inertial Measurement Unit
PID Proportional Integral Derivative
PWM Pulse Position Modulation
RC Remote Control
RPM Revolution per Minute
SCL Serial Clock Line
UAV Unmanned Aerial Vehicles
SDA Serial Data Line
USB Universal Serial Bus
WHO World Health Organization
VTOL Vertical Take-Off and Landing
V
TABLE OF CONTENT
Abstract ........................................................................................................................................... II
Acknowledgment ...........................................................................................................................III
Declaration .................................................................................................................................... IV
APPROVAL .................................................................................................................................. IV
ACRONYMS ..................................................................................................................................V
Table of content............................................................................................................................. VI
List of figures .............................................................................................................................. VIII
List of tables .................................................................................................................................. IX
CHAPTER ONE ..............................................................................................................................1
INTRODUCTION ....................................................................................................................1
1.1 Overview ......................................................................................................................1
1.2 Literature review ..........................................................................................................2
1.3 Motivation ....................................................................................................................4
1.4 Problem Statement .......................................................................................................5
1.5 Proposed Solution ........................................................................................................5
1.6 Significance of the project ...........................................................................................6
1.7 Objectives ....................................................................................................................6
1.7 Scope of the project .....................................................................................................7
1.8 Methodology ................................................................................................................7
1.9 Limitation of the project ............................................................................................10
CHAPTER TWO ...........................................................................................................................12
MODELING OF QUADCOPTER DYNAMICS AND CONTROL......................................12
2.1 Quadcopter Dynamics ..............................................................................................13
2.2 Control .......................................................................................................................20
CHAPTER THREE .......................................................................................................................23
DESIGN AND METHODOLOGY ........................................................................................23
3.1 Water Fall Methodology ............................................................................................23
3.2 hardware design .........................................................................................................26
3.3 working principle .......................................................................................................36
Cost estimation.................................................................................................................37
CHAPTER FOUR ..........................................................................................................................38
RESULT AND DISCUSSION ................................................................................................38
4.1 Result .........................................................................................................................38
4.2 Discussion ..................................................................................................................40
CHAPTER FIVE ...........................................................................................................................43
CONCLUSION AND RECOMMENDATION ......................................................................43
5.1 Conclusion .................................................................................................................43
5.2 Recommendation .......................................................................................................44
References ......................................................................................................................................45
VI
Appendix A ....................................................................................................................................46
Appendix b .....................................................................................................................................47
VII
LIST OF FIGURES
Fig 1.1: Pesticide spraying and sowing mechanism in Ethiopia .....................................................5
Fig 1.2: quadcopter controllers .......................................................................................................9
Fig 1.3: spraying mechanism .........................................................................................................10
Fig 2.1: Quadcopter Body Frame and Inertial Frame ..................................................................13
Fig 2.2: the 3 – axis .......................................................................................................................21
Fig 2.3: 3 axis movements X – configuration quadcopter .............................................................22
Fig 3.1: Phase of water fall method...............................................................................................23
Fig 3.2: Flow chart for quad copter design ...................................................................................25
Fig 3.3: propellers .........................................................................................................................27
Fig 3.4 KK2.1.5 flight controller board .........................................................................................27
Fig 3.6: ESC’s (Electronic speed controller) .................................................................................30
Fig 3.7: transmitter and receiver ...................................................................................................31
Fig 3.8: LiPo battery......................................................................................................................31
Fig 3.9: the quadcopter hardware .................................................................................................32
Fig 3.10: L293D motor driver .......................................................................................................33
Figure 3.11: The Arduino UNO .....................................................................................................34
Fig 3.12: GSM 800 module ............................................................................................................34
Fig 3.13: water pump motor ..........................................................................................................35
Fig 3.14: water splitter ..................................................................................................................35
Fig 3.15: water level sensor...........................................................................................................35
Fig 3.16: Maxday 9v battery ..........................................................................................................36
Fig 4.1: quadcopter simulation......................................................................................................38
Fig 4.2: simulation result of sprayer module .................................................................................39
Fig 4.3: overall quadcopter implementation .................................................................................39
Fig 4.4: quadcopter hovering test ..................................................................................................40
Fig 4.5: quadcopter gaining an altitude ........................................................................................40
VIII
LIST OF TABLES
Table 1.1 comparison between present conventional and drone sowing/spraying mechanisms....6
Table 3.1: kk 2.1.5 description......................................................................................................27
Table 3.2 BLDC Motors specification..........................................................................................27
Table 3.3: transceiver specification...............................................................................................29
Table 3.4: estimation of overall cost.............................................................................................36
IX
CHAPTER ONE
INTRODUCTION
1.1 Overview
1.1.1 Drone
Drone is the general term used for all unmanned aerial vehicles devices, though Classifies with a
particular set of drones with rotors that make lift for vertical takeoff through their propellers. As
the name indicated, it is basically a flying vehicle with multi electric motors and multi propellers.
When compared to other RC flying vehicles, the drone, as well as other multi-rotors, comes with
the most stable platform, all thanks to its different design, the direction and the difference
between the multi of the thrust it generates. As well as the drone can be classified based on the
number of motors and propellers but our drone is a Quad copter that has four rotors and four
propellers.
1.1.2 Quad copter drone

As the name indicated, it is basically a flying vehicle with four electric motors & four propellers.
When compared to other RC flying vehicles, the quad, as well as other multi-rotors, comes with
the most stable platform, all thanks to its different Design, the direction and the difference
between the four of the thrust it generates. Now, unlike the traditional helicopter, quad relies on
its four rotors to generate uplifting thrust by working together. Every single rotor lifts around a
quarter of the overall weight, which allows us to use smaller and less expensive motors. We
basically control the movement of the quad by changing the amount of power each motor
delivers to propellers. They are positioned in every corner of an imaginary square. On one
diagonal, we have two motors that rotate in a clockwise direction, while the remaining two, on
the opposite diagonal, rotate counterclockwise. If this hasn’t the case, the quad would only spin
around like the traditional helicopter when the tail rotor dies. In order for the balance to be
maintained, the quad relies on the data it gathers from internal sensors, and adjust the power it
sends to each motor so that the entire drone is leveled.
JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 1

Basic configurations: There are two configurations, the ‘+’ and ‘X’. The two rotors are
clockwise (CW) whereas the rest two are counter clockwise (CCW). Intuitively, in the ‘X’
configuration, the pitch and roll axes both have two counter-rotating propellers each, on each
side. Whereas the ‘+’ configuration has just one on each side. Moving (pitching) forward in this
configuration will leave you with lesser stability in the roll axis.
1.2 Literature review

This project is influenced by the work carried out by various professors and students who have
been striving to build and develop the application of drone technologies on agricultural sectors.
The drone is designed to spray pesticide for crops planted on the ground and spreading seeds
across the field. High-tech drones were developed and used by United Nation for security
purpose. The Japanese used drone to survey agricultural fields which was not possible by walk.
The Indian government uses drone for traffic management. It is also used in various countries for
providing medical aide through air during road accidents. However, in our country the
application of drone is limited to film capturing and entertainment purposes only. Hence our
biggest deal with this project idea is to find the way of emergence and development of drone
application in order to erase agricultural problems. Among the projects carried out some are
listed below.
Writers of paper entitled “Agriculture Drone for Spraying fertilizer and Pesticides” has given
detail about implementation of Agriculture drone for automatic spraying mechanism. In this
paper, they gave problem statement of World Health Organization where it estimates that there
are 3 million cases of pesticide poisons in each year and up to 220,000 deaths, primarily in
developing countries. In this paper they also explain what precautions the farmer should have to
use to avoid harmful effects of pesticides and fertilizing effects as well as cost effective
technology using components such as PIC microcontroller for the control of agriculture robots
[1]. However their project is not guided with GSM notification of the level of pesticide present in
the tank and also the microprocessor is somehow difficult to easily interface with computers and

transmitting signals.
Another researcher has published a paper on the same project idea entitled “Quadcopter UAV
based Fertilizer and Pesticide Spraying System”. In their project authors has given detail about
implementation of Agriculture wonder drone. They gave detail about Quad copter UAV and
sprayer module and also discuss pesticide status to the areas that can’t easily accessible for
human beings. They discussed used of multispectral cameras which is used to capture remote
sensing images to identify the green field as well as the edges of crop area. Total pay load lift of
their quad copter is 8 kg. They used QGIS software for the purposed of analyzing the remote
sensing images [2]. Even though the system operates in such a manner the system lacks a
feedback system to announce whether the chemical tank is full of pesticides or empty at all.
Prof. K. B. Korlahalli, with his cooperatives published a paper entitled “An Automatically
Controlled Drone based Aerial Pesticide Sprayer”. In this paper authors has written about
implementation of Agriculture Wonder Drone System. The paper describes, the wireless drone
system based on flight controlled board (FCB), GPS, Brushless DC motor, electronic speed
control (ESC), wireless transceiver, frame, propellers and battery, etc. They used flight controller
board for controlling the function of drone such as movement, lifting, positioning, etc. FCB is
programmed in this project for handling different sensors such as GPS, Barometer,
Accelerometer, Gyroscope, etc. and components such as motors. This drone was programmed for
two modes that are manual mode and autonomous mode [3]. They gave strong arguments on
how to build and operate with an automatically controlled drone. However, the projects lacks
implemented results and also most of the features are listed as a future scope.
Here in our university, post graduate students of Jimma institute of technology published a paper
entitled “multipurpose Quadcopter drone technology for Jimma town”. The paper illustrates the
use of quadcopter technology for the application of camera and data mining system typically for
security and agricultural purpose. The drone can be driven via any network: Wi-Fi, GPRS,
CDMA or internet. They used a moving camera that is situated at one end of a robotic arm for
recording purpose at any direction. The camera is also mounted for image processing purpose.

The flight controller board used is raspberry in which the programming setup is installed by
means of Wi-Fi and making it difficult to interface with computers easily.
Since our prior intention is to build and introduce a quadcopter drone for the application of
pesticide spraying and seed spreading, we have preferred to design simple and easily controllable
quadcopter drone. The drone is controlled by a simple signal transmitting remote with a person
on the ground. The drone is a combination two distinct subsystems, the quad copter and spraying
or spreading mechanisms. Quad copter 4 axis frame, Brushless DC motor, electronic speed
controller (ESC), wireless transceiver, and battery are used for the hardware development of the
quadcopter subsystem, where as an KK2.1.5 is used as a flight controller board. The FCB is very
feasible for interfacings with electronic speed controllers and transmitting signals, this is because
the flight controller, receiver and ESC calibrate setups have already been installed onto it. The
drone is programmed with various sensing elements such as accelerometer, Gyroscope and
battery level indicators.
A spraying or spreading mechanism with tools such as Arduino, GSM module, motor driver, dc
water pump, load cell, splitting valve and switch, is mounted upon the main quad copter frame.
These separated subsystems makes the control mechanism easier by reducing the complexity that
may arise on the flight controller board due overloading.
1.3 Motivation
It is clear that agriculture is the back bone of Ethiopian economy, and a living for farmers
specially located in rural areas of the country. However due to the lack of modernized crop
cultivation system the production rate of crops is very low or even unsustainable. The reason for
these low productivity is somehow related to the conventional mechanism of seed spreading and
chemical spraying process. We believe that the use of modernized cultivation system like
application of agricultural drones and robots may cause to rise of the degrading productivity in
Ethiopia and it can yield an efficient and surplus output of crop production. Hence, our biggest
motivation of taking part into this project came from the idea of conversion of traditional sowing
and fertilizer spraying mechanism by an efficient and modernized mechanisms, say drone

technology.
1.4 Problem Statement

As being tried to insight in this project motivation, agriculture in Ethiopia is the foundation of
the country’s economy accounting for half of the Gross domestic product (GDP), 83.9% of
exports, and 80% of total employment. Ethiopia’s agriculture is plagued by periodic drought,
soul degradation caused by overgrazing, deforestation, lack of adequate fertilizers and pesticide
spraying mechanisms. Beside to that in our country conventional method of sowing seeds and
pesticide spray practice has been facing unmannered grain seed sowing, excessive application of
seeds and chemicals at specific place, lower spray uniformity, neurological and skin diseases on
labor workers, snake bites, deposition, and coverage; this in return has resulted in higher cost
expenditure for wasted grain seed and chemical spraying mechanisms and also environmental
pollution endangering laborers in the field [4].
Fig 1.1: Pesticide spraying and sowing mechanism in Ethiopia
1.5 Proposed Solution

In order to overcome the problem, we have made a remotely controlled multi-purpose Quad
copter drone which is an assistive device having higher demand in both the industrial &
agricultural sectors. The proposed project aims to overcome the effects of pesticides and other
uncontrolled disasters on human beings. And also it is used to sow grain seeds or spray pesticide
over large areas in short interval of time. when compared to conventional sowing and spraying
mechanisms or even that of a tractor vehicle it is far better use of advanced technology easing

agricultural activities of such a type.
Table 1: comparison between present conventional & drone sowing/spraying mechanisms [4]
No Parameters Manual Tractor drone
1 Man power MORE MODERATE LESS
2 Time required MORE MODERATE LESS
3 Seed wastage MODERATE MORE LESS
4 Pollution MODERATE MORE LESS
5 Spraying uniformity LESS - MORE
6 Energy need MODERATE MORE LESS
1.6 Significance of the project

The accomplishment this project can provide farmers and agricultural sectors with three types of
detailed advancements. First, simple controlling method of the aerial pesticide sprayer drones with
a simple remote control (transmitter) operated from safe area. Second, the drone can spray
chemicals or sow grain seeds over larger areas of crop field within a short interval of time. Finally,
since the quadcopter is installed with different parameters to announce the level of chemical in the
tanker with help of GSM and alarms, the person in charge of operation will be easily notified the
performance of the drone on flight.
1.7 Objectives
1.7.1 Main objective
The general objective of the proposed project is to develop a remote controlled drone for
multi-purpose agricultural application including sowing grain seeds of crops and also for spraying
pesticides.

1.7.2 Specific Objective:
 To design cost effective and user friendly drone using KK2.1.5 flight controller
board
 To design an arduino based chemical spraying system
 To develop a drone mounted sowing and spraying system using necessary
components and evaluate its performance for application of chemicals/pesticides.
 To design a mechanism for sowing or spraying and controlling various parameters
like monitoring tank status, fixing the drone at specific level etc.…
 To integrate features like level sensor and GSM module to the quad copter
1.7 Scope of the project

Having paid a great attention to all the problems related to the project, one can easily suggest a
way to get the solution lay onto the ground. Hence, the main scope of our project is to design and
implement the hardware chips and provide them to the agricultural sectors where it is needed.
The scope of this project also encompasses the fulfillment of the objectives stated above. Hence,
the steps undertaken in developing this project includes;
 Software & simulation designing for both the quadcopter and the spraying
subsystems
 Implementation of both subsystems separately and finally
 Integration of the sprayer/sowing module to the quadcopter subsystem.
1.8 Methodology
An analytic and theoretical approach is adopted to design the quad copter. As we see, it is
basically a flying vehicle with four electric motors and four propellers. The quad, as well as other
multi-rotors, comes with the most stable platform, all thanks to its different design, the direction
and the difference between the four of the thrust it generates.
Now, unlike the traditional helicopter, quad relies on its four rotors to generate uplifting thrust by

working together. Every single rotor lifts around a quarter of the overall weight, which allows us
to use smaller and less expensive motors. We basically control the movement of the quad by
changing the amount of power each motor delivers to propellers.
They are positioned in every corner of an imaginary square. On one diagonal, we have two
motors that rotate in a clockwise direction, while the remaining two, on the opposite diagonal,
rotate counterclockwise. If this hasn’t the case, the quad would only spin around like the
traditional helicopter when the tail rotor dies.
In order for the balance to be maintained, the quad relies on the data it gathers from internal
sensors, and adjust the power it sends to each motor so that the entire drone is leveled. To keep
the balance all the time, the quad uses an advanced control system, which usually makes the
adjustments autonomously, and this is how the KK2.1.5 board functions.
Every quad copter comes with a microcontroller board with sensors on it, in our case the
KK2.1.5 board is in charge of control action of the motors or even the entire quad copter. It is up
to us to choose how self-controlling we want our quad to be, and we can use only the basic ones
such as the gyro, or a bunch of other, more advanced sensors such as barometer, or a GPS, or
even a sonar so that our quad can be able to detect and avoid obstacles that are in its way.
1.8.1 Quad copter system

Initially Quad copter is assembled using necessary components such as Flight Controller Board
(FCB), Brushless DC Motors, Electronic Speed Controller (ESC), Wireless Transceiver, Frame,
Propellers and Battery.

Quadcopter controller
Stability controller Motor speed controller
Sowing or spray mechanism
Pump ON/OFF
Tank status
control
Fig 1.2: quadcopter controllers

Following are some of the functions of the quad copter flight controller parameters. As shown in
the fig 1.2.
Flight control
A flight controller board (KK2.1.5) is used to control the functions of the drone such as
movement, lifting, positioning, etc. FBC is programmed for handling different sensors such as
accelerometer, gyroscope and the motor components.
Stability Control
The stability of the drone is maintained by the sensors such as accelerometer and gyroscope.
These are an already inbuilt chips on the KK board.
Motor Speed Control
According to the changes in the values of various sensors the speed of the motors can be varied
to achieve required task.

1.8.2 Sowing/spraying mechanism

SIGNALS FROM
RECEIVER
Buzzer
Arduino Uno GSM
LED
Level sensor Motor Driver
Pump
Nozzle Splitter Nozzle
Fig 1.3: spraying mechanism

As shown in the diagram, the spraying subsystem is controlled by using an Arduino
microcontroller. To these Arduino a 500 ml tank is connected beside to the tank, motor driver
that controls the pumping and spraying speed of the chemical is connected to the Arduino. The
subsystem also contain an alarming parameters like buzzer and LED. To announce the level of
chemical in the tank a GSM module is interfaced with the Arduino.
The spraying subsystem works the functions listed below:
Pump ON/OFF control: is used to switch ON/OFF the water pump. And this is achieved when
the arduino gives 5v to the motor driver.
Tank status
A water level sensor is used to measure the level of chemical present in the tank. If the chemical
level in the tank reaches below the preset value, 50ml the result of level sensor is sensed by the
arduino. As a result the arduino sends a signal to both the GSM and Buzzer.
1.9 Limitation of the project

The limitations of this projects can be summarized as follows;
 The quadcopter lacks a camera module for an online visualization

 The quadcopter faces a liability to lift massive chemical tanks

 The overall system lack a GPS connected mechanism for surveying

CHAPTER TWO
MODELING OF QUADCOPTER DYNAMICS AND CONTROL

A helicopter is a flying vehicle which uses rapidly spinning rotors to push air
downwards, thus creating a thrust force keeping the helicopter aloft. Conventional
helicopters have two rotors. These can be arranged as two co-planar rotors both
providing upwards thrust, but spinning in opposite directions (in order to balance the
torques exerted upon the body of the helicopter). The two rotors can also be arranged
with one main rotor providing thrust and a smaller side rotor oriented laterally and
counteracting the torque produced by the main rotor. However, these configurations
require complicated machinery to control the direction of motion; a swash-plate is
used to change the angle of attack on the main rotors. In order to produce a torque the
angle of attack is modulated by the location of each rotor in each stroke, such that
more thrust is produced on one side of the rotor plane than the other. The complicated
design of the rotor and swash-plate mechanism presents some problems, increasing
construction costs and design complexity.
A quad rotor helicopter (quadcopter) is a helicopter which has four equally spaced
rotors, usually arranged at the corners of a square body. With four independent rotors,
the need for a swash-plate mechanism is alleviated. The swash-plate mechanism was
needed to allow the helicopter to utilize more degrees of freedom, but the same level
of control can be obtained by adding two more rotors. The development of
quadcopters has stalled until very recently, because controlling four independent
rotors has proven to be incredibly difficult and impossible without electronic
assistance. The decreasing cost of modern microprocessors has made electronic and
even completely autonomous control of quadcopter feasible for commercial, military,
and even hobbyist purposes.
Quadcopter control is a fundamentally difficult and interesting problem. With six

degrees of freedom (three translational and three rotational) and only four
independent inputs (rotor speeds), quadcopter are severely under-actuated. In order to

achieve six degrees of freedom, rotational and translational motion is coupled. The
resulting dynamics are highly nonlinear, especially after accounting for the
complicated aerodynamic effects. Finally, unlike ground vehicles, helicopters have
very little friction to prevent their motion, so they must provide their own damping in
order to stop moving and remain stable. Together, these factors create a very
interesting control problem. We will present a very simplified model of quadcopter
dynamics and design controllers for our dynamics to follow a designated trajectory.
2.1 Quadcopter Dynamics

we will start deriving quadcopter dynamics by introducing the two frames in which
the quadcopter operates. The inertial frame is defined by the ground, with gravity
pointing in the negative z direction. The body frame is defined by the orientation of
the quadcopter, with the rotor axes pointing in the positive z direction and the arms
pointing in the x and y directions.
Fig 2.1: Quadcopter Body Frame and Inertial Frame

2.1.1 Kinematics
Before delving into the physics of quadcopter motion, let us formalize the kinematics
in the body and inertial frames. We define the position and velocity of the quadcopter
in the inertial frame as x = (x, y, z )T and x˙ = (x＋, y˙, z˙ )T, respectively. Similarly, we
define the roll, pitch, and yaw angles in the body frame as θ = (φ, θ, ψ)T, with
corresponding angular velocities equal to θ˙ = (φ˙ , θ˙ , ψ˙ )T. However, note that the
angular velocity vector ω ≠ θ˙. The angular velocity is a vector pointing along the axis

of rotation, while θ˙ is just the time derivative of yaw, pitch, and roll. In order to
convert these angular velocities into the angular velocity vector, we can use the
following relation [5]:
1

0  s  
  0 c c s   (1)

0
  s c c 
Where, ω is the angular velocity vector in the body frame.
We can relate the body and inertial frame by a rotation matrix R which goes from the
body frame to the inertial frame. This matrix is derived by using the ZYZ Euler angle
conventions and successively “undoing” the yaw, pitch, and roll.
c c  c s s
      c s  c c s s s 
R  c c s  c s

c c c  s s c s  (2)
 s s c s c 

For a given vector ~v in the body frame, the corresponding vector is given by R~v in
the inertial frame.
2.1.2 Physics
In order to properly model the dynamics of the system, we need an understanding of

the physical properties that govern it. We will begin with a description of the motors
being used for our quadcopter, and then use energy considerations to derive the forces
and thrusts that these motors produce on the entire quadcopter. All motors on the
quadcopter are identical, so we can analyze a single one without loss of generality.
Note that adjacent propellers, however, are oriented opposite each other; if a propeller
is spinning “clockwise”, then the two adjacent ones will be spinning
“counter-clockwise”, so that torques are balanced if all propellers are spinning at the
same rate.

2.1.3 Motors
Brushless motors are used for all quadcopter applications. For our electric motors, the
torque produced is given by
  K I  I 
t o
(3)
Where τ is the motor torque, I is the input current, I0 is the current when there is no
load on the motor, and Kt is the torque proportionality constant. The voltage across the
motor is the sum of the back-EMF and some resistive loss:
V I R K 
m v
(4)
Where V is the voltage drop across the motor, Rm is the motor resistance, ω is the
angular velocity of the motor, and Kv is proportionality constant (indicating
back-EMF generated per RPM). We can use this description of our motor to calculate
the power it consumes. The power is
P  IV 
  Kt Io K I t o R  R  K R  
m m t v
(5)
2
k t
For the purposes of our simple model, we will assume a negligible motor resistance.
Then, the power becomes proportional to the angular velocity:
P
  k I k 
t o v
(6)
k t
Further simplifying our model, we assume that KtI0 << τ. This is not altogether
unreasonable, since I0 is the current when there is no load, and is thus rather small. In
practice, this approximation holds well enough. Thus, we obtain our final, simplified
equation for power:
P k v
 (7)
k t

2.1.4 Forces
The power is used to keep the quadcopter aloft. By conservation of energy, we know
that the energy the motor expends in a given time period is equal to the force
generated on the propeller times the distance that the air it displaces moves (P · d t =
F · d x). Equivalently, the power is equal to the thrust times the air velocity (P = F dx/
dt).
P T v h
(7)
We assume vehicle speeds are low, so vh is the air velocity when hovering. We also
assume that the free stream velocity, v∞, is zero (the air in the surrounding
environment is stationary relative to the quadcopter). Momentum theory gives us the
equation for hover velocity as a function of thrust,
T
v  (8)
h
2 A
Where, ρ is the density of the surrounding air and A is the area swept out by the rotor.
Using our simplified equation for power, we can then write
P k   k k T  T
v v
2
(9)
kt k 2 A
t
Note that in the general case, τ = r→ × F→; in this case, the torque is proportional to
the thrust T by some constant ratio Kτ determined by the blade configuration and
parameters. Solving for the thrust magnitude T, we obtain that thrust is proportional to
the square of angular velocity of the motor:
2
 k v k 2A 
T     k
2
(10)

 kt 
Where, k is some appropriately dimensioned constant. Summing over all the motors,

we find that the total thrust on the quadcopter (in the body frame) is given by
 0 
4  
  
T B i1 T i k  0  (11)
2
  i 
In addition to the thrust force, we will model friction as a force proportional to the
linear velocity in each direction. This is a highly simplified view of fluid friction, but
will be sufficient for our modeling and simulation. Our global drag forces will be
modeled by an additional force term
 


 kd  x
 
  
F D  k d  y (12)

 z 
 k d

If additional precision is desired, the constant kd can be separated into three separate
friction constants, one for each direction of motion. If we were to do this, we would
want to model friction in the body frame rather than the inertial frame.
2.1.5 Torques
Now that we have computed the forces on the quadcopter, we would also like to
compute the torques. Each rotor contributes some torque about the body z axis. This
torque is the torque required to keep the propeller spinning and providing thrust; it
creates the instantaneous angular acceleration and overcomes the frictional drag
forces. The drag equation from fluid dynamics gives us the frictional force: [6]
 1  cD A
2
F D 2 v (13)
Where ρ is the surrounding fluid density, A is the reference area (propeller

cross-section, not area swept out by the propeller), and CD is a dimensionless
constant. This, while only accurate in some in some cases, is good enough for our

purposes [7]. This implies that the torque due to drag is given by
R C D A v  R C D A (R)  b 
1 1

2

2 2
D
(14)
2 2
Where ω is the angular velocity of the propeller, R is the radius of the propeller, and b
is some appropriately dimensioned constant. Note that we’ve assumed that all the
force is applied at the tip of the propeller, which is certainly inaccurate; however, the
only result that matters for our purposes is that the drag torque is proportional to the
square of the angular velocity. The complete torque about the z axis for the I-th motor
can be written as:
(15)
Where IM is the moment of inertia about the motor z axis, ω˙ is the angular
acceleration of the propeller, and b is our drag coefficient. Note that in steady state
flight (i.e. not takeoff or landing), ω˙ ≈ 0, since most of the time the propellers will be
maintaining a constant (or almost constant) thrust and won’t be accelerating. Thus, we
ignore this term, simplifying the entire expression to
(16)
where the (−1)i+1 term is positive for the Ith propeller if the propeller is spinning
clockwise and negative if it is spinning counterclockwise. The total torque about the z
axis is given by the sum of all the torques from each propeller:
(17)
The roll and pitch torques are derived from standard mechanics. Choose arbitrarily the
i = 1 and i = 3 motors to be on the roll axis, so
(18)
Correspondingly, the pitch torque is given by a similar expression

(19)
Where, L is the distance from the center of the quadcopter to any of the propellers. All
together, we find that the torques in the body frame is
 Lk (1   3 ) 
2 2
 
 B   Lk ( 2   4) 
 2 2
(20)
 1  2  3  4 
b( 2  2  2  2)
The model we’ve derived so far is highly simplified. We ignore a multitude of

advanced effects that contribute to the highly nonlinear dynamics of a quadcopter. We
ignore rotational drag forces (our rotational velocities are relatively low), blade
flapping (deformation of propeller blades due to high velocities and flexible
materials), surrounding fluid velocities (wind), etc. With that said, we now have all
the parts necessary to write out the dynamics of our quadcopter.
2.1.6 Equations of Motion

In the inertial frame, the acceleration of the quadcopter is due to thrust, gravity, and
linear friction. We can obtain the thrust vector in the inertial frame by using our
rotation matrix R to map the thrust vector from the body frame to the inertial frame.
Thus, the linear motion can be summarized as
(21)
Where ~x is the position of the quadcopter, g is the acceleration due to gravity, FD is

the drag force, and TB is the thrust vector in the body frame.
While it is convenient to have the linear equations of motion in the inertial frame, the
rotational equations of motion are useful to us in the body frame, so that we can
express rotations about the center of the quadcopter instead of about our inertial center.
The rotational equations of motion from Euler’s equations for rigid body dynamics
can be expressed in vector form, Euler’s equations are written as
(22)
Where ω is the angular velocity vector, I is the inertia matrix, and τ is a vector of
external torques. We can rewrite this as
(23)
We can model our quadcopter as two thin uniform rods crossed at the origin with a
point mass (motor) at the end of each. With this in mind, it’s clear that the symmetries
result in a diagonal inertia matrix of the form
(24)
Therefore, we obtain our final result for the body frame rotational equations of motion
(25)
2.2 Control
The purpose of deriving a mathematical model of a quadcopter is to assist in
developing controllers for physical quadcopters. The inputs to our system consist of
the angular velocities of each rotor, since all we can control is the voltages across the
motors. Note that in our simplified model, we only use the square of the angular
velocities, ωi2, and never the angular velocity itself, ωi. For notation simplicity, let us
introduce the inputs

Since we can set ωi, we can clearly set γi as well. With this, we can write our system
as a first order differential equation in state space. Let x1 be the position in space of
the quadcopter, x2 be the quadcopter linear velocity, x3 be the roll, pitch, and yaw
angles, and x4 be the angular velocity vector. (Note that all of these are 3-vectors.)
With these being our state, we can write the state space equations for the evolution of
our state.
(26)
Note that our inputs are not used in these equations directly. However, as we will see,
we can choose values for τ and T, and then solve for values of γi [8].
Fig 2.2: the 3 – axis

2.2.1 The Drone Movement Axes

The quadcopter has 3 axis movements. These are concluded in the figure 2.3
Fig 2.3: 3 axis movements X – configuration quadcopter

NB. The two rotors are clockwise (CW) whereas the rest two are counter clockwise
(CCW)

CHAPTER THREE
DESIGN AND METHODOLOGY

Under this chapter the hardware and software designing with the methodology adopted
will be discussed. The description for the methodology will include which
methodology is chosen and the reasons for choice made. For each phase of the
methodology life cycle and how activities are planned to be executed will also be
explained. Beside to that this chapter will also deal with parameters like system
requirements, components used, working principle and methods of quadcopter control.
3.1 Water Fall Methodology

The waterfall model is a popular version of the systems development life cycle model
for engineering. The model describes a development method that is linear and
sequential. Imagine a waterfall on the cliff of a steep mountain [9].
3.1.1 Advantage of Water Fall Methodology

 It allows for departmentalization and managerial control.
 Simple and easy to understand and use.
 Easy to manage due to the rigidity of the model – each phase has specific
deliverables and a review process.
 Phases are processed and completed one at a time.
3.1.2 Phases of the Methodology

This methodology allows going through several levels. These levels include
requirements, design, implementation, verification and maintenance.
Fig 3.1: Phase of water fall method

Requirement Gathering and analysis − in this phase first, gathering information

about current system design of quadcopter, its feature and analysis is taken place. This
is done by reviewing literatures of different projects made on quadcopter
developments. Second, information of current state problems associated with the
negative effect of pesticide spraying & conventional seed sowing mechanisms are
gathered from papers published by different researchers and organizations like WHO.
Finally, requirements of both hardware and software are gathered from different
engineering books and internet accesses.
System Design – in this phase requirement specification from first phase are studied
and specify hardware requirement to design quadcopter and after hardware
specification design the hardware part include quadcopter design and sprayer module
design.
For software part after specify the software used for the system, design the system
architecture controller part to drive the quadcopter and finally, design spraying
pesticide system architecture.
Implementation – in this phase with inputs from the system design, the system is
developed from small program to implement the design that listed before and integrate
all the program to implement the final design of the system and after implement both
hardware and software parts finally, tested for its functionality, which is referred to as
unit testing
Verification – in this phase after implementing the quadcopter design verify the flight
time, speed of motors that rotate and the maximum height of the quadcopter that can
fly.
Maintenance –in this phase after verification the overall system is tested and there is
some issue that need maintains. To fix those issues we used the better version product.
Generally, it includes some minor bug fixes that are usually made during this phase.
The methodology adopted in designing this KK based quadcopter can be summarized
by the flow chart shown below.

Start
LITRATURE REVEIW
Design &development of hardware circuitry for quad copter
Set up calibration
ESCs calibration
Flight mode calibration
NO
Error occurred?
YES
Testing the quadcopter functioning and gyroscope for

proper alignment
NO Is accuracy good
enough?
YES
END
Fig 3.2: Flow chart for quad copter design

3.1.3 System requirements
 Windows running computer
 Microsoft word 2013
 Mat lab 2013
 Arduino IDE
 Proteus ISIS professional

3.2 hardware design

3.2.1 Components used for the quadcopter
(1) R450 Quadcopter Frame with Integrated PCB
(2) Propellers (10 x 4.5)
(3) KK 2.1.5 board
(4) 1000KV Brushless DC Motor
(5) 30A ESC (Electronic Speed Controllers)
(6) 2.4 GHz RF transmitter receiver gimbals
(7) 11.1V, 2300mAh, 35C Lithium Polymer Battery
The Quadcopter Frame

The frame is the mechanical structure
of that supports all the components.
Designing the frame from scratch
involves important concepts of
physics, aerodynamics, materials and
mechanical engineering and
manufacturing techniques to achieve
certain performance and reliability criteria. The parts are already available for sale.
Here, the “F450 PCB Frame” model
The Propellers
Propeller is a set of rotating blades design to convert the power (torque) of the motor in
to thrust. The Quadcopter consists of four propellers coupled to the brushless motor.
Among these propellers, two clockwise and the other two are counter clockwise.
Clockwise and anticlockwise propellers cancel their torque from each other. Propellers
are specified by their diameter and pitch. The propeller used is 1045 fixed-pitch,
symmetric, Carbon fiber Propeller. Each has 10 inches or25.4cm of length, and
16.63gof weight.

Fig 3.3: propellers

The KK 2 board
A Hobby king kk2 molti-rotor LCD flight controller board is an updated evolution of
the outdated kk boards for controlling the flights of different types of multi-rotor
aircrafts. It consists of an MPU 6050 gyro and Atmel Mega644PA microcontroller as
its central unit. The board is added with polarity protection to the voltage sensor and a
fuse protected buzzer outputs, in case of something is accidentally plugged in
incorrectly.
Fig 3.4 KK2.1.5 flight controller board

Component description
Table 3.1: kk 2.1.5 description
Item number KK2.1.5
Size 51mm x 51mm x 12mm
Weight 21 gram (Inc Piezo buzzer)
Gyro/Acc Inven Sense Inc
Auto-level Yes
Input Voltage 4.8-6.0V
AVR interface standard 6 pin
Signal to ESC 1520us
The Motors
One of the important part of Quadcopter is its
motor. It's a part of power system. Infact whole
power system depends on selection of motor. This
project used Brushless DC motors with
specifications of:
Table 3.2: BLDC Motors specification
Specifications Values
velocity constant 1000kv
Max Current 28A
Max Efficiency 80%
Weight 51.5g
Input Max Voltage 11.1v

RPM
kv 
V
For 1000kV motor and 3S battery to supply power, RPM of motor at NO LOAD would
be:
 1000kv 11.1v (3S battery)

 11,000 RPM
The total mass of the quadcopter is 1200g so in order to lift, is needed total 2400grams
of thrust. And quadcopter has 4 motors, so each motor should be able to produce at least
600grams of thrust.
The maximum Watt is calculated as.
watt  voltage(v)  current ( A)
 current ( A)  ( Max Efficiency )  ( Max Current )
 I  80%  28 A  24 A
 watt  11.1V  24 A  266 watt
As it is seen before, the motor runs at 11,000 RPM at NO LOAD. But, when the
propeller is mounted on it, RPM will be reduced. Since the propeller is10-inch diameter,
RPM of motor will be reduced to 3600 RPM i.e. 60 Revolutions per Second. Because
the propeller has 4.5-inch pitch. Which means per revolution it will travel 4.5-inch. So
60  4.5  270inch / sec  6.858m / sec
So, the quad will climb in the air at 6.858 m/sec.
The ESC (Electronic Speed Controller)

ESC supplies power from battery. But not constant with the purpose to vary: - an
electric motor's speed, its direction and possibly also to act as a dynamic brake. ESC
also has BEC (Battery Eliminated Circuit). BEC is nothing but 5V output from ESC.
Ampere rating of the ESC is 30A which is higher than max amp rating of motor (24A).
Here is simple formula.
I ESC
 1.2 to1.5  motor max amp rotating
 (1.2 to1.5)  24  28.8 to 36 A

Therefore, the motor and ESC are compatible.
Fig 3.6: ESC’s (Electronic speed controller)
Transmitter and Receiver

Is a remotely controlled wireless radio transmitter which is used to send and receive
command channel. In flight controlling action the commands that are to be operated
by the flight controller is sent by toggling the different channels of the transmitter, and
these signals are received by the receiver. For our project we have used the FS-CT6B,
6 channel transmitter and receiver gimbal.
Table 3.3: transceiver specification
Type FS-CT6B
Size 45mm*23mm*9 mm
Channels 6
RF range 2.4055-2.475 GHz
Power 12v, 1.5A
Bandwidth 5000kHz

Fig 3.7: transmitter and receiver

The Lithium Polymer Battery
This LiPo Battery is a 3 Cells 3500 mAh battery pack that is suitable to power standard
size quadcopters. It delivers 11.1V DC voltage and35C of Constant discharge. It
determines performance and flight times. It comes with standard high discharge battery
connector and a balance plug. The discharge plug is Deans T-connector.
Fig 3.8: LiPo battery

To work on quadcopter i.e. it has 4 motors and its respective ESC, so all 4 ESCs will
draw:
4  30 A  120 A
C- Discharge Rating: Maximum current (A) at which battery can be discharged at

particular time.
And the battery is: 3S  3 cells  3.7  11.1v
The motor draws max 28A. So, watt value for 3S will be:

 11.1 28  80%  266.4watt
As it is mentioned before the battery is 2300 mAh and 35C
Max continous Amp draw ( A)  Battery capacity ( Ah)  Disch arg e rate (C )
 3.6  35C  122.5 A
To calculate the flight time:-
80%  Max continous Amp draw ( A)

Max flight time 
Max current of 4 ESCs
0.8 122.5
  0.81667 hr
120
 0.81667  60 Minutes  48.9 Minutes
Quadcopter hardware
After collecting all the above equipment the drone can be mounted as shown in the
figure 3.9
Fig 3.9: the quadcopter hardware

3.2.2 Component required for spraying mechanism
1) Arduino Uno
2) GSM module
3) Motor driver L293D
4) Water pump 5V
5) Water splitting valve

6) Buzzer
7) Tank status monitor (level sensor)
Motor driver
The Motor Driver is a module for motors that allows you to control the working speed
and direction of two motors simultaneously. This Motor Driver is designed and
developed based on L293D IC.
L293D is a 16 Pin Motor Driver IC. This is designed to provide bidirectional drive
currents at voltages from 5 V to 36 V.
Fig 3.10: L293D motor driver

The Arduino UNO
Arduino is an open-source platform used for building electronics projects. Arduino
consists of both a physical programmable circuit board (often referred to as a
microcontroller) and a piece of software, or IDE (Integrated Development
Environment) that runs on a computer, used to write and upload computer code to the
physical board. The Arduino IDE supports the languages C and C++ using special
rules to organize code. There are many varieties of Arduino boards that can be used
for different purposes.

Figure 3.11: The Arduino UNO

GSM module
A Group Special Mobile or global system for mobile communication is a standard
chip or circuit that will establish communication between a mobile devise or a
computing machine and a GSM or GPRS. For this project a GSM 800 module has
been used.
Fig 3.12: GSM 800 module

Water pump motor
Is used to suck liquid things at one opening and push the liquid with another opening
based on the volts it is given. Higher voltage drop yields in higher speed of pumping.
We made our own motor pump from simple materials like DC motor, pipe and bottle
flaps.

Fig 3.13: water pump motor

Water splitter
The water splitter is used to disperse the water/chemical over a specific area which is
coming from the water pump. For our project purpose we have made our own splitter
from simple materials like, 5V DC motor and thin plate.
Fig 3.14: water splitter

Level sensor
Level sensor is an electronic device that is used to sense the amount of water level
confined within a specific tank.
Fig 3.15: water level sensor

Battery
An external DC battery is required to run the spraying subsystem. It is used by every
electronic equipment mounted on the spraying mechanism. These are, Arduino, motor
driver, water pump, level sensor and the GSM module.
Fig 3.16: Maxday 9v battery
3.3 working principle

Having gathered all the necessary equipment, the overall system can be used for
operation by undertaking the following procedural working principles.
When both separate batteries (LiPo and Macday 9V battery) are plugged in to the two
distinct subsystems i.e. power distribution board of the quadcopter and arduino board
of the spraying mechanism, then the kk flight controller will display. Before this the
transmitter should be in ON state, if not ERROR will occur and the drone will not be
start up.
When the FCB is switched ON, go to receiver test and by using the trims on the
transmitter make all the channel output equal to ‘0’. In such a way every channel i.e.
throttle, rudder, aileron and rudder values will be giving no command signals when
the kk is manually armed. After this arm the kk2.1.5 and by giving a little amount of
throttle check if all the motors spin and orient equally.
As the Arduino of the spraying subsystem gets power, it will count about half a
minute and it will automatically send a signal for the motor driver. The activated
L293d motor driver will then energize both the water pump and the water splitter
simultaneously. Here, the spraying is achieved and the place which is to be accessed
can be addressed by using the remote controller action.

When the water/ chemical level inside the tank becomes lower than 50 ml the Arduino
will automatically sends a signal to both an alarming indicators and the GSM module,
as a result the white LED will glow and buzzer will beep continually, and after few
seconds delay the GSM module will send a text to the person in charge of controlling
the drone saying “water level is low”.
Same procedure goes for the sowing purpose too, but instead of using the water pump
and splitter motor a simple electromagnetic valve is used to open and close the way
out for the seeds.
Cost estimation
Table 3.4: estimation of overall cost
No Required Equipment Pieces Cost estimated (Birr)
1 FPV Quadra copter frame 1 1500
2 Brushless DC motor (1000kv), ECEs 4 pieces of each 3600

(30A) & propellers(10 * 4.5)
3 Kk2.1.5 flight controller Board 1 1339.51
4 Lipo battery 2300 1 2000
5 Arduino UNO 1 600
6 RF Transceiver 1 5000
7 Level sensor 1 250
8 Water pump 5V 1 pieces for each 250
9 GSM module 800 1 300
10 Motor drive L293D 1 250
11 DC Motor 5V 2 150
12 Buzzer 1 30
TOTAL COST 15,269.51

CHAPTER FOUR
RESULT AND DISCUSSION
4.1 Result
4.1.1 Simulation result
I. Quad copter simulation result
The simulation of the quadcopter is done by using a MATLAB software application.
Having all the equations of quadcopter dynamics described in chapter two based on
different motion equation, the simulation environment can be created to test and
realize the result of different controllers and inputs. The code for the simulation of the
quads dynamics is written in the appendix B. The 3D visualization of the quad copter
movement is shown as in fig 4.1;
Fig 4.1: quadcopter simulation

As shown in the figure the bars shown on each propellers signifies rough magnitudes
of relative thrust. As the simulation continues running the visualization keep updating.
II. Simulation of sprayer subsystem

The simulation of the sprayer module is done by Proteus software application. Due to
lack of level sensor library we only simulated the sprayer mechanism by using
arduino, motor driver, two motors and a led for alarm purpose. The simulation result
at working status is shown fig 4.2;
Fig 4.2: simulation result of sprayer module

As shown in the figure 4.2, the arduino is the core of the spraying mechanism. When
it gives a voltage signal to the motor driver, the driver will energize both the water
pump and splitting motors simultaneously and spraying is achieved.
4.1.2 Hardware result

The overall implementation of our project is shown under fig 4.1.

Fig 4.3: overall quadcopter implementation
4.2 Discussion
The quadcopter was tested and it has shown a good performance on speeding, altitude
leveling and flight timing. However, there appeared to be some challenging
encounters, including stability problems and some body fractures like propeller and
stand leg. Beside to these challenges we could be able take some records of the
quadcopter on flight. And also we received the status of the water level from the GSM
module in the form of text.
In the first flight the quadcopter flought for about a minute and half, and during the
course the drone could cover about 30 meter radius, and an altitude of 0 to 10 meters
above the ground.

Fig 4.4: quadcopter hovering test
Fig 4.5: quadcopter gaining an altitude
The total uplifting weight is estimated about 2kgs, from which 1.3kg is the weight of
the quadcopter itself and the sprayer module with its full of water in the tank weighs
around 0.7 to 0.8 kg.
The application of drones on agriculture simplifies much complex tasks and
inconvenience causalities. Human beings for example charges at least 500 – 1000 birr
per day for spraying pesticide as it is hazardous and risky for health. However, when
compared to them with only one time expenditure drone cost no more exemption,
since it uses less than 3watt for recharging purpose. And this accounts much lesser
than the payment asked by laborers.
Drones spray the chemicals and fertilizers uniformly hence; the crops would be free
from any chemical damages. In addition to that, drones save the time of sowing seeds
or spraying pesticides and above all reduces the disease caused by fertilizer to human
body. Hence, agriculture focused drones will minimize the efforts of farmers for
agriculture purpose.
Precautions
 Before turning ON the KK2.1.5 switch the transmitter in ON status.
 Do the receiver test to make sure that all the parameters i.e. Rudder, Elevator,
Aileron and throttle pins are equal to ‘0’
 Finally, check if all the motors are spinning with equal orientation and speed.
If not do the esc calibration.
 Charge the Lipo battery fully up to 11.1V.

CHAPTER FIVE
CONCLUSION AND RECOMMENDATION
5.1 Conclusion
Application of drones on agriculture has the potential to improve crop production. In
addition to that drones can help farmers to transform the agriculture industry by
modernizing the working mechanisms. Nowadays, farmers of our country use
conventional methods to spray pesticides and sow grain seeds, these hand pump
pesticide spraying mechanism takes large amount of time to spray the cops and they
do not uniformly spray the pesticides across the field. However, by using drone
technology the spraying or sowing action can be completed in less amount of time
when compared to human.
Our project elaborate an architecture based on Unmanned Aerial Vehicle (UAV) with
KK2.1.5 flight controller board & GSM module which is used for spraying fertilizer
or pesticide & sowing grain seed effectively in agriculture cultivation. By successful
implementation of this project the random and pattern less sowing and spraying
mechanisms will be reduced. Not only that but the exposure of highly toxic chemicals
to laborers, encounters with venomous snakes and bites will be reduced. In addition to
these with the help of drones like this large crop areas which cannot be accessed and
covered by human beings will be covered with in short interval of time. Finally by
using this drone farmers and agricultural sectors can spray pesticides or sow grain
seeds without consuming too much chemicals and expending too much cost for
laborers in such field.

5.2 Recommendation
Now a day’s drone technology is highly increasing around the globe. Because of their
crucial importance implementation of Drones should be improved in Ethiopia. Drones
can be used in various sectors, including agriculture, surveying, and entertainment
etc…. Our future scope encompasses the increment of flight time, weight lifting
capacity and integration of GPS modules model for an automatic flight control.
Just in case anyone coming up with the idea of drone technology projects, we would
like to recommend the reader and analyzer of this paper entitled “remote controlled
drone for multipurpose agricultural applications” with following points.
 Try better PI and Acc calibration adjustments for stable movement
 It would be more helpful for agricultural productivity if GPS, image
processing and another additional features are added
 If massive objects are to be lifted up, it’s recommended to take maximization
of battery, ESCs and motor rating with respect to propeller and frame
enlargements in to consideration.

REFERENCES
[1] Chavan Priyanka Shivaji, AGRICULTURE DRONE FOR SPRAYING,
Baramati, India: IJRTI | Volume 2, Issue 6 | ISSN: 2456-3315, 2017.
[2] P. S. Meivel M.E, Quadcopter UAV Based Fertilizer and Pesticides Spraying
System, ISSN No. 2414-6242, Volume 1,Issue 1, february, 2016.
[3] Prof. K. B. Korlahall, “An Automatically Controlled Drone Based Aerial,

Project Reference No.39S_BE_0564.
[4] "Infomineo," Agriculture in Ethiopia, february 2015. [Online]. Available:

https://infomineo.com/agriculture-in-ethiopia-3. [Accessed 06 march 2019].
[5] Sunil Karbharee Diwate, "DESIGN AND DEVELOPMENT OF APPLICATION

SPECIFIC DRONE," Maharashtra, India, International Research Journal of
Engineering and Technology (IRJET), 2018, p. 4004.
[6] "academia.edu," [Online]. Available:

https://www.academia.edu/28163375/Multirotor_Aircraft_Dynamics_Simulatio
_and_Control. [Accessed 24 april 2019]
[7] wenku.b, "wenku.baidu.com," [Online]. Available:

https://wenku.baidu.com/view/b56bacb381c758f5f71f6712.html. [Accessed
12 may 2019].
[8] .A. Gibiansky, "andrew.gibiansky," 2013. [Online]. Available:

file:///G:/kk2.0/pdfff/Quadcopter%20Dynamics%20and%20Simulation%20-
%20Andrew%20Gibiansky.html. . [Accessed 03 april 2019].
[9] joseph O., "jobs and news today," blogspot, 2013. [Online]. Available:
https://jobsandnewstoday.blogspot.com/2013/04/what-is-waterfall-model.html
. [Accessed 01 may 2019].

APPENDIX A
Matlab code for quadcopter simulation
start_time = 0;
end_time = 10;
dt = 0.005;
times = start_time:dt:end_time;
N = numel(times);
x = [0; 0; 10];
xdot = zeros(3, 1);
theta = zeros(3, 1);
deviation = 100;
thetadot = deg2rad(2 * deviation * rand(3, 1) - deviation);
for t = times
i = input(t);
omega = thetadot2omega(thetadot, theta);
a = acceleration(i, theta, xdot, m, g, k, kd);
omegadot = angular_acceleration(i, omega, I, L, b, k);
omega = omega + dt * omegadot;
thetadot = omega2thetadot(omega, theta);
theta = theta + dt * thetadot;
xdot = xdot + dt * a;
x = x + dt * xdot;
end
function T = thrust(inputs, k)
T = [0; 0; k * sum(inputs)];
end
function tau = torques(inputs, L, b, k)
tau = [
L * k * (inputs(1) - inputs(3))
L * k * (inputs(2) - inputs(4))
b * (inputs(1) - inputs(2) + inputs(3) - inputs(4))];
end
function a = acceleration(inputs, angles, xdot, m, g, k, kd)
gravity = [0; 0; -g];
R = rotation(angles);
T = R * thrust(inputs, k);
Fd = -kd * xdot;
a = gravity + 1 / m * T + Fd;
end
function omegadot = angular_acceleration(inputs, omega, I, L, b, k)
tau = torques(inputs, L, b, k);
omegaddot = inv(I) * (tau - cross(omega, I * omega));
end

APPENDIX B
Arduino code for spraying system

int analogPin = 1 ;
int led = 13;
int val = 0;
int data = 0;
char phone_no[]="+251994098572";
void setup ()
{
pinMode (led, OUTPUT);
Serial.begin (9600);
}
void loop ()
{
Serial.println("AT+CMGF=1\r");
delay(1000);
Serial.println("AT+CMGS=\"+251994098572\"\r");
delay(1000);
val = analogRead (analogPin);
if (val< 250)
{
digitalWrite (led, HIGH);
Serial.println("water level is low");
}
else {
digitalWrite (led, LOW);
}
data = val;
Serial.println (data);
delay (100);
}

Final Project (RCMAD)

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Final Project (RCMAD)

Uploaded by

Copyright:

Available Formats

REMOTE CONTROLLED DRONE FOR MULTIPURPOSE AGRICULTURAL APPLICATION

Jimma University Remote controlled drone

Final Year Thesis Submitted To school

of undergraduate studies of Faculty of Group member name ID

Electrical and Computer Engineering

Submission date: June, 2019 GC

1. Abenezer Girma -----ID: Ru0084/07 -------------

1.1.2 Quad copter drone

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 1

1.2 Literature review

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 2

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 3

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 4

1.4 Problem Statement

Fig 1.1: Pesticide spraying and sowing mechanism in Ethiopia

1.5 Proposed Solution

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 5

agricultural activities of such a type.

No Parameters Manual Tractor drone

1 Man power MORE MODERATE LESS

2 Time required MORE MODERATE LESS

3 Seed wastage MODERATE MORE LESS

4 Pollution MODERATE MORE LESS

5 Spraying uniformity LESS - MORE

6 Energy need MODERATE MORE LESS

1.6 Significance of the project

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 6

1.7.2 Specific Objective:

1.7 Scope of the project

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 7

1.8.1 Quad copter system

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 8

Stability controller Motor speed controller

Sowing or spray mechanism

Fig 1.2: quadcopter controllers

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 9

1.8.2 Sowing/spraying mechanism

Arduino Uno GSM

Nozzle Splitter Nozzle

Fig 1.3: spraying mechanism

1.9 Limitation of the project

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 10

 The quadcopter faces a liability to lift massive chemical tanks

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 11

MODELING OF QUADCOPTER DYNAMICS AND CONTROL

Quadcopter control is a fundamentally difficult and interesting problem. With six

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 12

2.1 Quadcopter Dynamics

Fig 2.1: Quadcopter Body Frame and Inertial Frame

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 13

Where, ω is the angular velocity vector in the body frame.

In order to properly model the dynamics of the system, we need an understanding of

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 14

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 15

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 16

Where ρ is the surrounding fluid density, A is the reference area (propeller

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 17

Correspondingly, the pitch torque is given by a similar expression

JIMMA UNIVERSITY, JIT, FACULTY OF ECE, CONTROL STREAM 18

The model we’ve derived so far is highly simplified. We ignore a multitude of

2.1.6 Equations of Motion

Where ~x is the position of the quadcopter, g is the acceleration due to gravity, FD is

can be expressed in vector form, Euler’s equations are written as